Medical instrument and method for calibrating the same, and robotic system

Abstract

Medical instruments and methods of calibrating the same, and robotic systems are disclosed. The medical instruments can include an elongated shaft extending between a distal portion and a proximal portion, the elongated shaft for insertion into a cavity of a patient when in use, an instrument base connected to the proximal portion of the elongated shaft, the instrument base including an attachment interface to facilitate attachment to a robotic arm, a non-transitory computer readable medium storing a compression compensation parameter associating movement of the elongated shaft with axial compression of the elongated shaft, a pull wire connected to the distal portion of the elongated shaft, the pull wire extending along the elongated shaft between the distal portion and a drive input disposed at the instrument base, the drive input to actuate the pull wire based at least in part on the stored compression compensation parameter to cause movement of the elongated shaft.

Description

[0001] This application is a divisional application of the invention patent application filed on June 27, 2018, with application number 201880044223.4 and invention title "System and method for compression compensation of medical devices".

[0002] Related applications

[0003] This application claims priority to U.S. Patent Application No. 15 / 640,277, filed June 30, 2017, the contents of which are incorporated herein by reference. Technical Field

[0004] The systems and methods disclosed herein relate to medical devices, and more specifically to systems and methods for compensating for compression of the slender shaft of a medical device. Background Technology

[0005] Medical procedures may involve accessing and visualizing internal areas of a patient for diagnostic or therapeutic purposes. For example, endoscopy may include accessing and visualizing the interior of a patient's cavities (such as the airway). As another example, laparoscopy may include accessing and visualizing a patient's internal cavities. During the procedure, medical instruments, such as observation instruments, may be inserted into the patient's body, and the instruments may be passed through the observation instruments to reach tissue sites identified for diagnostic and / or therapeutic purposes.

[0006] In some cases, a medical device may include a slender shaft (or typically a slender body) that can be manipulated or engaged to travel within the patient's internal region. In other cases, a medical device may be robotically controlled. Summary of the Invention

[0007] The systems, techniques and apparatus disclosed herein are innovative in several ways, and none of these aspects alone are responsible for the desired properties disclosed herein.

[0008] In some cases, the medical device includes an elongated shaft configured for insertion into a patient's body. This elongated shaft may be engageable, allowing it to be navigated within the patient's body. The elongated shaft may include a traction cable capable of being actuated to engage the shaft. Movement based on the traction cable (i.e., movement caused by actuating the traction cable) may cause undesirable compression (e.g., axial compression) of the elongated shaft. The systems and methods of this disclosure can compensate for this compression by determining the amount of compression and using a device positioning device (e.g., a robotic arm) to move (e.g., advance) the medical device to compensate for the compression.

[0009] In some cases, compression compensation parameters are used to determine the compression of the slender shaft of a medical device. Compression compensation parameters correlate axial compression with characteristics based on traction line movement (e.g., traction line tension, traction line displacement, actuator displacement, command engagement angle, measured engagement angle, etc.). Compression compensation parameters can be determined during the calibration process of the medical device. These parameters can be stored in memory on the medical device (e.g., a non-transitory computer-readable medium).

[0010] Therefore, a first aspect of this disclosure relates to a medical device. The medical device includes an elongated shaft extending between a distal portion and a proximal portion. The elongated shaft is configured for insertion into a patient's cavity during use. The medical device also includes an instrument base connected to the proximal portion of the elongated shaft. The instrument base includes an attachment interface configured to facilitate attachment to a robotic arm. The medical device also includes a non-transitory computer-readable medium storing compression compensation parameters that correlate movement of the elongated shaft with axial compression of the elongated shaft. The medical device also includes a traction cable connected to the distal portion of the elongated shaft. The traction cable extends along the elongated shaft between the distal portion and a drive input disposed at the instrument base. The drive input is configured to actuate the traction cable, at least in part, based on the stored compression compensation parameters, to cause movement of the elongated shaft.

[0011] The medical device of the first aspect may include one or more of the following features in any combination: (a) movement of the elongated shaft includes engagement of the elongated shaft, and a compression compensation parameter correlates the engagement angle of the elongated shaft with the axial compression length of the elongated shaft; (b) the engagement angle includes a command engagement angle; (c) the engagement angle includes a measured engagement angle; (d) at least one electromagnetic (EM) sensor is disposed on the elongated shaft, and the measured engagement angle is determined based on a signal from the EM sensor; (e) the elongated shaft includes a shape sensing fiber, and the measured engagement angle is determined based on the shape sensing fiber; (f) at least one tension sensor is connected to a traction wire; (g) the compression compensation parameter correlates the tension of the traction wire measured by the tension sensor with the axial compression length of the elongated shaft; (h) the compression compensation parameter correlates the displacement of the traction wire with the axial compression length of the elongated shaft; (i) the drive input includes (j) A pulley, and a compression compensation parameter relating the rotation of the pulley to the axial compression length of the elongated shaft; (k) A drive input comprising at least one of the following: a lever, a trigger, a crank, and a cam; (l) A drive input comprising a linear drive input, and a compression compensation parameter relating a portion of the linear drive input to the axial compression length of the elongated shaft; (m) A non-transitory computer-readable medium comprising a radio frequency identification (RFID) tag; (n) An RFID tag being disposed at the base of the device; (o) An RFID tag being configured to transmit the compression compensation parameter when activated by an RFID reader of a robotic arm; (p) An elongated shaft comprising an endoscope; (q) An elongated shaft comprising a sheath having a channel formed through the sheath extending along the axis of the sheath; and / or (r) one or more additional traction lines.

[0012] In a second aspect, this disclosure relates to a robotic system. The robotic system includes a first medical device configured for insertion into a patient's cavity during use. The first device includes: a first elongated shaft; a first traction wire capable of being actuated to cause traction wire-based movement of the first elongated shaft; and a first device base including a first drive input for actuating the first traction wire. The system includes a first device positioning device attached to the first device base and configured to move to advance or retract the first device through the patient's cavity. The system includes at least one non-transitory computer-readable medium storing executable instructions thereon. The system also includes at least one processor communicating with the at least one non-transitory computer-readable medium and configured to execute instructions to cause the system to at least perform the following operations: determine axial compression of the first elongated shaft; and move the first device positioning device to advance or retract the first elongated shaft of the first device through the patient's cavity, thereby compensating for the determined axial compression of the first elongated shaft.

[0013] The second aspect of the robot system may include one or more of the following features in any combination: (a) instructions cause at least one processor to determine the axial compression of a first elongated shaft using compression compensation parameters, which correlate traction-based movement of the first elongated shaft with the axial compression of the first elongated shaft; (b) traction-based movement causes engagement of the elongated shaft, and the compression compensation parameters correlate the engagement angle of the elongated shaft with the axial compression length of the elongated shaft; (c) the engagement angle includes a commanded engagement angle; (d) the engagement angle includes a measured engagement angle; and (e) at least one EM sensor is mounted on the first elongated shaft. (f) A shape-sensing fiber on a first elongated shaft, wherein the measurement engagement angle is determined based on the shape-sensing fiber; (g) Compression compensation parameters are determined during the calibration process of the first medical device; (h) An RFID tag on the first medical device, the RFID tag storing the compression compensation parameters, and an RFID reader connected to at least one processor; (i) An RFID tag is disposed on the base of the first device, and an RFID reader is disposed on the first device positioning device; (j) The first medical device includes an endoscope; (k) The first... A medical device includes a sheath; (l) a second medical device configured for insertion into a patient's cavity through a working channel of a first device, the second device including a second elongated shaft, a second traction wire actuable to engage the second elongated shaft, and a base of the second device including a second drive input for actuating the second traction wire; a second device positioning device attached to the second device and configured to move to advance or retract the second device through the working channel of the first device, and wherein instructions cause at least one processor to perform the following operation: move the second device positioning device to allow the second elongated shaft of the second medical device to pass through the first device. The instructions are as follows: (m) the working channel of the second medical device is advanced or retracted; (n) the instructions are as follows: (m) the instruction causes at least one processor to: determine the axial compression of the second elongated shaft; and move the second instrument positioning device to advance or retract the second elongated shaft of the second medical device through the working channel of the first medical device, thereby compensating for the determined axial compression of the second elongated shaft; (n) the instruction causes at least one processor to move the second instrument positioning device to advance or retract the second elongated shaft of the second medical device through the working channel of the first medical device, thereby compensating for the determined axial compression of the first elongated shaft; and / or (o) the first instrument includes a sheath, and the second instrument includes an endoscope.

[0014] In a third aspect of this disclosure, a robotic system includes a first medical device configured for insertion into a patient's cavity during use. The first device includes: a first elongated shaft; a first traction wire actuated to engage the first elongated shaft; and a first device base including a first drive input for actuating the first traction wire. A first device positioning device is attached to the first device base and configured to move to advance or retract the first medical device through the patient's cavity. The robotic system also includes a second device configured for insertion into a patient's cavity through a working channel of the first medical device. The second medical device includes: a second elongated shaft; a second traction wire actuated to engage the second elongated shaft; and a second device base including a second drive input for actuating the second traction wire. A second device positioning device is attached to the second device base and configured to move to advance or retract the second device through the working channel of the first device. The system further includes: at least one non-transitory computer-readable medium storing executable instructions thereon; and at least one processor communicating with the at least one non-transitory computer-readable medium and configured to execute the instructions to cause the system to perform at least the following operations: determining axial compression of a first elongated shaft; moving a first instrument positioning device to advance the first elongated shaft of the first medical device through the patient's cavity, thereby compensating for a first portion of the determined axial compression of the first elongated shaft; and moving a second instrument positioning device to advance the second elongated shaft of the second medical device through the working channel of the first instrument, thereby compensating for a second portion of the determined axial compression of the first elongated shaft. The second portion may be larger than the first portion.

[0015] In a fourth aspect, a robotic system includes a first medical device configured for insertion into a patient's cavity during use. The first device includes: a first elongated shaft; a first traction wire actuated to engage the first elongated shaft; and a first device base including a first drive input for actuating the first traction wire. A first device positioning device is attached to the first device base and configured to move to advance or retract the first medical device through the patient's cavity. The system also includes a second device configured for insertion into the patient's cavity through a working channel of the first medical device. The second medical device includes: a second elongated shaft; a second traction wire actuated to engage the second elongated shaft; and a second device base including a second drive input for actuating the second traction wire. A second device positioning device is attached to the second device base and configured to move to advance or retract the second device through the working channel of the first device. The system further includes: at least one non-transitory computer-readable medium storing executable instructions thereon; and at least one processor communicating with the at least one non-transitory computer-readable medium and configured to execute the instructions to cause the system to perform at least the following operations: determining axial compression of a second elongated shaft; moving a first instrument positioning device to advance the first elongated shaft of the first medical device through the patient's cavity, thereby compensating for a first portion of the determined axial compression of the second elongated shaft; and moving a second instrument positioning device to advance the second elongated shaft of the second medical device through the working channel of the first instrument, thereby compensating for a second portion of the determined axial compression of the second elongated shaft. The second portion may be larger than the first portion.

[0016] In a fifth aspect of this disclosure, a non-transitory computer-readable storage medium has instructions stored thereon that, when executed, cause a processor of a device to perform at least the following operations: determining, at least in part, axial compression of a first elongated shaft of a first medical device based on information indicating traction line-based movement of an elongated shaft of a first medical device and compression compensation parameters; and moving a first device positioning device connected to the first medical device to compensate for the axial compression of the first elongated shaft.

[0017] The non-transitory computer-readable storage medium of the fifth aspect may include, in any combination, one or more of the following features: (a) information indicating movement based on the traction line, including information indicating command engagement for the first medical device; (b) information indicating movement based on the traction line, including information indicating measurement engagement for the first medical device; (c) compression compensation parameters determined during calibration of the first medical device; (d) compression compensation parameters relating the engagement angle of the first elongated shaft to the axial compression length of the first elongated shaft; (e) compression compensation parameters relating the tension in the traction line of the first device to the axial compression length of the first elongated shaft; (f) compression compensation parameters relating the displacement of the traction line of the first device to the axial compression length of the first elongated shaft; (g) compression compensation parameters relating the rotation of the pulley attached to the traction line of the first device to the axial compression length of the first elongated shaft; and / or (h) instructions, when executed, cause the processor to move the first device positioning device to advance the elongated shaft of the first engageable medical device into the patient's cavity.

[0018] In a sixth aspect of this disclosure, a method for calibrating a medical device including an engageable elongated shaft includes: determining a traction-line based movement for moving the elongated shaft to a first position; determining axial compression of the elongated shaft while it is in the first position; and determining a compression compensation parameter for the elongated shaft by associating the first position with the determined axial compression.

[0019] The sixth aspect of the method may include one or more of the following features in any combination: (a) engaging the elongated shaft to a first position; (b) engaging the elongated shaft including tensioning a traction wire connected to the distal portion of the elongated shaft; (c) wherein determining movement based on the traction wire includes measuring the tension of the traction wire; (d) attaching one or more space caps to the distal portion of the elongated shaft, said one or more space caps being configured to provide spatial data regarding the positioning and orientation of the distal portion of the elongated shaft, and wherein determining movement based on the traction wire includes analyzing the spatial data; (e) wherein determining axial compression includes analyzing the spatial data. Data; (f) wherein the elongated shaft includes a space sensor configured to provide spatial data regarding the positioning and orientation of a distal portion of the elongated shaft, and wherein determining movement based on the traction line includes analyzing the spatial data; (g) wherein determining axial compression includes analyzing the spatial data; (h) wherein one or more space caps include one or more EM sensors; (i) wherein determining axial compression includes measuring the length of the elongated shaft; (j) wherein determining engagement includes measuring the angle of the elongated shaft; and / or (k) storing compression compensation parameters in a non-transitory computer-readable medium of the first medical device. Attached Figure Description

[0020] The disclosed aspects will be described below in conjunction with the accompanying drawings, which are provided for illustrative purposes and not for limiting the scope of the disclosure, in which similar reference numerals denote similar elements.

