# US 2024/0197403 A1 · Endoscopic ultrasound guided tissue acquisition > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2024/0197403 A1 - Document ID: US20240197403A1 - Status: Published application - Kind: A1 - Application number: 18/540,051 - Filed: 2023-12-14 - Published: 2024-06-20 - Earliest claimed: 2022-12-15 - Assignees: Olympus Corporation - Applicants: Olympus Corporation - Inventors: Hiroyuki Mino; Ryohei Ogawa; Anthony J.l Spagnoli - Web page: https://patentgrep.com/patent/US20240197403A1 ## CPC - A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations - A61B 8/085: {for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules} - A61B 8/12: in body cavities or body tracts, e.g. by using catheters - A61B 10/04: Endoscopic instruments, e.g. catheter-type instruments - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 34/30: Surgical robots - A61B 90/06: {Measuring instruments not otherwise provided for} - A61B 2034/107: {Visualisation of planned trajectories or target regions} - A61B 2034/2063: {Acoustic tracking systems, e.g. using ultrasound} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2090/064: {for measuring force, pressure or mechanical tension} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract Systems, devices, and methods for planning endoscopic ultrasound (EUS)-guided tissue acquisition (EUS-TA) from an anatomical target are disclosed. An endoscopy system comprises a steerable elongate instrument including an EUS probe to produce ultrasound scans of the anatomical target, and a tissue acquisition device to sample tissue. A processor receives image of the anatomical target including one or more EUS images converted from the ultrasound scans, apply the images to a trained machine-learning model to generate an EUS-TA plan. The EUS-TA plan may include a recommended tissue acquisition device, and recommended values of operational parameters for manipulating the tissue acquisition device, navigating the steerable elongate instrument, or positioning the EUS probe. The EUS-TA plan can be presented to a user, or used to facilitate a robot-assisted tissue acquisition procedure. ## Claims ### Claim 1 An endoscopic system, comprising: a steerable elongate instrument configured to be positioned and navigated in a patient anatomy, the steerable elongate instrument comprising (i) an endoscopic ultrasound (EUS) probe configured to produce ultrasound scans of an anatomical target and (ii) a tissue acquisition device configured to sample tissue from the anatomical target; and a processor configured to: receive images including one or more EUS images converted from the ultrasound scans of the anatomical target; apply the received images to at least one trained machine-learning (ML) model to generate an EUS-guided tissue acquisition (EUS-TA) plan; and provide the EUS-TA plan to a user or a robotic endoscopy system to sample the tissue from the anatomical target during an endoscopic procedure. ### Claim 2 (depends on 1) The endoscopic system of claim 1, wherein the received images include one or more preoperative images prior to the endoscopic procedure or one or more perioperative image during the endoscopic procedure. ### Claim 3 (depends on 1) The endoscopic system of claim 1, wherein the processor is configured to select a subset of the received images based on image qualities, and to apply the selected subset of the received images to the at least one trained ML model to generate the EUS-TA plan. ### Claim 4 (depends on 1) The endoscopic system of claim 1, comprising a force sensor associated with the EUS probe, the force sensor configured to sense a contact force between the EUS probe and a surface of the anatomical target when the ultrasound scans are taken, wherein the processor is configured to select a subset of the received one or more EUS images that correspond to the sensed contact force being maintained at a substantially constant value, and to apply the selected subset of the received one or more EUS images to the at least one trained ML model to generate the EUS-TA plan. ### Claim 5 (depends on 1) The endoscopic system of claim 1, comprising a user interface configured to present the received images and the EUS-TA plan to the user. ### Claim 6 (depends on 1) The endoscopic system of claim 1, comprising a controller configured to generate a control signal to an actuator of the robotic endoscopy system to robotically facilitate (i) navigation of the steerable elongate instrument or (ii) manipulation of one or more of the EUS probe or the tissue acquisition device in accordance with the EUS-TA plan. ### Claim 7 (depends on 1) The endoscopic system of claim 1, wherein the processor includes a training module configured to generate the trained ML model using a training dataset comprising (i) images including EUS images of respective anatomical targets of a plurality of patients undergoing EUS-TA procedures and (ii) EUS-TA plans for the plurality of patients as used in the EUS-TA procedures. ### Claim 8 (depends on 1) The endoscopic system of claim 1, wherein the EUS-TA plan includes a recommended type or size of the tissue acquisition device for use in the endoscopic procedure. ### Claim 9 (depends on 8) The endoscopic system of claim 8, wherein the tissue acquisition device includes at least one of a tissue aspiration needle, a tissue biopsy needle, a brush, a snare, forceps, or a suction device. ### Claim 10 (depends on 1) The endoscopic system of claim 1, wherein the EUS-TA plan includes a recommended type or size of at least one of an ablation device, a drainage device, or a stricture management device. ### Claim 11 (depends on 1) The endoscopic system of claim 1, wherein the EUS-TA plan includes one or more operational parameters for navigating the steerable elongate instrument, or for maneuvering the tissue acquisition device to facilitate tissue acquisition. ### Claim 12 (depends on 11) The endoscopic system of claim 11, wherein the one or more operational parameters include a position, a posture, a heading direction, or an angle of the tissue acquisition device relative to the anatomical target. ### Claim 13 (depends on 11) The endoscopic system of claim 11, wherein the one or more operational parameters include a navigation path for navigating the steerable elongate instrument or maneuvering the EUS probe to the anatomical target. ### Claim 14 (depends on 1) The endoscopic system of claim 1, wherein the EUS-TA plan includes one or more operational parameters for positioning and maneuvering the EUS probe to take the ultrasound scans of the anatomical target. ### Claim 15 (depends on 14) The endoscopic system of claim 14, wherein the one or more operational parameters include one or more of a position, posture, a heading direction, or an angle of the EUS probe relative to the anatomical target. ### Claim 16 (depends on 14) The endoscopic system of claim 14, wherein the one or more operational parameters include a force the EUS probe exerted on a surface of the anatomical target when the ultrasound scans are taken. ### Claim 17 (depends on 1) The endoscopic system of claim 1, wherein the processor is configured to apply the received images of the anatomical target to the at least one trained ML model to recognize a lesion on the anatomical target and to determine tissue malignancy of the lesion. ### Claim 18 (depends on 17) The endoscopic system of claim 17, wherein the processor is configured to generate the EUS-TA plan further based on the recognized lesion and the determined tissue malignancy. ### Claim 19 (depends on 17) The endoscopic system of claim 17, comprising a microscopic imaging device coupled to the steerable elongate instrument, the microscopic imaging device configured to generate an in-vivo and substantially real-time microscopic image of the recognized lesion, wherein the processor is configured to determine the tissue malignancy using the in-vivo and substantially real-time microscopic image. ### Claim 20 (depends on 17) The endoscopic system of claim 17, wherein the processor is configured to present the in-vivo and substantially real-time microscopic image to the user on a user interface.