Back to results
US 11,109,775 B2Granted
Shape sensing assisted medical procedure
AssigneeKoninklijke Philips N.V.
InventorsTobias Klinder, Bharat Ramachandran, Robert Manzke, Raymond Chan
Life of this patent
Estimating the term…
Abstract
A system and method for shape sensing assistance in a medical procedure includes a three-dimensional image (111) of a distributed pathway system (148). A shape sensing enabled elongated device (102) is included for insertion into the pathway system to measure a shape of the elongated device in the pathway system. A pathway determination module (144) is configured to compute a planned path to a target in the three-dimensional image and compute permissible movements of the elongated device at diverging pathways in the pathway system to provide feedback for deciding which of the diverging paths to take in accordance with the planned path.
Claims14
A method, comprising:
- determining a planned pathway in a biological body to a target through a three-dimensional image of a distributed pathway system in the biological body;
- introducing a shape sensing enabled elongated device into the distributed pathway system;
- measuring a shape of the elongated device in the distributed pathway system;
- comparing the shape of the elongated device with a shape of the planned pathway in the three-dimensional image to determine a location of the elongated device on the planned pathway;
- determining movements of the elongated device at branching pathways within the distributed pathway system to maintain the elongated device on the planned pathway, wherein the determining movements comprises computing constraints on the movements which result in a deviation from the planned pathway;
- and
- restraining the elongated device when the movements cause the elongated device to enter constrained areas automatically orienting a distal tip of the elongated device at at least one position in a branching of the distributed pathway system so that the distal tip points in a direction along the planned pathway.
4 more elements
A system, comprising:
- a memory that stores a three-dimensional image of a distributed pathway system in a biological body and computer program code configured to compute a planned path to a target in the three-dimensional image;
- a shape sensing enabled elongated device for insertion into the distributed pathway system to measure a shape of the elongated device in the distributed pathway system;
- a hardware processor configured to execute the computer program code to compute a planned path in the biological body to a target in the three-dimensional image and to compute movements of the elongated device at diverging pathways in the distributed pathway system to provide feedback for deciding which of the diverging paths to take in accordance with the planned path;
- and
- a constraining mechanism comprising a steering assembly, a light, and a haptic actuator, wherein the constraining mechanism is coupled to the elongated device and configured to prevent the elongated device from selecting paths other than the planned path, and to orient automatically a distal tip of the elongated device at at least one position in a branching of the distributed pathway system so that the distal tip points in a direction along the planned path.
2 more elements
A system, comprising:
- a memory device configured to store:
- a three-dimensional image of a distributed pathway system in a biological body;
- and
- computer program code configured to compute a planned path in the biological body to a target in the three-dimensional image;
- a hardware processor configured to execute the computer program code;
- a shape sensing enabled elongated device for insertion into the distributed pathway system to measure a shape of the elongated device in the distributed pathway system, the computer program code being configured to compute of the elongated device at diverging pathways in the distributed pathway system;
- a constraining mechanism comprising a steering assembly, a light, and a haptic actuator, wherein the constraining mechanism is coupled to the elongated device and configured to prevent the elongated device from selecting paths other than the planned path, and to orient automatically a distal tip of the elongated device at at least one position in a branching of the distributed pathway system so that the distal tip points in a direction along the planned path;
- and
- a feedback mechanism comprising indicator lights of a display, and configured to provide sensory feedback for deciding which of the diverging paths to take in accordance with the planned path.
6 more elements
Dependencies are inferred from the claim text.