[0021] Figure 1 An embodiment of a cart-based robotic system deployed for the diagnosis and / or treatment of bronchoscopy procedures is shown.

[0022] Figure 2 Depicting Figure 1 Another aspect of robotic systems.

[0023] Figure 3 The setup for ureteroscopy is shown. Figure 1 The implementation method of the robot system.

[0024] Figure 4 The image shows a device deployed for vascular surgery. Figure 1 The implementation method of the robot system.

[0025] Figure 5 An embodiment of a stage-based robotic system deployed for a bronchoscopy procedure is shown.

[0026] Figure 6 Provided Figure 5 Alternative views of the robot system.

[0027] Figure 7 An example system configured to retract a robotic arm is shown.

[0028] Figure 8 An implementation of a stage-based robotic system configured for a ureteroscopy procedure is shown.

[0029] Figure 9 An implementation of a stage-based robotic system configured for laparoscopic procedures is shown.

[0030] Figure 10 Showing pitch or roll adjustment Figures 5 to 9 Implementation methods of platform-based robot systems.

[0031] Figure 11 Provided Figures 5 to 10 A detailed diagram of the interface between the platform and the column in a platform-based robotic system.

[0032] Figure 12 An exemplary device driver is shown.

[0033] Figure 13 An exemplary medical device with paired device drivers is shown.

[0034] Figure 14 An alternative design for the instrument actuator and the instrument is shown, wherein the axis of the actuator is parallel to the axis of the slender axis of the instrument.

[0035] Figure 15 A block diagram illustrating a positioning system according to an example embodiment is depicted, the positioning system estimating Figures 1 to 10 The location of one or more components of a robotic system, for example Figures 13 to 14 The location of the instruments.

[0036] Figure 16A An embodiment of the slender shaft of a medical device is shown.

[0037] Figure 16B The example depicts axial compression caused by movement based on the traction line. Figure 16A The slender shaft of a medical device.

[0038] Figure 16C It depicts an example of axial compression caused by movement based on a traction line. Figure 16A The slender shaft of a medical device.

[0039] Figure 17A An embodiment coupled to an instrument positioning device is shown. Figure 16A Medical devices.

[0040] Figure 17B The movement is depicted to compensate for the axial compression caused by the traction-based movement of the medical device. Figure 17A An example of a device for adjusting the position of an instrument.

[0041] Figure 17C The movement is depicted to compensate for the axial compression caused by the traction-based movement of the medical device. Figure 17A An example of a device for adjusting the position of an instrument.

[0042] Figure 18 This is a flowchart illustrating an example method for compensating for compression of a medical device.

[0043] Figure 19A An example of a second medical device that extends and retracts within the working channel of a first medical device is shown.

[0044] Figure 19B An example of axial compression of a first and a second medical device caused by movement based on a traction line is depicted.

[0045] Figure 19C It is shown that compensation can be achieved by moving the first device positioning device and / or the second device positioning device, which are respectively coupled to the first medical device and the second medical device. Figure 19B Axial compression.

[0046] Figure 20 An embodiment of a medical device configured to compensate for axial compression is shown.

[0047] Figure 21 A block diagram depicts an implementation of a system configured to compensate for axial compression of a medical device.

[0048] Figure 22 This is a flowchart illustrating an example method for calibrating medical devices. Detailed Implementation

[0049] 1. Overview.

[0050] Various aspects of this disclosure can be integrated into robot-enabled medical systems capable of performing a variety of medical procedures, including minimally invasive procedures such as laparoscopy and non-invasive procedures such as endoscopy. During endoscopy, the system can perform bronchoscopy, ureteroscopy, gastroenterology examinations, etc.

[0051] In addition to performing a wide range of procedures, the system can provide additional benefits such as enhanced imaging and guidance to assist physicians. Furthermore, the system can provide physicians with the ability to perform procedures from ergonomic positions without requiring cumbersome arm movements and positioning. Moreover, the system can provide physicians with the ability to perform procedures with improved ease of use, allowing a single user to control one or more instruments in the system.

[0052] For illustrative purposes, various embodiments will be described below with reference to the accompanying drawings. It should be understood that many other implementations of the disclosed concepts are possible, and various advantages can be achieved using the disclosed implementations. Titles are included herein for reference and to facilitate locating various sections. These title points are not intended to limit the scope of the concepts described with respect to the title points. These concepts may be applicable throughout the specification.

[0053] A. Robotic System - Cart

[0054] Depending on the specific process, robotic-enabled medical systems can be configured in various ways. Figure 1An embodiment of a trolley-based robotic-enabled system 10 arranged for diagnostic and / or therapeutic bronchoscopy procedures is illustrated. During bronchoscopy, system 10 may include a trolley 11 having one or more robotic arms 12 to deliver medical instruments (e.g., a steerable endoscope 13, which may be a bronchoscope specifically designed for bronchoscopy procedures) to a natural orifice entry point (i.e., in this example, the patient's mouth on the table) to deliver diagnostic and / or therapeutic tools. As shown, trolley 11 may be positioned near the patient's upper torso to provide access to this entry point. Similarly, robotic arms 12 may be actuated to position the bronchoscope relative to the entry point. This can also be used when performing GI procedures using a gastroscope (a specialized endoscope for gastrointestinal (GI) procedures). Figure 1 The layout within. Figure 2 A more detailed description of an example implementation of the cart is provided.

[0055] Continue to refer to Figure 1 Once the trolley 11 is correctly positioned, the robotic arm 12 can automatically, manually, or in combination thereof insert the steerable endoscope 13 into the patient. As shown, the steerable endoscope 13 may include at least two telescopic portions, such as an inner guide portion and an outer sheath portion, each coupled to a separate instrument actuator from the set of instrument actuators 28, each instrument actuator coupled to the distal end of a separate robotic arm. This linear arrangement of the instrument actuators 28, facilitating coaxial alignment of the guide portion and the sheath portion, creates a “virtual track” 29, which can be repositioned in space by manipulating one or more robotic arms 12 to different angles and / or positions. The virtual track described herein is depicted using dashed lines in the figures, and therefore does not depict any physical structure of the system. Translation of the instrument actuators 28 along the virtual track 29 causes the inner guide portion to extend or retract relative to the outer sheath portion, or causes the endoscope 13 to advance or retract relative to the patient. The angle of the virtual track 29 can be adjusted, translated, and pivoted based on clinical application or physician preference. For example, in bronchoscopy, the angle and position of the virtual track 29 shown represent a trade-off between providing the physician with access to the endoscope 13 and minimizing friction caused by the endoscope 13 bending into the patient's mouth.

[0056] Precise commands from the robotic system can be used to guide the endoscope 13 along the patient's trachea and lungs after insertion until the target destination or surgical site is reached. To enhance navigation through the patient's lung network and / or reach the desired target, the endoscope 13 can be manipulated to telescopically extend the inner guide portion from the outer sheath portion for enhanced engagement and a larger radius of curvature. The use of separate instrument actuators 28 also allows the guide portion and sheath portion to be driven independently of each other.

[0057] For example, endoscope 13 can be guided to deliver a biopsy needle to a target, such as a lesion or nodule in a patient's lung. The needle can be deployed along the working channel, which extends the length of the endoscope, to obtain a tissue sample to be analyzed by a pathologist. Based on the pathological findings, additional tools can be deployed along the working channel of the endoscope for additional biopsies. After the nodule is identified as malignant, endoscope 13 can deliver tools endoscopically to remove the potential cancerous tissue. In some cases, diagnostic and therapeutic procedures may need to be delivered in separate procedures. In those cases, endoscope 13 can also be used to deliver a reference point to also "mark" the location of the target nodule. In other cases, diagnostic and therapeutic procedures can be delivered during the same procedure.

[0058] System 10 may also include a movable tower 30, which can be connected to the cart 11 via support cables to provide control, electronics, fluid dynamics, optics, sensors, and / or power support to the cart 11. Placing such functionality in the tower 30 allows for easier adjustment and / or relocation of the smaller form factor of the cart 11 by the operating physician and his / her staff. Furthermore, the functional separation between the cart / table and the support tower 30 reduces operating room clutter and facilitates improved clinical workflow. While the cart 11 can be positioned close to the patient, the tower 30 can be stowed in a remote location to avoid obstructing the path during procedures.

[0059] To support the aforementioned robotic system, tower 30 may include one or more components of a computer-based control system, which stores computer program instructions, for example, in a non-transitory computer-readable storage medium such as a permanent magnetic storage drive or a solid-state drive. The execution of these instructions—whether occurring within tower 30 or in cart 11—can control the entire system or one or more of its subsystems. For example, when executed by the processor of the computer system, the instructions can cause components of the robotic system to actuate associated brackets and arm mounts, actuate the robotic arm, and control medical devices. For instance, in response to receiving a control signal, motors in the joints of the robotic arm can position the arm into a specific posture.

[0060] Tower 30 may also include pumps, flow meters, valve controllers, and / or fluid inlets to provide controlled flushing and suction capabilities to a system that can be deployed via endoscope 13. These components may also be controlled using a computer system of tower 30. In some embodiments, flushing and suction capabilities may be delivered directly to endoscope 13 via (one or more) separate cables.

[0061] Tower 30 may include voltage and surge protectors designed to provide filtered and protected power to trolley 11, thereby avoiding the placement of power transformers and other auxiliary power components in trolley 11, resulting in a smaller, more mobile trolley 11.

[0062] Tower 30 may also include support equipment for sensors deployed throughout the robotic system 10. For example, tower 30 may include optoelectronic devices for detecting, receiving, and processing data received from optical sensors or camera devices throughout the robotic system 10. In conjunction with a control system, such optoelectronic devices can be used to generate real-time images for display in any number of consoles deployed throughout the system (including displays within tower 30). Similarly, tower 30 may also include electronic subsystems for receiving and processing signals received from deployed electromagnetic (EM) sensors. Tower 30 may also be used to house and mount an EM field generator for detection by EM sensors in or on a medical device.

[0063] In addition to other consoles available in the rest of the system (e.g., a console mounted on top of the cart), tower 30 may also include console 31. Console 31 may include a user interface and display screen, such as a touchscreen, for physician operators. Consoles in system 10 are generally designed to provide preoperative and real-time information on robot control and procedures, such as navigation and positioning information for endoscope 13. When console 31 is not the only console available to the physician, it may be used by a second operator, such as a nurse, to monitor the patient's health or vital signs and the operation of the system, as well as to provide process-specific data, such as navigation and positioning information.

[0064] Tower 30 can be coupled to cart 11 and endoscope 13 via one or more cables or connections (not shown). In some embodiments, support functions from tower 30 can be provided to cart 11 via a single cable, thereby simplifying and decluttering the operating room. In other embodiments, specific functions can be coupled in separate cables and connections. For example, while power to the cart can be provided via a single power cable, support for control, optics, flow control, and / or navigation can also be provided via separate cables.

[0065] Figure 2 Provided Figure 1 The illustration shows a detailed implementation of a trolley-based robot enabling system. The trolley 11 typically includes an elongated support structure 14 (commonly referred to as a "post"), a trolley base 15, and a control console 16 at the top of the post 14. The post 14 may include supports for one or more robotic arms 12. Figure 2The deployment of one or more brackets, such as bracket 17 (or alternatively, "arm"), is shown in three. Bracket 17 may include individually configurable arm mounts that rotate along a vertical axis to adjust the base of the robotic arm 12 for better placement relative to the patient. Bracket 17 also includes a bracket interface 19 that allows the bracket 17 to translate vertically along the post 14.

[0066] The bracket interface 19 is connected to the column 14 via a slot, such as slot 20, which is positioned on the opposite side of the column 14 to guide the vertical translation of the bracket 17. Slot 20 contains a vertical translation interface for positioning and holding the bracket at various vertical heights relative to the trolley base 15. The vertical translation of the bracket 17 allows the trolley 11 to adjust the reach of the robotic arm 12 to accommodate various table heights, patient sizes, and physician preferences. Similarly, individually configurable arm mounts on the bracket 17 allow the robotic arm base 21 of the robotic arm 12 to be configured at various angles.

[0067] In some embodiments, slot 20 may be supplemented with a slot cover flush and parallel to the slot surface to prevent dust and fluid from entering the vertical translation interface and the internal chamber of column 14 during vertical translation of bracket 17. The slot cover can be deployed via a pair of spring reels located near the vertical top and bottom of slot 20. The cover is coiled within the reels until it is deployed to extend and retract from its coiled state as bracket 17 translates vertically up and down. The spring loading of the reels provides a force to retract the cover back into the reels as bracket 17 translates towards the reels, while maintaining a tight seal as bracket 17 translates away from the reels. The cover can be attached to bracket 17 using, for example, a bracket in bracket interface 19, to ensure proper extension and retraction of the cover during translation of bracket 17.

[0068] The column 14 may internally include mechanisms such as gears and motors, which are designed to mechanically translate the bracket 17 in response to a control signal generated in response to user input (e.g., input from the console 16) using vertically aligned lead screws.

[0069] A robotic arm 12 typically includes a robotic arm base 21 and an end effector 22 separated by a series of links 23 connected by a series of joints 24, each joint including an independent actuator, and each actuator including an independently controllable motor. Each independently controllable joint represents an independent degree of freedom available to the robotic arm. Each arm 12 has seven joints, thus providing seven degrees of freedom. Multiple joints result in multiple degrees of freedom, thereby allowing “redundant” degrees of freedom. Redundant degrees of freedom allow the robotic arm 12 to position its respective end effector 22 at specific locations, orientations, and trajectories in space using different link positions and joint angles. This allows the system to position and guide medical devices from desired points in space, while allowing physicians to move the arm joints away from a clinically advantageous position away from the patient to achieve greater access while avoiding arm collisions.

