# US 12,109,077 B2 · Device for moving a medical object and method for providing a signal

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- Number: US 12,109,077 B2
- Document ID: US12109077B2
- Status: Granted
- Kind: B2
- Application number: 17/480,381
- Filed: 2021-09-21
- Published: 2022-03-24
- Granted: 2024-10-08
- Earliest claimed: 2020-09-24
- Assignees: Siemens Healthineers AG
- Applicants: Siemens Healthcare GmbH
- Inventors: Tobias Lenich; Trixi Leistner; Stanislav Tashenov
- Web page: https://patentgrep.com/patent/US12109077B2

## CPC

- A61B 90/50: Supports for surgical instruments, e.g. articulated arms
- A61B 34/30: Surgical robots
- A61B 90/37: {Surgical systems with images on a monitor during operation}
- A61M 25/0113: {Mechanical advancing means, e.g. catheter dispensers}
- A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes}
- A61B 2090/065: {for measuring contact or contact pressure}
- A61B 2090/376: {using X-rays, e.g. fluoroscopy}
- A61B 2090/3762: {using computed tomography systems [CT]}
- A61B 2090/378: {using ultrasound}
- A61B 2090/3983: {Reference marker arrangements for use with image guided surgery}
- A61B 2090/5025: {with a counter-balancing mechanism}
- 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 device for moving a medical object, the device including a mover device and a sensor unit. The mover device is configured to hold and/or move a medical object at least partially disposed in the mover device by transmitting a force. The sensor unit is configured to detect a counterforce exerted by the medical object on the mover device and acting in the opposite direction to the force. The medical object is at least partially disposed in an examination subject. The device is configured to provide a signal as a function of the counterforce. The mover device is configured to move the medical object as a function of the signal.

## Claims

### Claim 1

A device for moving a medical object, the device comprising:
a mover device configured to hold, move, or hold and move the medical object at least partially disposed in the mover device by transmitting a force, wherein the medical object is disposed in a hollow organ of an examination subject; and
a sensor unit configured to detect a counterforce exerted by the medical object on the mover device and acting in the opposite direction to the force;
a reference unit comprising a sensor configured to detect at least one coefficient of friction of the medical object at the mover device and/or at an introducer sheath for introducing the medical object into the examination subject; and
a processing unit configured to simulate a virtual frictional force between the medical object and the hollow organ on the basis of the at least one coefficient of friction and identify or rule out a frictional force between the hollow organ and the medical object as an origin of the counterforce based on a comparison between the counterforce and the virtual frictional force;
wherein a signal is provided as a function of the counterforce,
wherein the mover device is further configured to move the medical object as a function of the signal.

### Claim 2 (depends on 1)

The device of claim 1, wherein the processing unit is further configured to:
receive a dataset that contains an image of the examination subject;
determine a spatial positioning of a distal end portion of the medical object with respect to the dataset;
identify an origin of the counterforce as a function of the counterforce, the spatial positioning of the distal end portion and the dataset; and
provide the signal as a function of the origin of the counterforce.

### Claim 3 (depends on 1)

The device of claim 1, wherein the sensor of the reference unit is configured to detect a plurality of coefficients of friction along a longitudinal extension direction of the medical object;
wherein the medical object is movable relative to the reference unit by the mover device; and
wherein the processing unit is further configured to simulate a virtual frictional force as a function of a spatial positioning of a distal end portion of the medical object in the examination subject and the plurality of coefficients of friction.

### Claim 4 (depends on 2)

The device of claim 2, wherein the processing unit is further configured, in an event of a counterforce being present, to:
identify an obstacle in the hollow organ at the distal end portion as an origin of the counterforce on a basis of the dataset; or
by ruling out the obstacle in the hollow organ on the basis of the dataset, identify a frictional force between the hollow organ and the medical object as the origin of the counterforce.

### Claim 5 (depends on 2)

The device of claim 2, wherein the dataset contains an image, a model, or the image and the model of the examination subject and of the medical object at least partially disposed in the examination subject, wherein the processing unit is further configured to determine a spatial positioning of the distal end portion of the medical object in the dataset.

### Claim 6 (depends on 5)

The device of claim 5, wherein the processing unit is further configured to identify, in the presence of a counterforce, a meandering, spiraling, or meandering and spiraling of the medical object in the hollow organ on the basis of the dataset; and
wherein the mover device is further configured to move the medical object in addition as a function of the identified meandering, spiraling, or meandering and spiraling of the medical object in the hollow organ.

### Claim 7 (depends on 1)

The device of claim 1, further comprising:
a renewal unit configured to renew a surface of the medical object, at least in sections, as a function of the signal in such a way that a coefficient of friction of the surface is reduced.

