# US 11,026,594 B2 · Systems and methods for deformation compensation using shape sensing > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,026,594 B2 - Document ID: US11026594B2 - Status: Granted - Kind: B2 - Application number: 16/114,456 - Filed: 2018-08-28 - Published: 2019-01-10 - Granted: 2021-06-08 - Earliest claimed: 2012-05-14 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Vincent Duindam; Prashant Chopra; Tao Zhao - Web page: https://patentgrep.com/patent/US11026594B2 ## CPC - A61B 5/066: {Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging} - A61B 5/0044: {for the heart} - A61B 5/062: {using magnetic field} - A61B 5/065: {Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe} - A61B 34/30: Surgical robots - G16Z 99/00: Subject matter not provided for in other main groups of this subclass - A61B 2017/00699: {correcting for movement caused by respiration, e.g. by triggering} - A61B 2017/00809: {Lung operations} - A61B 2034/105: {Modelling of the patient, e.g. for ligaments or bones} - A61B 2034/2051: {Electromagnetic tracking systems} - A61B 2034/2061: {using shape-sensors, e.g. fiber shape sensors with Bragg gratings} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2034/303: {specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels} - A61B 2505/05: Surgical care - A61B 2562/043: in a linear array - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G16Z: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS, NOT OTHERWISE PROVIDED FOR ## Abstract A medical system comprises a surgical device including a tracking system disposed along a length of an elongate flexible body of the surgical device. The system further comprises a memory storing anatomical data describing a patient anatomy and comprises a processor configured for: generating a first model, including a set of anatomical passageways including a proximal branch connected to a distal branch, from the stored anatomical data; determining a shape of the elongate body positioned within the proximal and distal branches; computing, based on the determined shape, a total set of forces acting on the set of anatomical passageways in response to the surgical device positioned within the proximal and distal branches; deforming the first model into a second model of the set of anatomical passageways by adjusting a joint between branches in the anatomical passageways in the first model based on the total set of forces, to thereby change a pose of a branch through which the surgical device extends and an additional branch through which the surgical device does not extend; and displaying a representation of the second model and a representation of the surgical device as positioned within the second model. ## Claims ### Claim 1 A medical system comprising: a surgical device including a tracking system disposed along a length of an elongate flexible body of the surgical device; a memory storing anatomical data describing a patient anatomy; and a processor configured for: generating a first model, that includes a set of anatomical passageways including a first proximal branch connected to a first distal branch, from the stored anatomical data. describing the patient anatomy; determining by the tracking system a shape of the elongate flexible body of the surgical device positioned within the first proximal branch and the first distal branch of the set of anatomical passageways; computing, based on the determined shape of the elongate flexible body, a total set of forces acting on the set of anatomical passageways in response to the surgical device positioned within the first proximal branch and the first distal branch; deforming the first model into a second model of the anatomical passageways by adjusting at least one joint between branches in the set of anatomical passageways in the first model based on the total set of forces computed, to thereby change a pose of at least one branch through which the surgical device extends and at least one additional branch through which the surgical device does not extend; and displaying a representation of the second model and a representation of the surgical device as positioned within the second model. ### Claim 2 (depends on 1) The medical system of claim 1 wherein the tracking system includes an optical fiber shape sensor disposed along the length of the elongate flexible body. ### Claim 3 (depends on 2) The medical system of claim 2 wherein determining the shape of the surgical device includes receiving information from the optical fiber shape sensor of the tracking system. ### Claim 4 (depends on 1) The medical system of claim 1 wherein the tracking system includes an electromagnetic sensor disposed along the length of the elongate flexible body. ### Claim 5 (depends on 4) The medical system of claim 4 wherein determining the shape of the surgical device includes receiving information from the electromagnetic sensor of the tracking system. ### Claim 6 (depends on 1) The medical system of claim 1 wherein the processor is further configured for fitting a sampling of points along the shape of the elongate flexible body of the surgical device to the first model wherein the tracking system produces the points indicating the shape of the elongate flexible body of the surgical device. ### Claim 7 (depends on 1) The medical system of claim 1 