[0070] The trolley base 15 balances the weight of the column 14, bracket 17, and arm 12 on the floor. Therefore, the trolley base 15 houses heavier components such as electronics, motors, power supplies, and components that enable the trolley to move and / or be secured. For example, the trolley base 15 includes rollable wheel-shaped casters 25 that allow the trolley to be easily moved around the room before the process. Once in place, the casters 25 can be secured using wheel locks to hold the trolley 11 in place during the process.

[0071] The console 16, positioned at the vertical end of column 14, allows both a user interface for receiving user input and a display screen (or dual-purpose device, such as touchscreen 26) to provide both preoperative and intraoperative data to the physician user. Potential preoperative data on touchscreen 26 may include navigation and mapping data derived from preoperative computed tomography (CT) scans, preoperative planning, and / or annotations from preoperative patient interviews. Intraoperative data on the display may include optical information from tools and sensors, coordinate information from sensors, and important patient statistics such as respiration, heart rate, and / or pulse. The console 16 can be positioned and tilted to allow the physician to access it from the side of column 14 opposite to bracket 17. From this position, the physician can operate the console 16 from behind cart 11 while simultaneously observing the console 16, robotic arm 12, and patient. As shown, the console 16 also includes handles 27 for assisting in manipulating and stabilizing cart 11.

[0072] Figure 3An embodiment of a robot-enabled system 10 arranged for ureteroscopy is shown. During ureteroscopy, a trolley 11 can be positioned to deliver a ureteroscope 32—a procedure-specific endoscope designed to traverse the patient's urethra and ureter—to the patient's lower abdominal region. During ureteroscopy, it is desirable to align the ureteroscope 32 directly with the patient's urethra to reduce friction and force on sensitive anatomical structures in that region. As shown, the trolley 11 can be aligned at the foot of the table to allow the robotic arm 12 to position the ureteroscope 32 for direct linear access to the patient's urethra. From the foot of the table, the robotic arm 12 can insert the ureteroscope 32 directly through the urethra into the patient's lower abdomen along a virtual track 33.

[0073] After insertion into the urethra, using control techniques similar to those used in bronchoscopy, the ureteroscope 32 can be navigated to the bladder, ureter, and / or kidney for diagnostic and / or therapeutic applications. For example, the ureteroscope 32 can be guided into the ureter and kidney to break up accumulated kidney stones using a laser or ultrasonic lithotripsy device deployed along the working channel of the ureteroscope 32. After lithotripsy is complete, the resulting stone fragments can be removed using a basket deployed along the ureteroscope 32.

[0074] Figure 4 An embodiment of a similarly arranged robotic-enabled system for vascular surgery is illustrated. In vascular surgery, system 10 can be configured such that a trolley 11 can deliver a medical device 34, such as a manipulable catheter, to an entry point in the femoral artery in the patient's leg. The femoral artery provides both a large diameter for navigation and a relatively less circuitous and tortuous path to the patient's heart—which simplifies navigation. As during ureteroscopy, trolley 11 can be positioned toward the patient's leg and lower abdomen to allow robotic arm 12 to provide a virtual track 35 with direct linear access to the femoral artery entry point in the patient's thigh / hip region. After artery insertion, the medical device 34 can be guided and inserted via translational instrument actuator 28. Alternatively, the trolley can be positioned around the patient's upper abdomen to reach alternative vascular entry points, such as the carotid and brachial arteries near the shoulder and wrist.

[0075] B. Robot System - Unit.

[0076] The implementation of robot-enabled medical systems can also incorporate patient tables. Integrating with a table reduces the amount of capital equipment in the operating room by removing trolleys, allowing for greater accessibility to the patient. Figure 5An embodiment of such a robot-enabled system arranged for a bronchoscopy procedure is shown. System 36 includes a support structure or column 37 for supporting a platform 38 (shown as a "table" or "bed") on a floor. Much like in a trolley-based system, the end effector of the robotic arm 39 of system 36 includes an instrument actuator 42, which is designed to manipulate elongated medical instruments, such as [instrument name missing], via or along a virtual track 41 formed by the linear alignment of the instrument actuator 42. Figure 5 The bronchoscope 40 is used in the bronchoscopy. In practice, the C-arm used to provide fluoroscopic imaging can be positioned above the patient's upper abdominal region by placing the transmitter and detector around the stage 38.

[0077] Figure 6 Alternative views of system 36 without a patient and medical devices are provided for discussion purposes. As shown, column 37 may include one or more brackets 43, shown as annular in system 36, from which one or more robotic arms 39 may be positioned to reach the patient. The brackets 43 may translate along a vertical column interface 44 extending along the length of column 37 to provide different vantage points from which the robotic arms 39 may be positioned to reach the patient. The brackets 43 may be rotated about column 37 using mechanical motors located within column 37 to allow the robotic arms 39 to approach multiple sides of table 38, such as the sides of the patient. In embodiments with multiple brackets, the brackets may be positioned separately on the column and may translate and / or rotate independently of the other brackets. While the brackets 43 need not be about column 37 or even circular, the annular shape shown facilitates rotation of the brackets 43 about column 37 while maintaining structural balance. Rotation and translation of the brackets 43 allow the system to align medical instruments such as endoscopes and laparoscopes to different entry points on the patient.

[0078] Arm 39 can be mounted on a bracket via a set of arm mounts 45, which include a series of joints that can be individually rotated and / or telescopically extended to provide additional configurability for the robotic arm 39. Furthermore, arm mounts 45 can be positioned on a bracket 43 such that, when the bracket 43 is properly rotated, arm mounts 45 can be positioned on the same side of the stage 38 (e.g., ...). Figure 6 As shown), on the opposite side of platform 38 (as shown) Figure 9 (as shown), or on the adjacent side of platform 38 (not shown).

[0079] Column 37 structurally provides support for platform 38 and provides a path for the vertical translation of the bracket. Internally, column 37 may be equipped with a guide screw for guiding the vertical translation of the bracket, and a motor that mechanizes the translation of the bracket based on the guide screw. Column 37 can also transmit electrical and control signals to bracket 43 and robotic arm 39 mounted on bracket.

[0080] Taiwan base 46 and Figure 2 The trolley base 15 in the illustrated trolley 11 serves a similar function, namely, to accommodate heavier components to balance the table / bed 38, column 37, bracket 43, and robot arm 39. The table base 46 may also include rigid casters for providing stability during the process. When deployed from the bottom of the table base 46, the casters can extend in opposite directions on both sides of the base 46 and retract when the system 36 needs to be moved.

[0081] Continue to refer to Figure 6 System 36 may also include a tower (not shown) that divides the functionality of system 36 between the table and the tower to reduce the form factor and volume of the table. As in earlier disclosed embodiments, the tower may provide various support functions for the table, such as processing, computing and control capabilities, power, flow control and / or optical and sensor processing. The tower may also be movable to be positioned away from the patient, thereby improving physician accessibility and keeping the operating room uncluttered. Furthermore, placing components in the tower allows for more storage space in the table base for potential retraction of the robotic arm. The tower may also include a console that provides a user interface for user input (e.g., a keyboard and / or pendant) and a display screen (or touchscreen) for preoperative and intraoperative information (e.g., real-time imaging, navigation and tracking information).

[0082] In some implementations, the platform base can retract and store the robotic arm when not in use. Figure 7 A system 47 for retracting a robotic arm is illustrated in an embodiment of a platform-based system. In system 47, a bracket 48 can be vertically translated into a base 49 to retract the robotic arm 50, arm mount 51, and bracket 48 within the base 49. A base cover 52 can be translated and retracted to open to deploy the bracket 48, arm mount 51, and arm 50 around a post 53, and closed to retract to protect the bracket, arm mount, and arm when not in use. The base cover 52 can be sealed with a membrane 54 along the edge of the opening of the base cover to prevent dust and fluid from entering when closed.

[0083] Figure 8An embodiment of a robot-enabled table-based system configured for a ureteroscopy procedure is illustrated. In the ureteroscopy, table 38 may include a rotating portion 55 for positioning the patient at an angle to the column 37 and table base 46. The rotating portion 55 may rotate or pivot about a pivot point (e.g., below the patient's head) to position the bottom portion of the rotating portion 55 away from the column 37. For example, pivoting the rotating portion 55 allows a C-arm (not shown) to be positioned above the patient's lower abdomen without competing for space with the column (not shown) below table 38. By rotating a bracket 35 (not shown) about the column 37, a robotic arm 39 can insert a ureteroscope 56 directly into the patient's groin region along a virtual track 57 to reach the urethra. During the ureteroscopy, stirrups 58 may also be attached to the rotating portion 55 of table 38 to support the patient's legs during the procedure and allow unobstructed access to the patient's groin region.

[0084] During laparoscopy, minimally invasive instruments (elongated in shape to fit the size of one or more incisions) are inserted into the patient's anatomy through one or more small incisions in the abdominal wall. After the abdominal cavity is inflated, instruments commonly referred to as laparoscopes can be guided to perform surgical tasks such as grasping, cutting, removing, and suturing. Figure 9 An implementation of a robot-enabled, platform-based system configured for laparoscopic procedures is shown. Figure 9 As shown, the bracket 43 of the system 36 can be rotated and vertically adjusted to position the pair of robotic arms 39 on opposite sides of the table 38, so that the laparoscope 59 can be positioned through the patient's sides with minimal incisions using the arm mount 45 to reach his / her abdominal cavity.

[0085] To accommodate the laparoscopic procedure, the robot-enabled platform system can also tilt the platform to the desired angle. Figure 10 An implementation of a robot-enabled medical system with pitch or tilt adjustment is shown. For example... Figure 10 As shown, system 36 can adapt to the tilt of platform 38, allowing one part of the platform to be positioned at a greater distance from the ground than another part. Furthermore, arm mount 45 can rotate to match the tilt, ensuring that arm 39 maintains the same planar relationship with platform 38. To accommodate steeper angles, column 37 may also include a telescopic portion 60 that allows vertical extension of column 37 to prevent platform 38 from contacting the ground or colliding with base 46.

[0086] Figure 11Detailed illustrations are provided of the interface between platform 38 and column 37. The pitch-rotation mechanism 61 can be configured to change the pitch angle of platform 38 relative to column 37 with multiple degrees of freedom. The pitch-rotation mechanism 61 can be implemented by placing orthogonal axes 1 and 2 at the column interface, each axis being actuated by separate motors 2 and 4 in response to electric pitch angle commands. Rotation along one screw 5 enables tilt adjustment along one axis 1, while rotation along another screw 6 enables tilt adjustment along another axis 2.

[0087] For example, pitch adjustment is particularly useful when attempting to position the table in a trendelenburg position (i.e., where the patient's lower abdomen is higher than the ground) for lower abdominal surgery. The trendelenburg position allows the patient's internal organs to slide down to their upper abdomen due to gravity, thus clearing the abdominal cavity for minimally invasive instruments to enter and perform lower abdominal surgical procedures, such as laparoscopic prostatectomy.

[0088] C. Instrument drivers and interfaces.

[0089] The end effector of the system's robotic arm includes: (i) an instrument actuator (alternatively referred to as an "instrument drive mechanism" or "instrument device manipulator"), which incorporates electromechanical devices for actuating the medical device; and (ii) a removable or detachable medical device, which may lack any electromechanical components such as motors. This dichotomy can be driven by the need to sterilize medical devices used in medical procedures and the inability to adequately sterilize expensive capital equipment due to its complex mechanical components and sensitive electronics. Therefore, medical devices can be designed to be detached, removed, and interchanged from the instrument actuator (and thus from the system) for individual sterilization or disposal by a physician or physician staff. In contrast, the instrument actuator does not require alteration or sterilization and can be covered with a curtain for protection.

[0090] Figure 12 An example instrument actuator is shown. The instrument actuator 62, positioned at the distal end of a robotic arm, includes one or more drive units 63 arranged parallel to axes to provide controlled torque to a medical device via drive shafts 64. Each drive unit 63 includes a separate drive shaft 64 for interacting with the device, a gear head 65 for converting motor shaft rotation into desired torque, a motor 66 for generating drive torque, an encoder 67 for measuring the speed of the motor shaft and providing feedback to control circuitry, and control circuitry 68 for receiving control signals and actuating the drive unit. Each drive unit 63 is independently controlled and motorized, and the instrument actuator 62 can provide multiple (e.g., ...) drive units to the medical device. Figure 12Four independent drive outputs are shown. In operation, the control circuit 68 receives control signals, transmits motor signals to the motor 66, compares the generated motor speed measured by the encoder 67 with the desired speed, and modulates the motor signals to generate the desired torque.

[0091] For processes requiring a sterile environment, robotic systems can incorporate a drive interface located between the instrument actuator and the medical device, such as a sterile adapter connected to a sterile drape. The primary purpose of the sterile adapter is to transmit angular motion from the drive shaft of the instrument actuator to the drive input of the device, while maintaining physical separation between the drive shaft and the drive input, and thus preserving sterility. Therefore, an example sterile adapter may include a series of rotary inputs and outputs designed to mate with the drive shaft of the instrument actuator and the drive input on the device. The sterile drape, composed of a thin, flexible material (e.g., transparent or translucent plastic), connected to the sterile adapter, is designed to cover capital equipment such as the instrument actuator, robotic arm, and trolley (in trolley-based systems) or table (in table-based systems). Using this drape allows capital equipment to be positioned near the patient while still within an area that does not require sterilization (i.e., a non-sterile area). On the other side of the sterile drape, the medical device can dock with the patient in an area requiring sterilization (i.e., a sterile area).

[0092] D. Medical devices.

