US 11,229,492 B2Granted

Automatic probe reinsertion

AssigneeBiosense Webster (Israel) Ltd.

InventorsVadim Gliner, Assaf Govari

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Abstract

In accordance with one embodiment, an automated probe system includes a probe configured to be reversibly inserted into a live body part, a robotic arm attached to the probe and configured to manipulate the probe, a first sensor configured to track movement of the probe during an insertion and a reinsertion of the probe in the live body part, a second sensor configured to track movement of the live body part, and a controller configured to calculate an insertion path of the probe in the live body part based on the tracked movement of the probe during the insertion, and calculate a reinsertion path of the probe based on the calculated insertion path while compensating for the tracked movement of the live body part, and send control commands to the robotic arm to reinsert the probe in the live body part according to the calculated reinsertion path.

Claims20

Dependent claims

An automated probe system comprising:

(a) a probe configured to be inserted into a live body-part;
(b) a robotic arm attached to the probe and configured to manipulate the probe;
(c) a first sensor configured to track movement of the probe during an insertion and a reinsertion of the probe in the live body-part;
(d) a second sensor configured to be disposed on the live body-part and configured to track movement of the live body-part including movement of the live body-part during at least the insertion and the reinsertion of the probe in the live body-part;
and
(e) a controller configured to:
(i) calculate an insertion path of the probe in the live body-part based on the tracked movement of the probe during the insertion,
(ii) calculate a reinsertion path of the probe based on the calculated insertion path that includes compensating for the tracked movement of the live body-part using the second sensor during the insertion of the probe in the live body-part, and
(iii) after insertion of the probe along the insertion path, followed by removal of the probe from the live body-part, send a plurality of control commands to the robotic arm to reinsert the probe in the live body-part according to the calculated reinsertion path while compensating for the tracked movement of the live body-part using the second sensor during reinsertion of the probe in the live body-part.

6 more elements

An automated probe system comprising:

(a) a probe configured to be inserted into an anatomical structure of a patient;
(b) a robotic arm attached to the probe and configured to manipulate the probe;
(c) a first sensor configured to track movement of the probe during an insertion and a reinsertion of the probe in the anatomical structure;
(d) a second sensor configured to be disposed on the anatomical structure and configured to continually track movement of the anatomical structure;
and
(e) a controller configured to:
(i) calculate an insertion path of the probe in the anatomical structure based on the tracked movement of the probe during the insertion,
(ii) calculate a reinsertion path of the probe based on the calculated insertion path that includes compensating for the tracked movement of the anatomical structure using the second sensor, and
(iii) after insertion of the probe along the insertion path, followed by removal of the probe from the anatomical structure, send a plurality of control commands to the robotic arm to reinsert the probe in the anatomical structure according to the calculated reinsertion path that includes continually compensating for the tracked movement of the anatomical structure using the second sensor during reinsertion of the probe in the anatomical structure.

6 more elements

An automated probe system comprising:

(a) a probe, wherein the probe includes an endoscope, wherein the endoscope includes a lens, wherein at least the lens is configured to be inserted into an anatomical structure of a patient;
(b) a robotic arm operatively coupled with the probe and configured to manipulate the endoscope;
(c) a first sensor configured to track movement of the probe during an insertion and a reinsertion of the endoscope in the anatomical structure;
(d) a second sensor configured to be disposed on the anatomical structure and configured to track movement of the anatomical structure including movement of the anatomical structure during the insertion and the reinsertion of the endoscope in the anatomical structure;
and
(e) a controller configured to:
(i) calculate an insertion path of the endoscope in the anatomical structure based on the tracked movement of the endoscope during the insertion,
(ii) calculate a removal path of the endoscope based on the calculated insertion path that includes compensating for the tracked movement of the anatomical structure in response to determining the lens is blurred,
(iii) calculate a reinsertion path of the endoscope based on the calculated removal path that includes compensating for the tracked movement of the anatomical structure, and
(iv) after insertion of the endoscope along the insertion path, followed by withdrawal of the endoscope from the anatomical structure, send a plurality of control commands to the robotic arm to reinsert the endoscope in the anatomical structure according to the calculated reinsertion path.

7 more elements

Dependencies are inferred from the claim text.