Medical instrument guidance with robotic systems
AssigneeAuris Health, Inc.
InventorsRichard August Leparmentier, Eric Davidson, Enrique Romo
Life of this patent
Estimating the term…
Abstract
Systems and techniques for endoscopically-assisted percutaneous medical procedures are described. Techniques can include inserting a first medical instrument having an elongated shaft and a first position sensor into a region of anatomy through a natural orifice. A first position of the first medical instrument within the region can be determined with the first position sensor. A target location can be defined within the region based on the determined first position. A second medical instrument can be percutaneously guided toward the target location. The techniques can be implemented with a robotically-enabled medical system.
Claims20
A system comprising:
- a first instrument configured to be inserted into an anatomy, the first instrument having an elongated shaft and a first sensor disposed thereon;
- a robotic arm configured to manipulate the first instrument;
- a second instrument configured to be inserted into the anatomy, the second instrument including a second sensor;
- at least one computer-readable memory having stored thereon executable instructions;
- and
- one or more processors in communication with the at least one computer-readable memory and configured to execute the executable instructions to cause the system to:
- determine a position of the first instrument within the anatomy based on an output of the first sensor;
- determine a target location associated with the anatomy based on the position of the first instrument;
- determine a target trajectory for reaching the target location with the second instrument;
- determine an orientation of the second instrument based on an output of the second sensor;
- determine an alignment between the second instrument and the target trajectory based on the orientation of the second instrument and a boundary associated with the target trajectory;
- and
- display an alignment interface that includes a target indicator representing the target location and an instrument indicator representing the second instrument, the alignment between the second instrument and the target trajectory indicated by positions of the target indicator and the instrument indicator in the alignment interface so that the position of the instrument indicator changes in response to changes in the alignment.
A method performed by a medical system, the method comprising:
- controlling a robotic arm to insert a first instrument into an anatomy, the first instrument having an elongated shaft and a first sensor disposed thereon;
- determining a position of the first instrument within the anatomy based on an output of the first sensor;
- determining a target location associated with the anatomy based on the position of the first instrument;
- determining a target trajectory for reaching the target location with a second instrument, the second instrument including a second sensor;
- determining an orientation of the second instrument based on an output of the second sensor;
- determining an alignment between the second instrument and the target trajectory based on the orientation of the second instrument and a boundary associated with the target trajectory;
- and
- displaying an alignment interface that includes a target indicator representing the target location and an instrument indicator representing the second instrument, the alignment between the second instrument and the target trajectory indicated by positions of the target indicator and the instrument indicator in the alignment interface so that the position of the instrument indicator changes in response to changes in the alignment.
Dependencies are inferred from the claim text.