[0093] Figure 13 An example medical device with a mated instrument actuator is shown. Similar to other devices designed for use with robotic systems, the medical device 70 includes an elongated shaft 71 (or elongated body) and an instrument base 72. The instrument base 72, also referred to as an “instrument handle” due to its intended design for manual interaction by a physician, typically includes a rotatable drive input 73, such as a socket, pulley, or reel, designed to mate with a drive output 74 on a drive interface extending through the distal end of the robotic arm 76. When physically connected, latched, and / or coupled, the mated drive input 73 of the instrument base 72 can share a rotational axis with the drive output 74 in the instrument driver 75 to allow torque to be transmitted from the drive output 74 to the drive input 73. In some embodiments, the drive output 74 may include a spline designed to mate with a socket on the drive input 73.

[0094] The elongated shaft 71 is designed to be delivered through anatomical openings or cavities (e.g., in endoscopy) or through minimally invasive incisions (e.g., in laparoscopy). The elongated shaft 66 can be flexible (e.g., having endoscope-like properties) or rigid (e.g., having laparoscopy-like properties), or a customized combination of both flexible and rigid portions. When designed for laparoscopy, the distal end of the rigid elongated shaft can be connected to an end effector comprising an articulated wrist formed by a U-shaped clamp with a rotation axis and a surgical tool (e.g., a gripper or scissors) that can be actuated based on forces from a tendon when the drive input rotates in response to torque received from the drive output 74 of the instrument actuator 75. When designed for endoscopy, the distal end of the flexible elongated shaft can include a manipulable or controllable bending portion that can be engaged and bent based on torque received from the drive output 74 of the instrument actuator 75.

[0095] Torque from the instrument actuator 75 is transmitted along the elongated shaft 71 using tendons within the shaft 71. These individual tendons (e.g., traction cables) can be individually anchored to individual drive inputs 73 within the instrument handle 72. The tendons are guided from the handle 72 along one or more traction cavities within the elongated shaft 71 and anchored at the distal portion of the elongated shaft 71. In laparoscopy, these tendons can be coupled to distally mounted end effectors, such as wrists, grippers, or scissors. In such an arrangement, the torque applied to the drive input 73 transmits tension to the tendons, thereby actuating the end effector in a certain way. In laparoscopy, the tendons can rotate the joint about the axis, thereby moving the end effector in one direction or the other. Alternatively, the tendons can be connected to one or more jaws of a gripper at the distal end of the elongated shaft 71, where tension from the tendons causes the gripper to close.

[0096] During endoscopy, tendons can be coupled via adhesives, control rings, or other mechanical fasteners to a curved or engaging segment positioned along an elongated axis 71 (e.g., distally). When securely attached to the distal end of the curved segment, torque applied to drive input 73 is transmitted along the tendon, causing the softer curved segment (sometimes referred to as the engaging segment or region) to bend or engage. Along non-curved segments, it is advantageous to guide individual traction cavities of the tendons along the wall of the endoscope axis (or within the wall of the endoscope axis) in spiral or coil to balance the radial forces generated by tension in the traction line. For specific purposes, the spacing and / or angle of the spirals can be varied or designed, with tighter spirals exhibiting less axial compression under load, while smaller spiral amounts cause greater axial compression under load but also exhibit limited bending. Alternatively, the traction cavities can be oriented parallel to the longitudinal axis of the elongated axis 71 to allow controlled engagement in the desired curved or engaging segment.

[0097] In endoscopic procedures, an elongated shaft 71 houses multiple components to assist in robotic procedures. The shaft may include a working channel for deploying surgical instruments, irrigation, and / or suction to a surgical area at the distal end of the shaft 71. The shaft 71 may also house wires and / or optical fibers to transmit signals to / from optical components at the distal end, wherein the optical components may include optical imaging devices. The shaft 71 may also house optical fibers to transmit light from a nearby light source (e.g., a light-emitting diode) to the distal end of the shaft.

[0098] At the distal end of the instrument 70, the distal end may also include an opening for delivering tools for diagnostic and / or treatment, irrigation, and aspiration to the surgical site. The distal end may also include a port for an imaging device, such as a fiberoptic endoscope or a digital imaging device, to capture images of the internal anatomical space. Relatedly, the distal end may also include a port for a light source, which is used to illuminate the anatomical space when the imaging device is used.

[0099] exist Figure 13 In the example, the drive shaft axis, and therefore the drive input axis, is orthogonal to the axis of the slender shaft. However, this arrangement complicates the rolling capability of the slender shaft 71. When the tendon extends away from the drive input 73 and into the traction cavity within the slender shaft 71, rolling the slender shaft 71 along its axis while keeping the drive input 73 stationary can cause undesirable tangling of the tendon. Such eventual tangling of the tendon can disrupt any control algorithms designed to predict the movement of the flexible slender shaft during endoscopic procedures.

[0100] Figure 14Alternative designs for instrument actuators and instruments are shown, wherein the axes of the drive units are parallel to the axis of the slender shaft of the instrument. As shown, a circular instrument actuator 80 includes four drive units whose drive outputs 81 are aligned parallel to each other at the end of a robot arm 82. The drive units and their respective drive outputs 81 are housed in a rotating assembly 83 of the instrument actuator 80, which is driven by one of the drive units within the assembly 83. In response to torque provided by the rotating drive unit, the rotating assembly 83 rotates along a circular bearing that connects the rotating assembly 83 to the non-rotating portion 84 of the instrument actuator. Electrical and control signals can be transmitted from the non-rotating portion 84 of the instrument actuator 80 to the rotating assembly 83 via electrical contacts, which can be maintained by rotation of a brush slip ring connection (not shown). In other embodiments, the rotating assembly 83 may respond to a separate drive unit integrated into a non-rotating portion 84 and is therefore not parallel to the other drive units. The rotation mechanism 83 allows the instrument actuator 80 to rotate the drive units and their respective drive outputs 81 as a single unit about an axis 85 of the instrument actuator.

[0101] Similar to the previously disclosed embodiments, the instrument 86 may include an elongated shaft portion 88 and an instrument base 87 (shown in transparent form for discussion purposes), the instrument base 87 including a plurality of drive inputs 89 (e.g., sockets, pulleys, and reels) configured to receive drive outputs 81 in the instrument driver 80. Unlike the previously disclosed embodiments, the instrument shaft 88 extends from the center of the instrument base 87, wherein the axis is substantially parallel to the axes of the drive inputs 89, rather than as... Figure 13 It is orthogonal as in the design.

[0102] When coupled to the rotating assembly 83 of the instrument driver 80, the medical instrument 86, including the instrument base 87 and the instrument shaft 88, rotates about the instrument driver axis 85 in conjunction with the rotating assembly 83. Since the instrument shaft 88 is located at the center of the instrument base 87, it is coaxial with the instrument driver axis 85 when attached. Therefore, rotation of the rotating assembly 83 causes the instrument shaft 88 to rotate about its own longitudinal axis. Furthermore, when the instrument base 87 rotates together with the instrument shaft 88, any tendons connected to the drive input 89 in the instrument base 87 do not become entangled during rotation. Therefore, the parallelism of the axes of the drive output 81, the drive input 89, and the instrument shaft 88 allows for shaft rotation without entanglement of any control tendons.

[0103] E. Navigation and control.

[0104] Traditional endoscopy may include the use of fluoroscopy (e.g., delivery via a C-arm) and other forms of radiation-based imaging modalities to provide endoscopic guidance to the operating physician. In contrast, the robotic systems envisioned in this disclosure can provide radiation-free navigation and positioning means to reduce physician radiation exposure and the number of devices required in the operating room. As used herein, the term "positioning" may refer to determining and / or monitoring the location of an object in a reference coordinate system. Techniques such as preoperative mapping, computer vision, real-time EM tracking, and robot command data can be used individually or in combination to achieve a radiation-free operating environment. In other cases where radiation-based imaging modalities are still used, preoperative mapping, computer vision, real-time EM tracking, and robot command data can be used individually or in combination to improve upon information obtained solely through radiation-based imaging modalities.

[0105] Figure 15 This is a block diagram illustrating a positioning system 90 for estimating the position (e.g., the position of an instrument) of one or more components of a robotic system according to an exemplary embodiment. The positioning system 90 may be a collection of one or more computer devices configured to execute one or more instructions. The computer devices may be implemented using a processor (or multiple processors) and computer-readable storage from one or more components discussed above. By way of example and not limitation, the computer devices may be... Figure 1 Tower 30 shown Figures 1 to 4 The trolley shown Figures 5 to 10 The bed, etc. shown.

[0106] like Figure 15 As shown, the positioning system 90 may include a positioning module 95 that processes input data 91 to 94 to generate position data 96 for the distal end of a medical device. The position data 96 may be data or logic representing the position and / or orientation of the distal end of the device relative to a reference frame. The reference frame may be relative to the patient's anatomy or relative to a known object—such as an EM field generator (see the discussion of EM field generators below).

[0107] The various input data are now described in more detail 91 to 94. Preoperative mapping can be accomplished using a collection of low-dose CT scans. Preoperative CT scans generate two-dimensional images, each representing a “slice” of a cross-sectional view of the patient’s internal anatomy. When analyzed holistically, an image-based model of the anatomical cavities, spaces, and structures of the patient’s anatomy (e.g., the patient’s lung network) can be generated. Techniques such as centerline geometry can be determined and approximated from the CT images to form a three-dimensional volume of the patient’s anatomy, referred to as preoperative model data 91. The use of centerline geometry is discussed in U.S. Patent Application No. 14 / 523,760, the entire contents of which are incorporated herein by reference. Network topology models can also be derived from CT images and are particularly well-suited for bronchoscopy.

[0108] In some implementations, the instrument may be equipped with a camera to provide visual data 92. The positioning module 95 may process the visual data to enable one or more vision-based position tracking methods. For example, preoperative model data may be combined with visual data 92 to enable computer vision-based tracking of a medical instrument (e.g., an endoscope or an instrument that advances through the working channel of an endoscope). For example, using preoperative model data 91, the robotic system may generate a library of expected endoscopic images based on the model, with each image linked to a location within the model, based on the expected path of the endoscope. During surgery, the robotic system may refer to this library to compare real-time images captured at a camera (e.g., a camera at the distal end of the endoscope) with images in the image library to aid in positioning.

[0109] Other computer vision-based tracking techniques use feature tracking to determine the motion of the camera device, and thus the motion of the endoscope. Some features of the positioning module 95 can identify circular geometries corresponding to anatomical cavities in the preoperative model data 91 and track changes in those geometries to determine which anatomical cavity was selected, as well as the relative rotational and / or translational motion of the camera device. The use of a topology map can further enhance vision-based algorithms or techniques.

[0110] Optical flow, another computer vision-based technique, analyzes the displacement and translation of image pixels in a video sequence within visual data 92 to infer the movement of the camera device. By utilizing multiple iterations of comparison across multiple frames, the movement and position of the camera device (and therefore the endoscope) can be determined.

[0111] The positioning module 95 can use real-time EM tracking to generate the real-time position of the endoscope in a global coordinate system, which can be registered to the patient's anatomy represented by a preoperative model. In EM tracking, an EM sensor (or tracker) comprising one or more sensor coils embedded in the medical instrument (e.g., an endoscopic tool) at one or more locations and orientations measures changes in the EM field generated by one or more static EM field generators positioned at known locations. The positional information detected by the EM sensor is stored as EM data 93. The EM field generator (or transmitter) can be placed close to the patient to generate a low-intensity magnetic field detectable by the embedded sensor. The magnetic field induces a small current in the sensor coil of the EM sensor, which can be analyzed to determine the distance and angle between the EM sensor and the EM field generator. These distances and orientations can be "registered" to the patient's anatomy (e.g., a preoperative model) during surgery to determine the geometric transformations that align individual positions in the coordinate system with positions in the preoperative model of the patient's anatomy. Once registered, embedded EM trackers at one or more locations on the medical device (e.g., the distal end of an endoscope) can provide real-time indication of the medical device’s progress through the patient’s anatomy.

[0112] The positioning module 95 can also use robot commands and kinematic data 94 to provide positioning data 96 for the robotic system. Device pitch and yaw caused by engagement commands can be determined during preoperative calibration. During surgery, these calibration measurements can be combined with known insertion depth information to estimate the instrument's position. Alternatively, these calculations can be analyzed in conjunction with EM, vision, and / or topology modeling to estimate the medical device's position within the network.

[0113] like Figure 15 As shown, the positioning module 95 can use several other input data. For example, although in Figure 15 Although not shown, the device using shape sensing fibers can provide shape data, which the positioning module 95 can use to determine the position and shape of the device.

[0114] The localization module 95 can use the input data 91 to 94 in combination. In some cases, such a combination can use a probabilistic method, where the localization module 95 assigns confidence weights to each determined location based on the input data 91 to 94. Therefore, in cases where the EM data may be unreliable (as is the case in the presence of EM interference), the confidence of the location determined by the EM data 93 may be reduced, and the localization module 95 may rely more heavily on the visual data 92 and / or robot commands and kinematic data 94.

[0115] As discussed above, the robotic systems discussed in this paper can be designed to combine one or more of the above technologies. The computer-based control system of a robotic system located in a tower, bed, and / or trolley can store computer program instructions in a non-transitory computer-readable storage medium such as a permanent magnetic storage drive or a solid-state drive. When executed, these computer program instructions enable the system to receive and analyze sensor data and user commands, generate control signals for the entire system, and display navigation and positioning data, such as the position of the instrument in a global coordinate system, anatomical diagrams, etc.

[0116] 2. Compression compensation for medical devices.

[0117] Embodiments of this disclosure relate to systems and techniques for compensating for compression in medical devices. A medical device may include an elongated shaft that is compressed upon engagement. As described herein, the medical device may be attached to a device positioning device configured to move the medical device to compensate for such compression. For example, the device positioning device may advance the medical device to compensate for compression in the elongated shaft of the medical device. In some embodiments, one or more compression compensation parameters are used to determine the amount of compression. These one or more compression compensation parameters may be determined during the calibration of the medical device.

[0118] A. Compression of medical devices.

