View-based robotic intra-cardiac catheter guidance
AssigneeSiemens Medical Solutions USA, Inc.
InventorsJarrod Collins, Young-Ho Kim, Tommaso Mansi, Sebastien Piat
Life of this patent
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Abstract
For view-dependent control, different desired imaging catheter views are defined. A robotic catheter system may alter from one view to another view based on activation but otherwise hands-free by the operator. This pre-definition of views and swapping views intra-operatively provides procedure monitoring information while avoiding radiation and minimizing interruption of the procedure (e.g., needle placement and puncture).
Claims16
A method for robotic control of an imaging catheter, the method comprising:
- determining a plurality of views by the imaging catheter in a heart for transseptal puncture, the determining being selection of the views of the plurality in a pre-operative image, wherein each view of the plurality of views defines a respective location and orientation of an ultrasound transducer of the imaging catheter;
- defining a trajectory of movement of the imaging catheter between the views of the plurality;
- registering the pre-operative image and the views of the plurality with a patient;
- moving, by a robotic catheter system, the imaging catheter between the views of the plurality of views along the trajectory in the patient based on the registration, wherein moving the imaging catheter comprises automatically navigating the imaging catheter from a first view of the plurality of views to a second view of the plurality of views to swap views in response to a user activation input, without user control of the imaging catheter along the trajectory;
- and
- displaying images from the imaging catheter at the views of the plurality.
A catheter control system comprising:
- a memory configured to store instructions;
- and
- a processor configured by the instructions to control a catheter robot to physically manipulate an intracardiac echocardiography catheter to swap real-time imaging views captured by the intracardiac echocardiography catheter intra-operatively based on pre-operative selection of the views.
A control system for a steerable catheter, the control system comprising:
- a robotic system for operation of a steerable catheter;
- a memory configured to store a first view of a heart and a second view of the heart, the first view being a different location and/or orientation than the second first view from within the heart, the first and second views being views of anatomy and/or devices for a medical procedure, the first and second views being defined in a pre-operative image, wherein the first view defines a first physical location and orientation of the steerable catheter and the second view defines a second physical location and orientation of the steerable catheter;
- a processor configured to register the pre-operative image with a patient and to cause the robotic system to physically navigate the steerable catheter from the first physical location and orientation of the first view to the second physical location and orientation of the second view in response to activation by a user and based on the registration;
- and
- a display configured to display an image of the first view and an image of the second view.
Dependencies are inferred from the claim text.