Biopsy apparatus and system

An apparatus configured to aid obtaining a plurality of biopsy samples from a single target location of a luminal network, the apparatus comprising:

• at least one computer-readable memory having stored thereon executable instructions and a repository configured to store location patterns for taking samples;
• and
• one or more processors in communication with the at least one computer-readable memory and configured to execute the instructions to cause the apparatus to at least:
• drive an instrument of a robotic medical system through the luminal network to a tissue site providing access to a nodule to be sampled, the instrument configured to access the tissue site via at least one lumen of the luminal network, the instrument comprising a distal end through which the plurality of biopsy samples can be collected;
• determine, based on user input, a location pattern comprising at least a first sample location and a second sample location within the tissue site;
• adjust the location pattern to the tissue site based on a location of the instrument;
• save the adjusted location pattern to the repository;
• and
• responsive to one or more user inputs:
• calculate a first movement of the instrument to the first sample location, the first movement comprising a first change in a position of the distal end of the instrument,
• cause an actuator to control movements of the instrument according to the first movement,
• calculate a second movement of the instrument to the second sample location, the second movement comprising a second change in the position of the distal end of the instrument, and
• cause the actuator to control movements of the instrument according to the second movement.

A method for collecting a plurality of samples from a single target location of a luminal network of a patient, the method comprising:

• driving an instrument of a robotic medical system through the luminal network to a target tissue site providing access to a nodule to be sampled, the instrument configured to access the target tissue site via at least one lumen of the luminal network, the instrument comprising a distal end through which the plurality of samples can be collected;
• through a user interface of the robotic medical system, receiving a user input;
• determining, based on the user input, a location pattern comprising at least a first sample location and a second sample location within the target tissue site;
• adjusting the location pattern to the target tissue site based on a location of the instrument;
• saving the adjusted location pattern to a repository of the robotic medical system;
• and
• responsive to one or more user inputs:
• calculating a first movement of the instrument to the first sample location, the first movement comprising a first change in a position of the distal end of the instrument,
• causing an actuator to control movements of the instrument according to the first movement,
• calculating a second movement of the instrument to the second sample location, the second movement comprising a second change in the position of the distal end of the instrument, and
• causing the actuator to control movements of the instrument according to the second movement.

A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to at least:

• drive an instrument through a luminal network to a target tissue site providing access to a nodule to be sampled, the instrument configured to access the target tissue site via at least one lumen of the luminal network, the instrument comprising a distal end through which a plurality of biopsy samples can be collected;
• determine, based on user input, a location pattern comprising at least a first sample location and a second sample location within the tissue site;
• adjust the location pattern to the target tissue site based on a location of the instrument;
• save the adjusted location pattern to a repository of the at least one computing device;
• and
• responsive to one or more user inputs:
• calculate a first movement of the instrument to the first sample location, the first movement comprising a first change in a position of the distal end of the instrument,
• cause an actuator to control movements of the instrument according to the first movement,
• calculate a second movement of the instrument to the second sample location, the second movement comprising a second change in the position of the distal end of the instrument, and
• cause the actuator to control movements of the instrument according to the second movement.

A system configured to aid obtaining a set of a plurality of biopsy samples of a nodule from a single target location of a luminal network, the system comprising:

• an instrument through which the plurality of biopsy samples of the nodule can be collected;
• an actuator configured to control movements of the instrument;
• at least one computer-readable memory having stored thereon executable instructions and a repository configured to store biopsy location patterns;
• and
• one or more processors in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to at least:
• drive the instrument through the luminal network to a tissue site, the instrument configured to access the tissue site via at least one lumen of the luminal network;
• access a biopsy location pattern comprising a plurality of sample locations within the tissue site, the tissue site comprising the single target location of the luminal network within which the plurality of sample locations of a nodule are located;
• adjust the biopsy location pattern to the tissue site based on a location of the instrument;
• save the adjusted biopsy location pattern to the repository;
• calculate a first movement of the instrument to an actual biopsy location at which a first biopsy sample is to be obtained from the tissue site;
• track a location of the instrument after the first movement;
• determine, based on the tracked location, the actual biopsy location at which the first biopsy sample is obtained from the tissue site;
• update the biopsy location pattern based on the actual biopsy location;
• and
• calculate a second movement of the instrument based on the updated biopsy location pattern.