[0119] Figure 16A An embodiment of an elongated shaft 101 of a medical device 100 is shown. The elongated shaft 101 is configured for insertion into a patient's body during use. In some embodiments, the elongated shaft 101 is configured for insertion into a patient's cavity, for example, via a laparoscopic procedure. In some embodiments, the elongated shaft 101 is configured for insertion into a patient's cavity (or network of cavities), for example, via an endoscopic procedure. Figure 17A As shown in the embodiments, the medical device 100 may also include a device base 111 (or handle) configured to couple the medical device 100 to a device actuator 113 of a device positioning device 115 (e.g., a robotic arm).

[0120] The elongated shaft 101 may be engageable (or manipulable). That is, an operator can control the orientation, shape, and / or engagement of the elongated shaft 101. This allows the operator to guide or navigate the elongated shaft 101 within the patient's body. In some embodiments, the medical device 100 described above is robot-controlled. A remote operator can provide control signals or inputs to an instrument positioning device that manipulates (e.g., steers, engages, inserts, etc.) the elongated shaft 101. The elongated shaft 101 may be formed of a flexible or bendable material. In the illustrated embodiment, the elongated shaft 101 extends between a distal portion 103 and a proximal portion 105. The distal portion 103 may include a distal end. The distal portion 103 may be the front end of the elongated shaft 101 (i.e., the end inserted into the patient's body during use). The proximal end 105 may be (removably or permanently) connected to the instrument base 111 (see [link to relevant documentation]). Figure 17A ).

[0121] Medical device 100 may include traction wires (or tendons) extending through one or more segments of an elongated shaft 101. As described above, the traction wires can be actuated to control the orientation, shape, and / or engagement of the elongated shaft 101. In the illustrated embodiment, two traction wires 107, 109 extend through the elongated shaft 101. Although two traction wires 107, 109 are shown, medical device 100 may include other numbers of traction wires. For example, medical device 100 may include one, two, three, four, five, six, or more traction wires. In the illustrated embodiment, traction wires 107, 109 extend through the elongated shaft 101 (i.e., extend within the elongated shaft 101). In another example, traction wires 107, 109 may extend along the exterior of the elongated shaft 101. Furthermore, although the traction lines 107, 109 are shown extending straight (i.e., along a linear path) through the elongated shaft 101, in other embodiments, the traction lines 107, 109 may include one or more coiled, looped, or spiral segments.

[0122] In one example, traction wires 107, 109 may be coupled to the distal end 103 of the elongated shaft 101. In another example (not shown), traction wires 107, 109 may be coupled to a location positioned closer to the distal end 103 of the elongated shaft 101. At the proximal end 105, traction wires 107, 109 may extend into the instrument base 111 (see...). Figure 17AWithin the instrument base 111, traction cables 107, 109 can be coupled to a drive input (e.g., drive input 81 described above) configured to actuate (i.e., tension or pull) the traction cables 107, 109. In some embodiments, each traction cable 107, 109 is coupled to an independently operable drive input. When the medical device 100 is coupled to the instrument driver 113 of the instrument positioning device 115, the drive input engages with a corresponding drive output on the instrument positioning device 115 as described above. The drive output can actuate the drive input to control the actuation of the traction cables 107, 109 via a robot.

[0123] As discussed throughout this disclosure, the elongated shaft 101 may be subjected to compression as it is engaged or moved to various positions, orientations, or shapes. Compression may be axial compression (i.e., compression measured along the longitudinal axis of the elongated shaft 101). Compression may be caused by movement based on the traction wires. In other words, actuation (i.e., pulling or tensioning) of the traction wires 107, 109 to control the engagement, orientation, and / or shape of the elongated shaft 101 may cause compression of the elongated shaft 101.

[0124] In some cases, compression of the elongated shaft 101 may be undesirable. For example, an operator may command engagement (e.g., bending) of the elongated shaft 101. However, in addition to commanded engagement, the elongated shaft 101 may also undergo compression, resulting in the distal end 103 of the elongated shaft 101 being in an unexpected or undesirable position. This can cause difficulties for the operator when driving (e.g., guiding or controlling) the medical device 100. It can also lead to inaccuracies in the robot navigation system used to drive and / or monitor the position of the medical device 100. For example, the robot navigation system may use telemetry data from the device positioning device 115 to determine or estimate the position of the medical device 100 within the body (e.g., the position of the distal end or distal portion). If compression of the elongated body is not taken into account, it may cause the robot navigation system to fail to accurately determine or estimate the position of the medical device 100. For example, if compression is not taken into account, the robot navigation system may determine or estimate that the distal end is inserted more into the body than it actually is.

[0125] exist Figure 16A In the diagram, the elongated shaft 101 is shown in its default or uncompressed state. In its default state, the elongated shaft 101 has a length L measured between its distal end 103 and proximal end 105. As will be discussed below, compression of the elongated shaft 101 can result in a reduction in length L.

[0126] For ease of explanation and clarity, Figure 16AVarious other features of the medical device 100 are omitted. For example, the medical device 100 may also include a working channel, an imaging device (e.g., one or more camera devices), a spatial sensor (e.g., a position sensor, an orientation sensor), etc.

[0127] Figure 16B An example of axial compression caused by traction-line-based movement of a medical device 100 is depicted. In the illustrated example, a force F is applied to the traction line 107 in the indicated direction. As shown, the force F causes tension or displacement of the traction line 107, causing the elongated shaft 101 to engage or bend to angle α, as shown. This type of traction-line-based movement can be used by an operator to manipulate or rotate the medical device 100. In addition to engaging the elongated shaft 101 to angle α, the tension or displacement of the traction line 107 also causes axial compression of the elongated shaft 101. In the illustrated embodiment, as shown, the distal portion 103 of the elongated shaft 101 has been axially compressed or retracted by a distance C. That is, the length L of the elongated shaft 101 is reduced by a distance C in response to the traction-line-based movement of the elongated shaft 101 (i.e., engagement to angle α). As mentioned above, this may result in the distal portion 103 of the elongated shaft 101 being out of position. This axial compression may be undesirable.

[0128] Figure 16C The diagram depicts an elongated shaft 101 of a medical device 100 undergoing axial compression caused by another example of traction-line-based movement. In this example, traction lines 107 and 109 are both actuated equally by force F. Because traction lines 107 and 109 are actuated equally, the elongated shaft 101 undergoes compression but does not bend. In the example shown, as illustrated, the length L of the elongated shaft 101 is axially compressed by a distance C. This type of traction-line-based movement can be used by the operator to increase the stiffness or sensitivity of the elongated shaft 101. However, in some cases, the operator may desire to increase the stiffness or sensitivity of the elongated shaft 101 without changing the position of the distal portion 103 of the elongated shaft 101, and therefore may not desire the presence of [certain features]. Figure 16C The axial compression shown in the figure.

[0129] As described in further detail below, according to this disclosure, movement based on a traction line (e.g., as...) can be... Figure 16B and Figure 16C The axial compression caused by the slender shaft 101 is compensated for, thereby achieving increased movement accuracy and improved driving experience for the medical device 100.

[0130] B. Compression compensation.

[0131] Compression of the elongated shaft 101 of the medical device 100 can be compensated by moving the medical device 100 (e.g., forward or retracting) using a device positioning device 115 (e.g., a robotic arm) to which the medical device 100 is coupled. For example, the degree or amount (e.g., length) of compression (e.g., compression along the longitudinal axis) can be calculated, determined, or estimated, and the device positioning device 115 can advance the medical device 100 by a corresponding amount, such that the distal portion 103 of the elongated shaft 101 is held in the desired position. In other words, the device positioning device 115 can advance the medical device 100 by an amount corresponding to the amount of compression, such that the distal portion 103 is positioned at a position corresponding to the position of the distal portion 103 when there is no axial compression.

[0132] Figure 17A A medical device 100 is illustrated, in an embodiment coupled to an instrument positioning device 115. As shown, the medical device 100 includes an elongated shaft 101 extending between a distal portion 103 and a proximal portion 105. The proximal portion 105 is (removably or permanently) coupled to an instrument base 111. The instrument base 111 is coupled to an instrument actuator 113 of the instrument positioning device 115. Figure 17A The image shows only a portion of the instrument positioning device 115. The instrument positioning device 115 may include a robotic arm, such as the one described above. Figures 1 to 15 Any of the robotic arms 12, 39, and 61 shown. As described above, the instrument actuator 113 may include a drive input for actuating the instrument base 111, thereby actuating the drive outputs of the traction lines 107 and 109. The instrument positioning device 115 is movable to allow the elongated shaft 101 of the medical device device 100 to be inserted into (or advanced) or retracted into the patient.

[0133] Figure 17B An example of a device positioning device 115 is depicted, which is configured to move to compensate for axial compression caused by traction-line based movement of the medical device 100. Figure 17B In the middle, the slender shaft 101 is shown to be subjected to such Figure 16B The movement of the traction line that causes compression C of the slender shaft 101, as shown and described. Figure 17B As shown in the example, the instrument positioning device 115 can move (i.e., advance the elongated shaft 101) a distance D in the indicated direction to compensate for compression C. In the example shown, the distance D is equal to the distance of compression C, such that the position of the distal portion 103 advances to the position it would be in if there were no compression. As shown, the elongated shaft 101 engages at angle α and advances a distance D to compensate for compression C.

[0134] Figure 17CAn example of an instrument positioning device 115 is depicted, which is configured to move to compensate for axial compression caused by another type of traction-line based movement of the medical device 100. Figure 17C In the middle, the slender shaft 101 is shown to be subjected to such Figure 16C The movement of the traction line that causes compression C of the slender shaft 101, as shown and described. Figure 17C As shown in the example, the instrument positioning device 115 can move a distance D in the indicated direction (i.e., advance the elongated shaft 101) to compensate for the compression C. In the example shown, the distance D is equal to the distance of the compression C, such that the position of the distal portion 103 advances to the position it would be in if there were no compression.

[0135] Figure 18 This is a flowchart illustrating an example method 200 for compensating for compression of medical device 100. Method 200 begins at block 202, where a commanded traction-based movement of medical device 100 is received. This commanded traction-based movement can be received from an operator. The operator can provide the commanded traction-based movement using a remotely positioned input device. The commanded traction-based movement can be executed by device positioning device 115.

[0136] Next, method 200 moves to box 204, where it determines the compression of the medical device 100 caused by commanded traction-based movement. In one example, determining the compression includes measuring the compression. In another example, determining the compression includes calculating the compression. In yet another example, determining the compression includes estimating the compression.

[0137] As will be discussed in further detail below, compression can be determined, calculated, or estimated using one or more compression compensation parameters. Compression compensation parameters and their use will be discussed in further detail in Section II.C. below.

[0138] Compression of the medical device 100 can be determined, calculated, or estimated based on data from one or more other technologies, in combination with one or more compression compensation parameters. In one example, in addition to using compression compensation parameters, fluorescence imaging of the medical device 100 can be analyzed to determine compression. In another example, the medical device 100 may include one or more spatial sensors (e.g., EM sensors) mounted thereon. The spatial sensors can provide positional data about the location of the medical device 100. This positional data can be analyzed in addition to using compression compensation parameters to determine compression of the medical device 100. In another example, the medical device 100 may include shape-sensing fibers. The shape-sensing fibers can provide data about the shape or orientation of the medical device 100. This data can be analyzed in addition to using compression compensation parameters to determine compression of the medical device 100. In yet another example, in addition to using compression compensation parameters, a model based, for example, on the shape, size, and material properties of the elongated axis of the medical device 100 is used to determine compression of the medical device 100. In one example of using a model to determine the compression of medical device 100, the slender axis 101 of medical device 100 can be divided into one or more segments that can be modeled using Euler-Bernoulli beam theory.

[0139] In another example, in addition to using compression compensation parameters, the compression of the first medical device relative to the second medical device can also be measured. As described below in Section II.D, two or more medical devices can be configured for telescopic use. That is, the second medical device can telescopically extend within the working channel of the first medical device. The first medical device may include a space sensor located at its distal portion. The second medical device may include a space sensor located at its distal portion. Compression can be determined or estimated by comparing the relative positions of these two position sensors. This ensures or increases the likelihood that the distal portions of the two medical devices remain aligned (i.e., flush).

[0140] At block 206 of method 200, a device positioning device 115 coupled to medical device 100 is moved (e.g., advanced or retracted) to compensate for the compression determined at block 204. In some cases, the device positioning device 115 advances medical device 100 further into the patient to compensate for the determined compression. In one example, the distance advanced into the patient is approximately equal to the determined compression. In another example, the distance advanced is less than the determined compression. In yet another example, the distance advanced is greater than the determined compression. As described below in Section II.D, in embodiments including telescopic medical devices, one medical device may be retracted to compensate for compression, another medical device may be advanced to compensate for compression, or one medical device may be advanced while another medical device may be retracted to compensate for compression.

[0141] In some embodiments, block 206 is executed substantially concurrently with the traction-line based movement. That is, the instrument positioning device 115 is advanced or retracted to compensate for compression substantially while the traction line is actuated to perform the traction-line based movement. In some embodiments, this maintains or helps maintain the correct or desired placement of the distal portion 103 of the elongated shaft 101 throughout the entire commanded traction-line based movement.

[0142] In some implementations, blocks 202, 204, and 206 of method 200 may be executed cyclically to provide compression compensation for each new commanded traction-based movement of the medical device.

[0143] Method 200 may include other boxes or steps besides those shown. In some implementations, it is not necessary to implement all the boxes shown in method 200.

[0144] C. Compression Compensation Parameters

[0145] The compression of the slender shaft 101 can be determined, calculated, or estimated using one or more compression compensation parameters. These compression compensation parameters can be determined during the calibration of the medical device 100. Example calibration methods and procedures during which the compression compensation parameters can be determined are described in Section II.F below.

