US 2026/0060772 A1Published application

System and method for navigating a device through a path to a target location

AssigneeSiemens Healthineers Endovascular Robotics, Inc.

InventorsNicholas Kottenstette, Per Bergman, Steven J. Blacker, Adi Dafni, Adi Sheinfeld

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Abstract

The system comprises a workstation including a controller. The controller is configured to cause the workstation to: generate a vessels-image based on at least one image from a set of medical images of a region of interest; calculate a vessel path from a source point to a target point on the vessels-image, based at least on the set of medical images; determine that at least one child vessel is connected to the vessel path based on at least a flow of contrast agent in the set of medical images; generate a path mask for the vessel path; generate a child vessel mask for the at least one child vessel; and display the path mask and the child vessel mask on an image associated with the path mask.

Claims22

Dependent claims

A system for delivering an elongated medical device along a path to a target location, the system comprising:

a catheter procedure system configured to be coupled to an imaging system, the catheter procedure system comprising:
a bedside system comprising a drive assembly configured to drive an elongated medical device;
and
a controller coupled to the bedside system, wherein the controller is programmed to
generate a mask, which is applied to an image for clarifying the defined path,
track the position of a distal portion of the elongated medical device based on a set of real-time images acquired by an imaging system,
determine a remaining path length based at least on the position of the distal portion of the elongated medical device,
the remaining path length being a distance between the distal portion of the elongated medical device and the target location,
wherein the remaining path length decreases as the distal portion of the elongated medical device approaches the target location,
update the remaining path length during movement of the elongated medical device,
determine if the distal portion of the elongated medical device is off path,
drive the elongated medical device with a corrective action using the drive assembly if the result of the determination indicates that the distal portion of the elongated medical device is off path, and
drive the elongated medical device at a velocity determined based at least on the remaining path length using the drive assembly.

10 more elements

A system for delivering an elongated medical device along a path to a target location, the system comprising:

a catheter procedure system configured to be coupled to an imaging system, the catheter procedure system including
a bedside system comprising a drive assembly configured to drive an elongated medical device, and
a controller coupled to the bedside system, a user interface and the imaging system, the controller programmed to
identify a source point and at least one constraint point,
calculate the path passing through the source point, the at least one constraint point, and the target location,
generate a mask of the path,
determine whether at least one child vessel is connected to the path,
generate a child vessel mask in response to determining that the at least one child vessel is connected to the path,
display the mask and the child vessel mask on an image associated with the mask on the display,
track a position of a distal portion of the elongated medical device based on a set of real-time images acquired by the imaging system,
determine a remaining path length based at least on the position of the distal portion of the elongated medical device, the remaining path length being a distance between the distal portion of the elongated medical device and the target location, wherein the remaining path length decreases as the distal portion of the elongated medical device approaches the target location,
update the remaining path length during movement of the elongated medical device,
determine whether the distal portion of the elongated medical device is off path,
adjust the position of the distal portion of the elongated medical device in response to the distal portion of the elongated medical device being off path,
advance the elongated medical device to the target location at a velocity, and
adjust the velocity based on the remaining path length, the velocity being proportional to the remaining path length.

13 more elements

Dependencies are inferred from the claim text.

Facts

Application: 19/377,587Filed 3 Nov 2025
Priority: 30 Oct 2018
Published: 5 Mar 2026
Term ends: Not estimatedThe source records don’t support an estimate.

Classification34 codes

A61B 90/37
Image-producing devices or illumination devices not otherwise provided for: surgical systems with images on a monitor during operation
A61B 5/0062
Using light, e.g. diagnosis by transillumination, diascopy, fluorescence: arrangements for scanning
A61B 5/6851
Mounted on an invasive device: guide wires
A61B 5/6852
Mounted on an invasive device: catheters

Family

Application16/175,333Division · filed 30 Oct 2018
Application18/428,011Continuation · filed 31 Jan 2024
Application19/377,587Continuation
Application18/428,011Division
US 11,918,423 B2Related patent
US 12,514,673 B2Related patent
US 2020/0129740 A1Published application
US 2024/0164865 A1Published application
US 2026/0060772 A1This patent

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

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