wherein computing the total set of forces includes computing a set of deformation forces exerted by the elongate flexible body on at least one anatomical passageway. ### Claim 8 (depends on 1) The medical system of claim 1 wherein computing the total set of forces includes computing a set of restorative forces that bias the set of anatomical passageways toward an original shape. ### Claim 9 (depends on 1) The medical system of claim 1 wherein computing the total set of forces includes computing a set of maintenance forces and wherein each maintenance force is represented as a joint torque acting opposite to a deformation angle at a connection point of two anatomical passageways. ### Claim 10 (depends on 1) The medical system of claim 1 wherein computing the total set of forces includes creating a weighted sum of a set of deformation, restorative, and maintenance forces. ### Claim 11 (depends on 1) The medical system of claim 1 wherein deforming the first model into the second model includes: determining pitch and yaw angles for each of a plurality of connection points between anatomical passageways in the first model based on the total set of forces computed; and converting the pitch and yaw angles for the plurality of connection points into poses of branches in the set of anatomical passageways so that the surgical device, which is registered as being located outside of a branch in the set of anatomical passageways in the first model, is registered as being inside the branch in the second model. ### Claim 12 (depends on 1) The medical system of claim 1 wherein the processor is further configured for implementing commands to move the surgical device, wherein the commands are received based on the second model. ### Claim 13 A medical system comprising: a surgical device including a tracking system disposed along a length of an elongate flexible body of the surgical device; a memory storing anatomical data describing a patient anatomy; and a processor configured for: generating from the anatomical data an inspiration model and an expiration model of a bronchial structure that includes a set of anatomical passageways; determining, by the tracking system, a shape of the elongate flexible body, the elongate flexible body positioned within at least one branch of the set of anatomical passageways; computing, based on the determined shape of the elongate flexible body, a total set of forces acting on the set of anatomical passageways in response to the positioning of the elongate flexible body within the at least one branch; deforming the inspiration model into a revised inspiration model by adjusting at least one joint between branches in the set of anatomical passageways in the inspiration model based on the total set of forces computed; deforming, the expiration model into a revised expiration model by adjusting at least one joint between branches in the set of anatomical passageways in the expiration model based on the total set of forces computed, to thereby change a pose of at least one branch through which the surgical device extends and at least one additional branch through which the surgical device does not extend in the revised expiration model; displaying a representation of the revised inspiration model and a representation of the surgical device positioned within the revised inspiration model in a display system when the bronchial structure is in a state of inspiration; and displaying a representation of the revised expiration model and a representation of the surgical device positioned within the revised expiration model in the display system when the bronchial structure is in a state of expiration. ### Claim 14 (depends on 13) The medical system of claim 13, wherein the processor is further configured for alternating between displaying the representation of the revised inspiration model and displaying the representation of the revised expiration model as the bronchial structure alternates between the state of inspiration and the state of expiration, respectively. ### Claim 15 (depends on 13) The medical system of claim 13 wherein the tracking system includes an optical fiber shape sensor disposed along the length of the elongate flexible body. ### Claim 16 (depends on 13) The medical system of claim 13 wherein the tracking system includes an electromagnetic sensor disposed along the length of the elongate flexible body. ### Claim 17 (depends on 13) The medical system of claim 13 wherein computing the total set of forces includes computing a set of deformation forces exerted by the elongate flexible body on at least one anatomical passageway. ### Claim 18 (depends on 13) The medical system of claim 13 wherein computing the total set of forces includes computing a set of restorative forces that bias the set of anatomical passageways toward an original shape. ### Claim 19 (depends on 13) The medical system of claim 13 wherein computing the total set of forces includes computing a set of maintenance forces and wherein each maintenance force is represented as a joint torque acting opposite to a deformation angle at a connection point of two anatomical passageways. ### Claim 20 (depends on 13) The medical system of claim 13 wherein computing the total set of forces includes creating a weighted sum of a set of deformation, restorative, and maintenance forces.