[0146] Compression compensation parameters can be specific to a particular or specific medical device 100. That is, for a particular medical device 100, the compression compensation parameters can be determined during the calibration of that particular medical device 100. In this way, the compression compensation parameters can explain the unique properties of that particular medical device 100 (e.g., properties caused by changes in materials, manufacturing processes, etc.). Compression compensation parameters can be associated with a particular medical device 100. For example, compression compensation parameters can be stored in the memory of the medical device 100 or in a non-transitory computer-readable medium. In some embodiments, compression compensation parameters are stored in a remote database and associated with a particular medical device 100, such that the compression compensation parameters can be accessed and used to determine compression when using that particular medical device 100.

[0147] In another example, the compression compensation parameters may be specific to a category, batch, or model of similar medical devices 100. That is, the same compression compensation parameters may be used for a category, batch, or model of similar medical devices 100. In some implementations, individual or several medical devices 100 are calibrated to determine the compression compensation parameters that will be used for a larger group of similar medical devices 100.

[0148] In some implementations, compression compensation parameters are determined using, for example, a model that takes into account the material properties and dimensions of a medical device 100. In one example, the slender axis 101 of the medical device 100 can be divided into one or more segments that can be modeled using Euler-Bernoulli beam theory.

[0149] Compression compensation parameters can be values, factors, or parameters that correlate the characteristics of traction line movement with axial compression. As an example, compression compensation parameters can correlate the engagement angle of the elongated shaft 101 of the medical device 100 with axial compression. For instance, compression compensation parameters can correlate an x-degree engagement of the elongated shaft 101 with y millimeters of axial compression. Compression compensation parameters can correlate a commanded engagement angle with axial compression. In another example, compression compensation parameters can correlate a measured engagement angle with axial compression. In some cases, engagement angles are measured using spatial sensors (such as EM sensors), shape-sensing fibers, medical imaging (e.g., fluoroscopy), or other methods.

[0150] In another example, a compression compensation parameter can correlate the tension of the traction cable with the axial compression of the elongated shaft 101. The medical device 100 may include one or more tension sensors for measuring the tension of the traction cable.

[0151] In another example, compression compensation parameters can correlate the displacement (e.g., linear displacement) of the traction cable with the axial compression of the elongated shaft 101. Medical device 100 may include a linear actuator for actuating the traction cable. Compression compensation parameters can correlate the linear movement of the actuator or traction cable with the axial compression of the elongated shaft 101. For example, compression compensation parameters can correlate x mm of linear displacement of the traction cable or actuator with y mm of axial compression.

[0152] In some embodiments, the medical device 100 includes a rotary actuator that actuates a traction wire. For example, the traction wire may be mounted on a pulley, and rotation of the pulley actuates the traction wire. Compression compensation parameters can correlate the rotation of the pulley wound with the traction wire to the axial compression of an elongated shaft. For example, compression compensation parameters can correlate x degrees of rotation of the pulley to y millimeters of axial compression.

[0153] In the example above, the compression compensation parameter is a parameter that linearly correlates the characteristics of traction line movement with axial compression. This is not necessarily the case in all embodiments. For example, in some embodiments, the compression compensation parameter may include a function that correlates the characteristics of traction line movement with axial compression, wherein the function is non-linear.

[0154] In some implementations, only a single compression compensation parameter is associated with medical device 100. In other implementations, multiple compression compensation parameters are associated with medical device 100. For example, different compression compensation parameters may be associated with individual traction lines in different traction lines. As another example, different compression compensation parameters may be used to compensate for traction line-based movement in different directions. As yet another example, multiple compression compensation parameters may be used to model the nonlinear compression of the elongated body 101 using, for example, polynomial functions, exponential functions, or other nonlinear functions. In some cases, the number of compression parameters and / or the type of function (linear or nonlinear) may be varied to approximate the relationship between compression and input.

[0155] As described above, compression compensation parameters can be used to associate one or more characteristics based on traction line movement with axial compression. Therefore, compression compensation parameters can be used to determine, calculate, or estimate the axial compression of the elongated shaft 101 for a given traction line-based movement. In some embodiments, compression compensation values ​​are used at block 204 of the method 200 described above.

[0156] D. Compression compensation in telescopic medical devices

[0157] Although the above description focuses primarily on a single medical device, the compression compensation method and system described herein can also be applied to systems that include telescopic medical devices, such as systems that include a second medical device that telescopically extends within the working channel of a first medical device. The system and method can also be applied to systems that include more than two (e.g., three, four, five, or more) telescopic medical devices.

[0158] Figure 19A An embodiment of a second medical device 120 that extends and retracts within the working channel 117 of a first medical device 100 is shown. In the illustrated embodiment, the first medical device 100 is configured as described above, including an elongated shaft 101 and an instrument base 111. The elongated shaft 101 includes a working channel 117 extending therethrough. The first medical device 100 is coupled to a first instrument actuator 113 of a first instrument positioning device 115. The first instrument positioning device 115 is configured to move to advance or retract the first medical device 100.

[0159] The second medical device 120 is configured similarly to the first medical device 100, including an elongated shaft 121 extending between a distal portion 123 and a proximal portion 125. The proximal portion 125 is (removably or permanently) connected to a second device base 131. The second device base 131 is coupled to a second device actuator 133 of a second device positioning device 135. The second device positioning device 135 is configured to move to advance or retract the second medical device 120.

[0160] As shown, the elongated shaft 121 of the second medical device 120 extends through the working channel 117 of the first medical device 100. The second device positioning device 135 is configured to move to advance or retract the second medical device 120 through the working channel 117 of the first medical device 100. Although not shown, in some examples, the second medical device 120 may also include a working channel for receiving a third medical device.

[0161] exist Figure 19A In the configuration shown, the distal portion 123 of the second medical device 120 is aligned with the distal portion 103 of the first medical device 100. In some cases, this may be a preferred configuration for driving the medical devices 100 and 120. For example, the first medical device 100 and the second medical device 120 may be in this configuration (distal portions 103 and 123 aligned or flush) when being navigated through the body to a target site.

[0162] The first medical device 100 may include a traction wire for controlling the engagement, shape, and / or orientation of the first elongated shaft 101. The second medical device 120 may include a traction wire for controlling the engagement, shape, and / or orientation of the second elongated shaft 121. In other examples, the first medical device 100 may be a passive device (i.e., an unmanipulated device) without a traction wire, or the second medical device 120 may be a passive device (i.e., an unmanipulated device) without a traction wire.

[0163] Figure 19B An example of axial compression of a first medical device 100 and a second medical device 120 caused by movement based on a traction line is depicted. In the example shown, the first medical device 100 and the second medical device 120 are subjected to axial compression from... Figure 19A The position shown is joined to Figure 19B The angle shown. Either or both of the first medical device 100 and the second medical device 120 can withstand compression. Figure 19B In the position shown, the second elongated shaft 121 extends outward from the distal end 103 of the first elongated shaft 101. This may be caused by axial compression of the first elongated shaft 101 and / or the second elongated shaft 121. Such extension may not be desirable. For example, as mentioned above, it is generally desirable to drive the first medical device 100 and the second medical device 120 so that the distal ends 103, 123 are aligned.

[0164] Figure 19C It is shown that compensation can be achieved by moving the first instrument adjustment device 115 and / or the second instrument adjustment device 135 for compensation. Figure 19BThe axial compression is shown. To compensate for the axial compression and return the distal portions 103 and 123 to the flush position, the system can move the first instrument adjustment device 115 a distance D1 in the indicated direction to advance the first medical device 100, move the second instrument adjustment device 115 a distance D2 in the indicated direction to retract the second medical device 120, or perform a combined movement of the first instrument adjustment device 115 and the second instrument adjustment device 135 to both advance the first medical device 100 and retract the second medical device 120.

[0165] In one example, a "compression compensation ratio" (CCR) can be defined or set for each medical device 100, 120. The CCR can be a value between zero and one. The CCR is one when the compressed medical device fully compensates for its own compression, and zero when a reciprocating medical device (which may be uncompressed or both engaged and compressed) is moved to fully compensate for the compression of the compressed medical device. The CCR for each medical device can be used to define formulas for defining the movement or insertion of the first medical device 100 and the second medical device 120, as follows:

[0166] insert 2nd =(1-CCR) 1st )·compression 1st -CCR 2nd ·compression 2nd

[0167] insert 1st =(1-CCR) 2nd )·compression 2nd -CCR 1st ·compression 1st

[0168] Using the above principles and formulas, and the CCR for each medical device 100 and 120, the compression of the first medical device 100 and / or the second medical device 120 can be compensated by moving only the first medical device 100, moving only the second medical device 120, or moving both medical devices 100 and 120.

[0169] In some embodiments, it is preferred to retract the first medical device 100 and the second medical device 120 (CCR = 0). For example, in some cases, retracting the first medical device 100 and the second medical device 120 may be safer than inserting the medical devices. However, in some embodiments, insertion (CCR = 1) is also possible. Alternatively, a CCR between zero and one may also be used.

[0170] Furthermore, the CCR value can affect the spatial paths taken by the distal portions 103, 123 of the first medical device 100 and the second medical device 120. For example, a CCR of one might correspond to a path closer to a sphere, while a CCR of zero might result in a more blunt path (along an ellipsoid rather than a sphere). In some embodiments, the CCR value can be adjusted so that the optimal path can be empirically tailored. In some cases, the CCR value is adjusted during device calibration to determine the target motion path of the distal end of the elongated body 101. During calibration, the adjustment can be performed manually or automatically by analyzing the end path.

[0171] E. Example medical devices and systems for compression compensation

[0172] Figure 20 An embodiment of a medical device 100 configured to compensate for axial compression is shown. In the illustrated embodiment, the medical device 100 is configured as described above, including, for example, an elongated shaft 101 extending between a distal portion 103 and a proximal portion 105. The elongated shaft 101 may include one or more traction wires for engaging the elongated shaft. The elongated shaft 101 is connected to an instrument base 111. The instrument device 111 is configured to be coupled to an instrument actuator 113 of an instrument positioning device 115. The instrument positioning device 115 may be configured to move the medical device 100 to advance or retract the elongated shaft 101 within the patient's body.

[0173] As shown in the figure, in some embodiments, the medical device 100 includes a computer-readable medium 151. The computer-readable medium 151 may be disposed on or within the device base 111. In another example, the computer-readable medium 151 may be disposed on or within the elongated shaft 101.

[0174] Computer-readable medium 151 may store information associated with medical device 100. For example, as discussed above in section II.C, computer-readable medium 151 may store one or more compression calibration parameters.

[0175] Computer-readable medium 151 may include computer-readable code that can be read by another device. For example, the computer-readable code may be a radio frequency identification (RFID) tag. Another device can access data stored in computer-readable medium 151, such as compression compensation parameters, by scanning the RFID tag with an RFID reader. Other types of computer-readable code, such as barcodes, QR codes, etc., may also be used.

[0176] The medical device 100 may include communication circuitry for transmitting data stored in a computer-readable medium 151 to other devices. This communication circuitry may be wired or wireless.

[0177] Medical device 100 may include one or more EM sensors 157. EM sensors 157 are mounted on or within an elongated shaft 101. As shown, the EM sensor 157 is positioned at the distal portion 103 of the elongated shaft 101. The EM sensor 157 may be configured to provide position and / or orientation data with respect to the medical device 100. The EM sensor 157 provides position and / or orientation data relative to an externally generated EM field. Other types of spatial sensors may also be included.

[0178] The medical device 100 may include shape sensing fibers 159. The shape sensing fibers 159 may extend along or within an elongated axis 159. The shape sensing fibers 159 may provide data associated with the shape, engagement, or orientation of the medical device 100.

[0179] The medical device 100 may include one or more tension sensors associated with one or more traction cables. The tension sensors may be configured to provide tension data for the one or more traction cables. In some embodiments, the tension sensors are housed in the device base 111.

[0180] Figure 21 This is a block diagram depicting a system 300 configured to compensate for compression of medical devices 100, 120. In the illustrated embodiment, system 300 includes a processor 302 (or multiple processors) connected to a memory or a computer-readable medium 304 (or multiple computer-readable media). The computer-readable medium 304 may include instructions executable by the processor 302 to control system 300.

[0181] In the illustrated embodiment, system 300 includes a first device positioning device 115 coupled to a first medical device 100. The first medical device 100 includes a computer-readable code 310. The first device positioning device 115 includes a code reader 306. The code reader 306 is configured to read the computer-readable code 310 on the first medical device 100. In some embodiments, the computer-readable code 310 is an RFID tag, and the reader 306 is an RFID reader. The computer-readable code 310 may store data associated with the first medical device 100, such as compression compensation parameters. The code reader 306 can read data from the computer-readable code 310. In some embodiments, the data read from the computer-readable code 310 may be transmitted to a processor 302 for use in controlling system 300.

[0182] System 300 may also include additional device positioning devices coupled to other medical devices. For example, as shown, system 300 includes a second device positioning device 135 coupled to a second medical device 120. The second device positioning device 135 includes a reader 308 configured to read machine-readable code 312 on the second medical device 120 in the manner described above.

[0183] In some implementations, system 300 uses the method 200 described above to compensate for compression in the first medical device and the second medical device.

[0184] In some embodiments, the second medical device 120 extends and retracts within the working channel of the first medical device 100. The system 300 may use the aforementioned CCR to compensate for compression as described in Section II.D.

[0185] Computer-readable medium 304 may include instructions that configure processor 302 to cause system 300 to determine, at least in part, the axial compression of the elongated shaft 101 of the first medical device 100 based on information instructing traction line-based movement of the elongated shaft 101 of the first medical device 100 and compression compensation parameters. The compression compensation parameters can be read from computer-readable code 310 using reader 306. The instructions may also be configured to move a first device positioning device 115 connected to the first medical device 100 to compensate for the axial compression of the first elongated shaft.

