# US 12,004,830 B2 · Systems and methods for monitoring patient motion during a medical procedure > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,004,830 B2 - Document ID: US12004830B2 - Status: Granted - Kind: B2 - Application number: 16/638,660 - Filed: 2018-08-14 - Published: 2020-09-24 - Granted: 2024-06-11 - Earliest claimed: 2017-08-16 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Troy K. Adebar; Vincent Duindam - Web page: https://patentgrep.com/patent/US12004830B2 ## CPC - A61B 34/30: Surgical robots - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 1/00006: {of control signals} - A61B 1/267: for the respiratory tract, e.g. laryngoscopes or bronchoscopes - A61B 2034/102: {Modelling of surgical devices, implants or prosthesis} - A61B 2034/105: {Modelling of the patient, e.g. for ligaments or bones} - 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 2090/062: {penetration depth} - A61M 16/0488: {Mouthpieces; Means for guiding, securing or introducing the tubes (guiding or introducing with laryngoscopes A61B1/267; holding devices on the body A61M25/02)} - A61M 2230/63: Motion, e.g. physical activity - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The method of claim 1, wherein the measured model is based on a measured pose of the elongate instrument, and wherein the measured pose and the reference pose are each based on data provided by the sensor system, wherein the sensor system includes a shape sensor extending along a length of the elongate instrument. ### Claim 3 (depends on 1) The method of claim 1, wherein the determining whether the patient has moved relative to the elongate instrument further comprises: determining, by the control system, whether the patient has moved relative to the elongate instrument based on the comparison and a threshold associated with the comparison. ### Claim 4 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. ### Claim 5 (depends on 4) The medical system of claim 4, wherein the elongate instrument includes a flexible component, and wherein the sensor system extends within the flexible component. ### Claim 6 (depends on 4) The medical system of claim 4, wherein the sensor system includes a shape sensor including a fiber optic shape sensor or a plurality of electromagnetic (EM) sensors. ### Claim 7 (depends on 6) The medical system of claim 6, wherein the measured model is based on a measured pose of the elongate instrument. ### Claim 8 (depends on 7) The medical system of claim 7, wherein the measured pose and the reference pose are each based on shape data from the shape sensor of the sensor system of the elongate instrument. ### Claim 9 (depends on 8) The medical system of claim 8, wherein the shape data provided by the shape sensor is received from a segment of the elongate instrument positioned in a measurement zone. ### Claim 10 (depends on 9) The medical system of claim 9, wherein the measurement zone corresponds to a segment of an endotracheal tube or a segment of a trachea of a patient, and wherein the elongate instrument is positioned relative to the patient. ### Claim 11 (depends on 4) The medical system of claim 4, further comprising a robotic assembly including a second sensor system disposed along the robotic assembly, wherein the elongate instrument is coupled to the robotic assembly and wherein the control system is in communication with the second sensor system. ### Claim 12 (depends on 11) The medical system of claim 11, wherein the robotic assembly includes at least one of an insertion stage, a manipulator, or a robotic arm. ### Claim 13 (depends on 11) The medical system of claim 11, wherein the insertion distance is measured by the second sensor system. ### Claim 14 (depends on 11) The medical system of claim 11, wherein the second sensor system includes a rotational encoder or a linear encoder. ### Claim 15 (depends on 11) The medical system of claim 11, further comprising an input control device, wherein the control system is in communication with the input control device and the robotic assembly to control the insertion distance of the elongate instrument and wherein the insertion distance is based on one or more commands received from the input control device. ### Claim 16 (depends on 4) The medical system of claim 4, wherein the determining whether the patient has moved relative to the elongate instrument further comprises: determining whether the patient has moved relative to the elongate instrument based on the comparison and a threshold associated with the comparison. ### Claim 17 (depends on 4) The medical system of claim 4, wherein the predicted model includes a probability distribution based on a plurality of possible expected states of the elongate instrument. ### Claim 18 (depends on 4) The medical system of claim 4, further comprising a display system for displaying a message based on the determining whether the patient has moved relative to the elongate instrument. ### Claim 19 (depends on 4) The medical system of claim 4, wherein if a determination is made that the patient has moved relative to the elongate instrument, determining whether the patient has moved further comprises determining a type of movement of the patient. ### Claim 20 (depends on 4) The medical system of claim 4, wherein comparing the measured model with the predicted model comprises comparing the measured model with the predicted model in a direction normal to an operating table or in a direction parallel to the operating table.