### Claim 8 (depends on 7)

The device of claim 7, wherein the renewal unit is disposed at the mover device and/or at an introducer sheath for introducing the medical object into the examination subject,
wherein the mover device is configured to move the medical object at least partially out of the examination subject as a function of the signal, and
wherein the renewal unit is configured to renew the surface of the moved-out section of the medical object.

### Claim 9 (depends on 7)

The device of claim 7, wherein the renewal unit is at least partially integrated into the medical object and wherein the renewal unit is configured to renew the surface of the medical object, at least on a section-by-section basis, while the section to be renewed is disposed in the examination subject.

### Claim 10

A method for providing a signal, the method comprising:
moving, holding, or moving and holding of a medical object by a mover device by transmitting a force, wherein the medical object is disposed in a hollow organ of an examination subject;
receiving a sensor signal of a sensor unit configured to detect a counterforce exerted by the medical object on the mover device and acting in the opposite direction to the force, wherein the sensor signal contains information relating to the counterforce;
receiving a reference signal of a reference unit, wherein the reference unit comprises a sensor that is configured to detect at least one coefficient of friction of the medical object at the mover device and/or at an introducer sheath for introducing the medical object into the examination subject;
simulating a virtual frictional force between the medical object and the hollow organ on the basis of the at least one coefficient of friction;
receiving a dataset that contains an image of the examination subject;
determining a spatial positioning of a distal end portion of the medical object with respect to the dataset;
identifying an origin of the counterforce on a basis of the sensor signal, the spatial positioning of the distal end portion, the reference signal, the virtual signal, and the dataset; and
providing the signal as a function of the origin of the counterforce.

### Claim 11 (depends on 10)

The method of claim 10, wherein determining additionally comprises:
identifying an obstacle in the hollow organ at the distal end portion as the origin of the counterforce on the basis of the dataset; and
identifying a frictional force between the hollow organ and the medical object as the origin of the counterforce by ruling out the obstacle in the hollow organ on the basis of the dataset.

### Claim 12 (depends on 11)

The method of claim 11, wherein the dataset further contains a model of the examination subject and of the medical object; wherein determining comprises determining the spatial positioning a distal end portion of the medical object in the dataset.

### Claim 13 (depends on 12)

The method as claimed in claim 12, wherein determining additionally comprises:
identifying a meandering, spiraling, or meandering and spiraling of the medical object in the hollow organ on the basis of the dataset;
wherein the signal is provided in addition as a function of the identified meandering, spiraling, or meandering and spiraling of the medical object in the hollow organ.

### Claim 14 (depends on 11)

The method of claim 11, wherein the sensor of the reference unit is configured to detect a plurality of coefficients of friction along a longitudinal extension direction of the medical object; wherein a movement of the medical object relative to the reference unit by the mover device has taken place prior to commencement of the method; wherein the virtual frictional force is simulated on the basis of the dataset and the plurality of coefficients of friction as a function of a spatial positioning of the distal end portion of the medical object in the examination subject.

### Claim 15 (depends on 11)

The method of claim 11, further comprising:
controlling a renewal unit as a function of the signal for renewing a surface of the medical object in order to reduce a coefficient of friction of the surface.

### Claim 16

A non-transitory computer implemented storage medium, including machine-readable instructions stored therein, that when executed by at least one processor, cause the processor to:
receive, after moving, holding, or moving and holding of a medical object by a mover device, wherein the medical object is disposed in a hollow organ of an examination subject, a sensor signal of a sensor unit configured to detect a counterforce exerted by the medical object on the mover device and acting in the opposite direction to a force of the mover device, wherein the sensor signal contains information relating to the counterforce;
receive a reference signal of a reference unit, wherein the reference unit comprises a sensor configured to detect at least one coefficient of friction of the medical object at the mover device and/or at an introducer sheath for introducing the medical object into the examination subject;
simulate a virtual frictional force between the medical object and the hollow organ on the basis of the at least one coefficient of friction;
receive a dataset that contains an image of the examination subject;
determine a spatial positioning of a distal end portion of the medical object with respect to the dataset;
identify an origin of the counterforce on the basis of the sensor signal, the spatial positioning of the distal end portion, the reference signal, the virtual frictional force, and the dataset; and
provide the signal as a function of the origin of the counterforce.

### Claim 17 (depends on 16)

The non-transitory computer implemented storage medium of claim 16, wherein determining additionally comprises:
identifying an obstacle in the hollow organ at the distal end portion as the origin of the counterforce on the basis of the dataset; or
identifying a frictional force between the hollow organ and the medical object as the origin of the counterforce by ruling out the obstacle in the hollow organ on the basis of the dataset.

### Claim 18 (depends on 17)

The non-transitory computer implemented storage medium of claim 17, wherein the dataset further contains a model of the examination subject and of the medical object; wherein determining comprises determining the spatial positioning a distal end portion of the medical object in the dataset.