[0186] F. Example Calibration Process

[0187] Compression compensation parameters can be determined during the calibration process of medical device 100. The calibration process may include: engaging the medical device to a first position using traction wire-based movement; determining the compression of the medical device; and correlating the characteristics of the traction wire-based movement with the determined compression to determine compression compensation parameters.

[0188] The calibration process may include engaging the medical device 100 to various different locations and determining compression and compression compensation parameters for each location. In some embodiments, a single compression compensation parameter is derived from the various engagement locations.

[0189] The calibration process may include attaching one or more space caps to the medical device 100. One or more space caps may be calibrated to provide an effective measure or measurement of the attitude (e.g., position and / or orientation) of the medical device 100. In some cases, one or more space caps are calibrated to provide a measure or measurement of the attitude of the distal end of the elongated body 101 of the medical device 100. The space caps may include space sensors, such as EM sensors, which provide positional and / or orientation data regarding the engagement, attitude, or position of the medical device 100. The space caps may be used to measure the engagement and / or compression of the medical device 100. The one or more space caps may be used to further activate space sensors included on the medical device 100.

[0190] In other embodiments, instead of or in addition to using one or more space caps, an external tracking device may be used to analyze feedback from an imaging device included on the medical device 100 (e.g., at the distal end of the elongated body) to estimate the end-effector pose. In addition to or in place of one or more space caps, triangulation, projection, or direct or manual measurement methods (e.g., using a protractor) may also be used.

[0191] Engagement and / or compression of the medical device 100 can be determined by a spatial sensor disposed on the medical device 100 itself. For example, engagement and / or compression can be determined using an EM sensor or shape sensing fiber as described above.

[0192] Figure 22 This is a flowchart illustrating an example method 400 for calibrating a medical device 100. Method 400 begins at block 401, where a traction-line-based movement is performed to move an elongated shaft 101 to a first position. In some cases, engaging the elongated shaft 101 includes tensioning, pulling, or otherwise actuating a traction line connected to the distal portion 103 of the elongated shaft 101.

[0193] Method 400 continues at block 402, where characteristics based on the movement of the traction line are determined. In some cases, determining characteristics based on the movement of the traction line may include traction line tension, traction line displacement, actuator displacement, commanded engagement angle, measured engagement angle, etc.

[0194] In some examples, method 400 further includes attaching one or more space caps to the distal portion 103 of the elongated shaft 101. The one or more space caps may be configured to provide spatial data regarding the positioning and orientation of the distal portion 103 of the elongated shaft 101. In some embodiments, determining movement based on the traction line includes analyzing spatial data from the space caps. In some embodiments, the one or more space caps include one or more EM sensors. In some embodiments, determining movement based on the traction line includes measuring the angle of the elongated shaft.

[0195] At frame 404, with the elongated shaft 101 in a first position, compression of the elongated shaft 101 is determined. In one example, determining compression may include analyzing spatial data from the space cap. In another example, the elongated shaft 101 includes a space sensor configured to provide spatial data regarding the position and orientation of the distal portion 103 of the elongated shaft 101, and determining movement based on the traction line includes analyzing spatial data from the space sensor. In yet another example, determining axial compression includes measuring the length of the elongated shaft.

[0196] At block 406, compression compensation parameters are determined by associating a first position with compression of the defined elongated shaft 101. In some embodiments, method 400 further includes storing the compression compensation parameters in a non-transitory computer-readable medium of the first medical device 100.

[0197] 3. Implementation system and terminology

[0198] The embodiments disclosed herein provide systems, methods, and apparatus for compensating for compression in the elongated shaft of a medical device. In some cases, compression can be determined using compression compensation parameters determined during the calibration of the medical device, and compression can be compensated by moving the medical device using a device positioning device coupled to the medical device.

[0199] It should be noted that the term “coupled” or other variations thereof, as used herein, can indicate an indirect or direct connection. For example, if a first component is “coupled” to a second component, the first component may be indirectly connected to the second component via another component or directly connected to the second component.

[0200] The phrases describing specific computer-implemented processes / functions described herein may be stored as one or more instructions on a processor-readable medium or a computer-readable medium. The term "computer-readable medium" refers to any available medium that can be accessed by a computer or processor. By way of example and not limitation, such media may include random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory, compact disc read-only memory (CD-ROM) or other optical disc storage devices, magnetic disk storage devices or other magnetic storage devices, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer. It should be noted that a computer-readable medium may be tangible and non-transitory. As used herein, the term "code" may refer to software, instructions, code, or data that can be executed by a computing device or processor.

[0201] The methods disclosed herein include one or more steps or actions for implementing the described methods. The method steps and / or actions may be interchanged without departing from the scope of the claims. In other words, the order and / or use of a particular step and / or action may be modified without departing from the scope of the claims unless the specific order of steps or actions is required for the proper operation of the described method.

[0202] As used herein, the term "multiple" means two or more. For example, multiple components means two or more components. The term "determine" encompasses a variety of actions, and therefore, "determine" can include calculation, computation, processing, deduction, investigation, lookup (e.g., searching in a table, database, or other data structure), exploration, etc. Furthermore, "determine" can also include receiving (e.g., receiving information), accessing (e.g., accessing data in memory), etc. Additionally, "determine" can include parsing, selecting, picking, building, etc.

[0203] Unless otherwise explicitly stated, the phrase “based on” does not mean “based on only”. In other words, the phrase “based on” describes both “based on only” and “based on at least”.

[0204] The above description of the disclosed implementations is provided to enable those skilled in the art to implement or use the invention. Various modifications to these implementations will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other implementations without departing from the scope of the invention. For example, it should be understood that those skilled in the art will be able to employ multiple corresponding alternatives and equivalent structural details, such as equivalent fastening, mounting, coupling methods or engagement tool components, equivalent mechanisms for generating specific actuating movements, and equivalent mechanisms for transmitting electrical energy. Therefore, the invention is not intended to be limited to the implementations shown herein, but is accorded the widest scope consistent with the principles and novel features disclosed herein.

[0205] In addition, this disclosure also includes the following implementation methods.

[0206] (1). A medical device comprising:

[0207] An elongated shaft extending between a distal portion and a proximal portion, the elongated shaft being configured for insertion into a patient's cavity during use;

[0208] The instrument base, which is connected to the proximal portion of the elongated shaft, includes an attachment interface configured to facilitate attachment to a robotic arm.

[0209] A non-transitory computer-readable medium storing compression compensation parameters that correlate the movement of the elongated shaft with the axial compression of the elongated shaft; and

[0210] A traction line, connected to the distal portion of the elongated shaft, extends along the elongated shaft between the distal portion and a drive input disposed at the base of the instrument, the drive input being configured to actuate the traction line at least in part based on stored compression compensation parameters to cause movement of the elongated shaft.

[0211] (2). The medical device according to (1), wherein the movement of the elongated shaft includes engagement of the elongated shaft, and wherein the compression compensation parameter relates the engagement angle of the elongated shaft to the axial compression length of the elongated shaft.

[0212] (3). The medical device according to (2), wherein the engagement angle includes a command engagement angle.

[0213] (4). The medical device according to (2), wherein the engagement angle includes measuring the engagement angle.

[0214] (5). The medical device according to (4) further includes at least one electromagnetic (EM) sensor disposed on the elongated shaft, wherein the measuring engagement angle is determined based on a signal from the EM sensor.

[0215] (6). The medical device according to (4) further includes shape sensing fibers on the elongated shaft, and wherein the measuring engagement angle is determined based on the shape sensing fibers.

[0216] (7). The medical device according to (1) further includes at least one tension sensor connected to the traction line.

[0217] (8). The medical device according to (7), wherein the compression compensation parameter correlates the tension of the traction line measured by the tension sensor with the axial compression length of the elongated shaft.

[0218] (9). The medical device according to (1), wherein the compression compensation parameter relates the traction line displacement to the axial compression length of the elongated shaft.

[0219] (10). The medical device according to (1), wherein the drive input includes a pulley, and wherein the compression compensation parameter relates the rotation of the pulley to the axial compression length of the elongated shaft.

[0220] (11). The medical device according to (1), wherein the drive input includes at least one of the following: lever, trigger, crank and cam.

[0221] (12). The medical device according to (1), wherein the drive input includes a linear drive input, and wherein the compression compensation parameter relates a portion of the linear displacement of the linear drive input to the axial compression length of the elongated shaft.

[0222] (13). The medical device according to (1), wherein the compression compensation parameter is determined during the calibration process of the medical device.

[0223] (14). The medical device according to (1), wherein the non-transitory computer-readable medium includes a radio frequency identification (RFID) tag.

[0224] (15). The medical device according to (14), wherein the RFID tag is disposed at the base of the device.

[0225] (16). The medical device according to (15), wherein the RFID tag is configured to transmit the compression compensation parameters when activated by the RFID reader of the robotic arm.

[0226] (17). The medical device according to (1), wherein the elongated shaft comprises an endoscope.

[0227] (18). The medical device according to (1), wherein the elongated shaft includes a sheath having a channel formed through the sheath extending along the axis of the sheath.

[0228] (19). The medical device according to (1) further includes one or more additional traction wires.

[0229] (20). A robotic system comprising:

[0230] A first medical device configured for insertion into a patient's cavity during use, the first device comprising: a first elongated shaft; a first traction wire capable of being actuated to cause traction wire-based movement of the first elongated shaft; and a first device base including a first drive input for actuating the first traction wire.

[0231] A first instrument positioning device is attached to the base of the first instrument and configured to move to advance or retract the first instrument through the patient's cavity.

[0232] At least one non-transitory computer-readable medium having executable instructions stored thereon; and

[0233] At least one processor, which communicates with the at least one non-transitory computer-readable medium and is configured to execute the instructions to cause the system to perform at least the following operations:

[0234] Determine the axial compression of the first slender shaft; and

[0235] The first instrument positioning device is moved so that the first elongated shaft of the first instrument advances or retracts through the patient's cavity, thereby compensating for the determined axial compression of the first elongated shaft.

[0236] (21). The robot system according to (20), wherein the instructions cause the at least one processor to use compression compensation parameters to determine the axial compression of the first elongated shaft, the compression compensation parameters associating the traction line-based movement of the first elongated shaft with the axial compression of the first elongated shaft.

[0237] (22). The robot system according to (21), wherein the movement based on the traction line causes engagement of the elongated shaft, and wherein the compression compensation parameter relates the engagement angle of the elongated shaft to the axial compression length of the elongated shaft.

[0238] (23). The robot system according to (22), wherein the engagement angle includes a command engagement angle.

[0239] (24). The robot system according to (22), wherein the engagement angle includes measuring the engagement angle.

[0240] (25). The robot system according to (24) further includes at least one electromagnetic (EM) sensor mounted on the first elongated shaft, wherein the measured engagement angle is determined based on a signal from the EM sensor.

[0241] (26). The robot system according to (24) further includes shape sensing fibers on the first elongated shaft, and wherein the measured engagement angle is determined based on the shape sensing fibers.

[0242] (27). The robot system according to (21), wherein the compression compensation parameter is determined during the calibration process of the first medical device.

[0243] (28). The robot system according to (21) further includes:

[0244] An RFID tag on the first medical device, the RFID tag storing the compression compensation parameters; and

[0245] An RFID reader connected to the at least one processor.

[0246] (29). The robot system according to (28), wherein the RFID tag is disposed on the base of the first instrument, and wherein the RFID reader is disposed on the first instrument positioning device.

[0247] (30). The robotic system according to (20), wherein the first medical device includes an endoscope.

[0248] (31). The robotic system according to (20), wherein the first medical device includes a sheath.

[0249] (32). The robot system according to (20) further includes:

[0250] A second medical device configured for insertion into the cavity of the patient through the working channel of the first device, the second device comprising: a second elongated shaft; a second traction wire actuable to engage the second elongated shaft; and a second device base including a second drive input for actuating the second traction wire.

[0251] A second instrument positioning device, attached to the second instrument and configured to move to advance or retract the second instrument through the working channel of the first instrument, and

[0252] The instructions cause the at least one processor to perform the following operations:

[0253] The second instrument positioning device is moved so that the second elongated shaft of the second medical instrument advances or retracts through the working channel of the first instrument.

[0254] (33). The robot system according to (32), wherein the instructions cause the at least one processor to perform the following operations:

[0255] Determine the axial compression of the second slender shaft; and

[0256] The second instrument positioning device is moved so that the second elongated shaft of the second medical device advances or retracts through the working channel of the first medical device, thereby compensating for the determined axial compression of the second elongated shaft.

[0257] (34). The robot system according to (32), wherein the instructions cause the at least one processor to move the second instrument positioning device so that the second elongated shaft of the second instrument advances or retracts through the working channel of the first medical instrument, thereby compensating for the determined axial compression of the first elongated shaft.

[0258] (35). The robotic system according to (32), wherein the first instrument includes a sheath and the second instrument includes an endoscope.

[0259] (36). A robot system comprising:

[0260] A first medical device configured for insertion into a patient's cavity during use, the first device comprising: a first elongated shaft; a first traction wire actuable to engage with the first elongated shaft; and a first device base including a first drive input for actuating the first traction wire.

[0261] A first instrument positioning device is attached to the base of the first instrument and configured to move to advance or retract the first medical instrument through the patient’s cavity.

[0262] A second device configured for insertion into the cavity of the patient via a working channel of the first medical device, the second medical device comprising: a second elongated shaft; a second traction wire actuable to engage with the second elongated shaft; and a second device base including a second drive input for actuating the second traction wire.

[0263] A second instrument positioning device is attached to the base of the second instrument and configured to move to allow the second instrument to advance or retract through the working channel of the first instrument.

