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US 9,014,851 B2Granted
Systems and methods for tracking robotically controlled medical instruments
AssigneeHansen Medical, Inc.
InventorsSerena Wong, Sean Walker, Jason Hsu, June Park, Neal Tanner, Kiran Murthy
Life of this patent
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Abstract
Systems and methods are described herein for tracking an elongate instrument or other medical instrument in an image.
Claims51
A robotic system for manipulating a tool with respect to a 3D model of a blood vessel, where the tool comprises a shape sensor coupled thereto, the system comprising:
- a robotic drive system comprising at least one actuator, the robotic drive system configured to couple with the tool to position the tool with respect to the 3D model, wherein the shape sensor on the tool senses a shape of the tool while in the blood vessel, and wherein the sensed shape of the tool in the blood vessel is correlated against features of the blood vessel in the 3D model;
- and
- a controller configured to compute a registration between a sensor reference frame and a 3D model reference frame such that the controller can direct the robotic drive system in the 3D model reference frame using the registration.
A system for controlling a medical device within a blood vessel in a patient for performing a procedure in the blood vessel, where the medical device comprises a shape sensor coupled thereto, the system comprising:
- a user input device;
- an actuator configured to manipulate and reposition the medical device with respect to a 3D model of the blood vessel, wherein the shape sensor on the medical device senses a shape of the medical device while in the blood vessel, and wherein the sensed shape of the medical device in the blood vessel is correlated against features of the blood vessel of the 3D model;
- and
- a controller configured to convert a user input into a plurality of signals based on registration of a shape sensor reference frame to a patient reference frame.
1 more element
Dependencies are inferred from the claim text.