Systems and methods for monitoring patient motion during a medical procedure
AssigneeIntuitive Surgical Operations, Inc.
InventorsTroy K. Adebar, Vincent Duindam
Life of this patent
Estimating the term…
Abstract
A method of controlling an elongate instrument during a medical procedure involving motion of the elongate instrument relative to a patient is provided. The method includes generating, by a control system, a first model of the elongate instrument, and generating, by the control system, a second model of the elongate instrument based on a reference pose of the elongate instrument. The method further includes comparing, by the control system, the first model with the second model and determining, by the control system, a state of a system configuration based on the comparison.
Claims20
A method of controlling an elongate instrument during a medical procedure involving motion of the elongate instrument relative to a patient, the method comprising:
- generating, by a control system, a measured model of the elongate instrument;
- generating, by the control system, a predicted model of the elongate instrument, wherein the predicted model indicates an expected state of the measured model, wherein generating the predicted model comprises:
- determining, by the control system, a reference pose of the elongate instrument, wherein the reference pose is based on a first set of data provided by a sensor system extending within the elongate instrument;
- determining, by the control system, an insertion distance of the elongate instrument;
- and
- combining, by the control system, data corresponding to the reference pose with data corresponding to the insertion distance to generate the predicted model of the elongate instrument;
- comparing, by the control system, the measured model with the predicted model;
- and
- determining, by the control system, whether the patient has moved relative to the elongate instrument based on the comparison.
A medical system comprising:
- an elongate instrument including a sensor system extending therein;
- a control system in communication with the sensor system to measure a pose of the elongate instrument, the control system adapted to perform operations comprising:
- generating a measured model of the elongate instrument;
- generating a predicted model of the elongate instrument, wherein the predicted model indicates an expected state of the measured model, wherein generating the predicted model comprises:
- determining a reference pose of the elongate instrument, wherein the reference pose is based on a first set of data provided by the sensor system of the elongate instrument;
- determining an insertion distance of the elongate instrument;
- and
- combining data corresponding to the reference pose with data corresponding to the insertion distance to generate the predicted model of the elongate instrument;
- comparing the measured model with the predicted model;
- and
- determining whether a patient has moved relative to the elongate instrument based on the comparison.
Dependencies are inferred from the claim text.