[0264] At least one non-transitory computer-readable medium having executable instructions stored thereon;

[0265] At least one processor, which communicates with the at least one non-transitory computer-readable medium and is configured to execute the instructions to cause the system to perform at least the following operations:

[0266] Determine the axial compression of the first slender shaft;

[0267] The first instrument positioning device is moved to advance the first elongated shaft of the first medical device through the patient's cavity, thereby compensating for a first portion of the axial compression of the determined first elongated shaft; and

[0268] The second instrument positioning device is moved so that the second elongated shaft of the second medical instrument advances through the working channel of the first instrument, thereby compensating for the second portion of the determined axial compression of the first elongated shaft.

[0269] (37). The robot system according to (36), wherein the second part is larger than the first part.

[0270] (38). A robot system comprising:

[0271] A first medical device configured for insertion into a patient’s cavity during use, the first device comprising: a first elongated shaft; a first traction wire actuable to engage the first elongated shaft; and a first device base including a first drive input for actuating the first traction wire.

[0272] A first instrument positioning device is attached to the base of the first instrument and configured to move to advance or retract the first medical instrument through the patient’s cavity.

[0273] A second device configured for insertion into the cavity of the patient through the working channel of the first medical device, the second medical device comprising: a second elongated shaft; a second traction wire actuable to engage the second elongated shaft; and a second device base including a second drive input for actuating the second traction wire.

[0274] A second instrument positioning device is attached to the base of the second instrument and configured to move to allow the second instrument to advance or retract through the working channel of the first instrument.

[0275] At least one non-transitory computer-readable medium having executable instructions stored thereon; and

[0276] At least one processor, which communicates with the at least one non-transitory computer-readable medium and is configured to execute the instructions to cause the system to perform at least the following operations:

[0277] Determine the axial compression of the second slender shaft;

[0278] The first instrument positioning device is moved to advance the first elongated shaft of the first medical device through the patient's cavity, thereby compensating for a first portion of the axial compression of the determined second elongated shaft; and

[0279] The second instrument positioning device is moved so that the second elongated shaft of the second medical instrument advances through the working channel of the first instrument, thereby compensating for the second portion of the determined axial compression of the second elongated shaft.

[0280] (39). The robot system according to (38), wherein the second part is larger than the first part.

[0281] (40) A non-transitory computer-readable storage medium having instructions stored thereon, which, when executed, cause a processor of a device to perform at least the following operations:

[0282] The axial compression of the first elongated shaft of the first medical device is determined at least in part based on information indicating the movement of the traction line-based axis of the first medical device and compression compensation parameters; and

[0283] The first instrument positioning device connected to the first medical device is moved to compensate for the axial compression of the first slender shaft.

[0284] (41). The non-transitory computer-readable storage medium according to (40), wherein the information indicating the movement based on the traction line includes information indicating command engagement for the first medical device.

[0285] (42). The non-transitory computer-readable storage medium according to (40), wherein the information indicating the movement based on the traction line includes information indicating measurement engagement with the first medical device.

[0286] (43). The non-transitory computer-readable storage medium according to (40), wherein the compression compensation parameter is determined during the calibration process of the first medical device.

[0287] (44). The non-transitory computer-readable storage medium according to (40), wherein the compression compensation parameter relates the engagement angle of the first elongated shaft to the axial compression length of the first elongated shaft.

[0288] (45). The non-transitory computer-readable storage medium according to (40), wherein the compression compensation parameter relates the tension in the traction line of the first instrument to the axial compression length of the first elongated shaft.

[0289] (46). The non-transitory computer-readable storage medium according to (40), wherein the compression compensation parameter relates the displacement of the traction line of the first instrument to the axial compression length of the first elongated shaft.

[0290] (47). The non-transitory computer-readable storage medium according to (40), wherein the compression compensation parameter relates the rotation of the pulley of the traction line attached to the first instrument to the axial compression length of the first elongated shaft.

[0291] (48). The non-transitory computer-readable storage medium according to (40), wherein the instructions, when executed, cause the processor to move the first device positioning device so that the elongated shaft of the first engageable medical device is advanced into the patient's cavity.

[0292] (49). A method for calibrating a medical device including an engageable elongated shaft, the method comprising:

[0293] Determine the traction line-based movement for moving the elongated shaft to the first position;

[0294] With the slender shaft in the first position, the axial compression of the slender shaft is determined; and

[0295] Compression compensation parameters for the slender shaft are determined by associating the first position with the determined axial compression.

[0296] (50). The method according to (49) further includes engaging the elongated shaft to the first position.

[0297] (51). According to the method of (50), engaging the elongated shaft includes tensioning a traction line connected to the distal portion of the elongated shaft.

[0298] (52). According to the method of (51), wherein determining the movement based on the traction line includes measuring the tension of the traction line.

[0299] (53). The method according to (49) further includes: attaching one or more space caps to a distal portion of the elongated shaft, the one or more space caps being configured to provide spatial data regarding the positioning and orientation of the distal portion of the elongated shaft, and wherein determining the traction-based movement includes analyzing the spatial data.

[0300] (54). According to the method of (53), determining the axial compression includes analyzing the spatial data.

[0301] (55). The method according to (49), wherein the elongated shaft includes a position sensor configured to provide spatial data on the positioning and orientation of the distal portion of the elongated shaft, and wherein determining the traction-based movement includes analyzing the spatial data.

[0302] (56). According to the method of (55), determining the axial compression includes analyzing the spatial data.

[0303] (57). The method according to (53), wherein the one or more space caps include one or more EM sensors.

[0304] (58). According to the method of (49), determining the axial compression includes measuring the length of the elongated shaft.

[0305] (59). According to the method of (49), determining the engagement includes measuring the angle of the elongated shaft.

[0306] (60). The method according to (49) further includes storing the compression compensation parameters in a non-transitory computer-readable medium of the first medical device.

Claims

1. A medical device comprising: An elongated shaft extending between a distal and a proximal portion, the elongated shaft being configured for insertion into a patient's cavity during use; The instrument base, which is connected to the proximal portion of the elongated shaft, includes an attachment interface configured to facilitate attachment to a robotic arm. A non-transitory computer-readable medium storing compression compensation parameters that correlate the movement of the elongated shaft with the axial compression of the elongated shaft; as well as A traction cable, connected to the distal portion of the elongated shaft, extends along the elongated shaft between the distal portion and a drive input disposed at the base of the instrument. The drive input is configured to actuate the traction cable, at least in part, based on stored compression compensation parameters, to cause movement of the elongated shaft. The robotic arm includes a series of links connected by a series of joints, and a mechanical actuator coupled to the distal end of the series of links. The robotic arm moves the instrument driver along a virtual track at least in part based on stored compression compensation parameters to advance or retract the instrument base, and the robotic arm moves to advance or retract the instrument base substantially simultaneously with the drive input actuating the traction line to cause movement of the elongated shaft.

2. The medical device according to claim 1, wherein, The movement of the slender shaft includes engagement of the slender shaft, wherein the compression compensation parameter relates the engagement angle of the slender shaft to the axial compression length of the slender shaft.

3. The medical device according to claim 2, wherein, The engagement angle includes the command engagement angle.

4. The medical device according to claim 2, wherein, The engagement angle includes the measured engagement angle.

5. The medical device according to claim 4, further comprising at least one electromagnetic EM sensor disposed on the elongated shaft, wherein, The measured engagement angle is determined based on the signal from the EM sensor.

6. The medical device of claim 4, further comprising shape-sensing fibers on the elongated shaft, wherein, The measured engagement angle is determined based on the shape sensing fiber.

7. The medical device of claim 1, further comprising at least one tension sensor connected to the traction line.

8. The medical device according to claim 7, wherein, The compression compensation parameter correlates the tension of the traction line measured by the tension sensor with the axial compression length of the slender shaft.

9. The medical device according to claim 1, wherein, The compression compensation parameter correlates the traction line displacement with the axial compression length of the slender shaft.

10. The medical device according to claim 1, wherein, The drive input includes a pulley, and the compression compensation parameter relates the rotation of the pulley to the axial compression length of the elongated shaft.

11. The medical device according to claim 1, wherein, The drive input includes at least one of the following: lever, trigger, crank, and cam.

12. The medical device according to claim 1, wherein, The drive input includes a linear drive input, and wherein the compression compensation parameter relates a portion of the linear displacement of the linear drive input to the axial compression length of the elongated shaft.

13. The medical device according to claim 1, wherein, The compression compensation parameters are determined during the calibration process of the medical device.

14. The medical device according to claim 1, wherein, The non-transitory computer-readable medium includes radio frequency identification (RFID) tags.

15. The medical device according to claim 14, wherein, The RFID tag is placed at the base of the device.

16. The medical device according to claim 15, wherein, The RFID tag is configured to transmit the compression compensation parameters when activated by the RFID reader of the robotic arm.

17. The medical device according to claim 1, wherein, The elongated shaft includes an endoscope.

18. The medical device according to claim 1, wherein, The elongated shaft includes a sheath having a channel formed through the sheath, the channel extending along the axis of the sheath.

19. The medical device of claim 1, further comprising one or more additional traction wires.

20. A robot system, comprising: Robotic arm, the robotic arm comprising: A series of links connected by a series of joints, and A device actuator coupled to the distal end of the series of links; and Medical devices, the medical devices comprising: An elongated shaft extending between a distal and a proximal portion, the elongated shaft being configured for insertion into a patient's cavity during use; The instrument base, which is connected to the proximal portion of the elongated shaft, includes an attachment interface configured to facilitate attachment to the robotic arm. A non-transitory computer-readable medium storing compression compensation parameters that correlate the movement of the elongated shaft with the axial compression of the elongated shaft; and A traction cable, connected to the distal portion of the elongated shaft, extends along the elongated shaft between the distal portion and a drive input disposed at the base of the instrument, the drive input being configured to actuate the traction cable to cause movement of the elongated shaft. The robotic arm is configured to move the instrument driver along a virtual track at least in part based on stored compression compensation parameters to advance or retract the instrument base, and wherein the robotic arm moves to advance or retract the instrument base substantially simultaneously with the drive input actuating the traction line to cause movement of the elongated shaft.

21. The robot system according to claim 20, wherein, The movement of the slender shaft includes engagement of the slender shaft, wherein the compression compensation parameter relates the engagement angle of the slender shaft to the axial compression length of the slender shaft.

22. The robot system according to claim 21, wherein, The engagement angle includes the command engagement angle.

23. The robot system according to claim 21, wherein, The engagement angle includes the measured engagement angle.

24. The robot system of claim 23 further includes at least one electromagnetic EM sensor mounted on the elongated shaft, wherein, The measured engagement angle is determined based on the signal from the EM sensor.

25. The robotic system of claim 23, further comprising shape-sensing fibers on the elongated shaft, and wherein, The measured engagement angle is determined based on the shape sensing fiber.

26. The robot system of claim 20, further comprising at least one tension sensor connected to the traction line.

27. The robot system according to claim 26, wherein, The compression compensation parameter correlates the tension of the traction line measured by the at least one tension sensor with the axial compression length of the slender shaft.

28. The robot system according to claim 20, wherein, The compression compensation parameter correlates the traction line displacement with the axial compression length of the slender shaft.

29. The robot system according to claim 20, wherein, The drive input includes a pulley, and the compression compensation parameter relates the rotation of the pulley to the axial compression length of the elongated shaft.

30. The robot system according to claim 20, wherein, The drive input includes at least one of the following: lever, trigger, crank, and cam.

31. The robot system according to claim 20, wherein, The drive input includes a linear drive input, and wherein the compression compensation parameter relates a portion of the linear displacement of the linear drive input to the axial compression length of the elongated shaft.

32. The robot system according to claim 20, wherein, The compression compensation parameters are determined during the calibration process of the medical device.

33. The robot system according to claim 20, wherein, The non-transitory computer-readable medium includes radio frequency identification (RFID) tags.

34. The robot system according to claim 33, wherein, The RFID tag is placed at the base of the device.

35. The robot system according to claim 34, wherein, The RFID tag is configured to transmit the compression compensation parameters when activated by the RFID reader of the robotic arm.

36. The robot system according to claim 20, wherein, The elongated shaft includes an endoscope.

37. The robot system according to claim 20, wherein, The elongated shaft includes a sheath having a channel formed through the sheath, the channel extending along the axis of the sheath.

38. The robot system of claim 20 further includes one or more additional traction lines.

39. A robot system, comprising: Robotic arm; as well as Medical devices, the medical devices comprising: A slender shaft that extends between the distal and proximal portions; A device base connected to the proximal portion of the elongated shaft, the device base including a drive input configured to be driven by a corresponding drive output of the robotic arm; A non-transitory computer-readable medium storing compression compensation parameters that correlate the movement of the elongated shaft with the axial compression of the elongated shaft; and A traction cable, which connects to the distal portion of the elongated shaft and the drive input. The robotic arm is configured to move along a virtual track, at least in part, based on stored compression compensation parameters, to advance or retract the instrument base, and wherein the robotic arm moves to advance or retract the instrument base substantially simultaneously with the drive input actuating the traction line to cause movement of the elongated shaft.

40. The robot system according to claim 39, wherein, The movement of the slender shaft includes engagement of the slender shaft, wherein the compression compensation parameter relates the engagement angle of the slender shaft to the axial compression length of the slender shaft.

41. The robot system according to claim 40, wherein, The engagement angle includes either the command engagement angle or the measured engagement angle.

42. The robot system according to claim 39, wherein, The compression compensation parameter correlates the traction line displacement with the axial compression length of the slender shaft.

43. The robot system according to claim 39, wherein, The non-transitory computer-readable medium includes radio frequency identification (RFID) tags.

44. The robot system according to claim 43, wherein, The RFID tag is placed at the base of the device.

45. The robot system according to claim 44, wherein, The RFID tag is configured to transmit the compression compensation parameters when activated by the RFID reader of the robotic arm.

46. ​​The robot system according to claim 39, wherein, The elongated shaft includes a sheath having a channel formed through the sheath, the channel extending along the axis of the sheath.

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