US 12,594,126 B2Granted

Intraluminal navigation using virtual satellite targets

AssigneeCanon U.S.A., Inc.

InventorBrian Ninni

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Abstract

A system and method that provides navigation guidance for intraluminal procedures comprises: a catheter configured to be inserted into a lumen receive an actuating force from an actuator; and a tracking system configured to acquire position and orientation of the catheter with respect a lumen. A processor in communication with the actuator and the tracking system is configured to: register a position and/or orientation of the catheter tip with respect to a reference target, and generate one or more satellite targets in a region of interest surrounding the reference target. A display screen displays a virtual representation of the distal end of the catheter, and a virtual representation of the one or more satellite targets, as navigation guidance. A user is able to determine how to align the catheter tip with the one or more satellite targets to perform an intraluminal procedure.

Claims21

Dependent claims

A robotic system for an intraluminal procedure, the robotic system comprising:

a catheter having a proximal portion attachable to an actuator unit and a distal portion insertable into a lumen;
a tracking system including at least one sensor, the tracking system configured to record position and orientation of the distal portion of the catheter;
and
a processor in communication with the actuator unit and the tracking system, the processor being configured to:
register, in a navigation mode, at least one of the recorded position and orientation of the distal portion of the catheter with respect to a reference target;
generate, in a targeting mode, at least two satellite targets;
generate, in the targeting mode, a virtual representation of the distal portion of the catheter and a virtual representation of the at least two satellite targets;
control displaying the virtual representation of the at least two satellite targets, and
generate, in the targeting mode, actions to align a tip of the catheter with a selected target,
wherein the processor is further configured to:
control displaying one or more of a distance error, an insertion trajectory, and an insertion depth for aligning and/or navigating the distal end of the catheter to at least one of the at least two satellite targets, and
modify size, suppress, or fade the display of the virtual representation of the at least one of the at least two satellite targets based on information regarding the intraluminal procedure performed on a selected at least one of the at least two satellite targets.

9 more elements

A method of providing navigation guidance for an intraluminal procedure, the method comprising:

introducing a distal portion of a catheter into a lumen of a patient;
recording a positional relation between the distal portion of catheter and a reference target;
determining, based on the recorded positional relation, a position and/or orientation of the distal portion of the catheter with respect to the reference target;
generating at least two satellite targets around the reference target;
generating a virtual representation of the distal portion of the catheter and a virtual representation of the at least two satellite targets;
and
displaying one or more of a distance error, an insertion trajectory, and an insertion depth for aligning and/or navigating the distal end of the catheter to at least one of the at least two satellite targets,
wherein display size of each satellite target is based on a total number of the at least two satellite targets.

5 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/558,378Filed 21 Dec 2021 · us provisional application
Priority: 30 Dec 2020
Published: US 2022/0202273 A130 Jun 2022
Granted: 7 Apr 2026
Term ends: Not estimatedThe source records don’t support an estimate.

Classification16 codes

A61B 34/20
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical navigation systems; Devices for tracking or guiding…
A61B 34/30
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical robots
A61B 34/71
Manipulators specially adapted for use in surgery: manipulators operated by drive cable mechanisms
A61B 34/25
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: user interfaces for surgical systems

Family

Application63/132,358Us provisional application · filed 30 Dec 2020
Application63/152,081Us provisional application · filed 22 Feb 2021
US 2022/0202273 A1Pre-grant publication · published 30 Jun 2022
US 12,594,126 B2This patent

From the US filing history. Foreign family members aren’t listed.

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