Distal tip tracking and mapping

Abstract

A system for tracking includes a longitudinal element extending longitudinally from a distal tip inserted into a body to a proximal end retained outside the body. The element includes an IMU sensor at the tip and a series of strips extending along the element. Data from the IMU sensor determines an angular orientation of the tip. The system also includes an outer member positioned outside the body. The member includes a channel extending longitudinally therethrough and a linear encoder that detects each of the strips of elements when the elements are slid through the member such that data from the encoder determines linear displacement of the elements relative to the member at the entry point. A 3D position of the tip is calculated based on the determined angular orientation and the determined linear displacement at each detected strip.

Description

[0001] Priority claim

[0002] This disclosure claims priority to U.S. Provisional Patent Application Serial No. 63 / 365,911, filed on June 6, 2022; the disclosure of which is incorporated herein by reference. Technical Field

[0003] The present disclosure relates to endoscopic devices, and more particularly, to endoscopic devices configured such that the precise position of their distal tips can be tracked. Background Art

[0004] Many endoscopic procedures, such as gastrotomy, ERCP (endoscopic retrograde cholangiopancreatography), and lithotripsy, require an endoscope to be guided through a portion of a patient's body to deliver treatment to a target tissue within the body. In some endoscopic procedures, fluoroscopy can be used to image the internal structure and function of the patient's anatomy or organs to be treated. However, fluoroscopy uses X-rays to obtain continuous images, exposing the patient to radiation. Furthermore, fluoroscopy cannot provide a three-dimensional position of the distal tip of the endoscope within the body. Summary of the Invention

[0005] The present disclosure relates to a system for tracking the distal tip of a longitudinal element inserted into a patient's body. The system includes a longitudinal element that extends longitudinally from a distal tip configured for insertion into a target region within an anatomical structure of the patient's body to a proximal end configured to remain external to the patient's body. The longitudinal element includes an IMU sensor at the distal tip and a series of strips extending along the longitudinal element. Data from the IMU sensor determines the angular orientation of the distal tip of the longitudinal element. The system also includes an external member configured to be positioned external to the patient's body at an entry point into the target region of the patient's body. The external member includes a channel extending longitudinally therethrough and a linear encoder configured to detect each of the strips of the longitudinal element as the longitudinal element slides through the external member, such that data from the linear encoder determines the linear displacement of the longitudinal element relative to the external member at the entry point. The three-dimensional position of the distal tip is calculated based on the determined angular orientation and the linear displacement determined at each detected strip.

[0006] In an embodiment, the linear encoder comprises first and second optical fibers that respectively detect first and second linear displacements of the longitudinal element at the entry point to determine the linear movement direction of the longitudinal element relative to the external member.

[0007] In an embodiment, each of the strips extends around the periphery of the longitudinal element and is separated from an adjacent one of the strips by a predetermined distance.

[0008] In an embodiment, the strips are equidistantly spaced from each other.

[0009] In an embodiment, the longitudinal element is one of an endoscope and an endotracheal tube.

[0010] In an embodiment, the angular orientation of the distal tip is determined via sensor fusion techniques.

[0011] In an embodiment, the position of the distal tip is determined by performing a motion decomposition of the angular orientation and computing the integral of the decomposed motion.

[0012] In an embodiment, the position of the distal tip for each detected strip is determined to track the three-dimensional motion of the distal tip.

[0013] In an embodiment, the three-dimensional movement of the distal tip is displayed on a display.

[0014] In an embodiment, the linear encoder includes a camera that senses image intensity variations to detect each of the strips.

[0015] Furthermore, the present disclosure relates to a system for tracking the distal tip of a longitudinal element inserted into a patient's body. The system includes a longitudinal element extending longitudinally from a distal tip configured for insertion into a target region within an anatomical structure of the patient's body to a proximal end configured to remain external to the patient's body. The longitudinal element includes an IMU sensor at the distal tip and a series of strips extending along the longitudinal element. Each strip is separated from an adjacent strip by a predetermined distance. The system also includes an external member configured to be positioned external to the patient's body at an entry point into the target region of the patient's body. The external member includes a channel extending longitudinally therethrough and a linear encoder configured to detect each of the strips of the longitudinal element as the longitudinal element is slid through the external member. The system also includes a processor configured to receive data from the IMU sensor and the linear encoder, determine the angular orientation of the distal tip of the longitudinal element based on the data received from the IMU sensor, and determine the linear displacement of the longitudinal element relative to the external member based on the data received from the linear encoder. The processor is configured to determine the three-dimensional position of the distal tip for each detected strip.

[0016] In an embodiment, the linear encoder comprises first and second optical fibers that respectively detect first and second linear displacements of the longitudinal element at the entry point to determine the linear movement direction of the longitudinal element relative to the external member.

[0017] In an embodiment, the processor determines the angular orientation of the distal tip via sensor fusion techniques.

[0018] In an embodiment, the processor determines the position of the distal tip by performing a motion decomposition of the angular orientation and computing the integral of the decomposed motion.

[0019] In an embodiment, the system further comprises a display configured to display the tracked three-dimensional motion of the distal tip.

[0020] Furthermore, the present disclosure relates to a method for tracking a distal tip of a longitudinal element. The method includes positioning an external member external to a patient's body at an entry point into the patient's body, the external member including a linear encoder mounted therein; sliding a longitudinal element through the external member and into a target region of an anatomical structure of the patient's body, the longitudinal element extending from a distal tip configured for insertion into the target region to a proximal end configured for retention outside the patient's body, the longitudinal element including an IMU sensor at the distal tip and a series of strips extending along the longitudinal element, each of the strips being separated from an adjacent one of the strips by a predetermined distance; determining an angular orientation of the distal tip of the longitudinal element based on data received from the IMU sensor and determining a linear displacement of the longitudinal element relative to the external member based on data received from the linear encoder; and determining a three-dimensional position of the distal tip for each detected strip.

[0021] In an embodiment, the linear displacement of the longitudinal element comprises a distance and a direction of the linear displacement.

[0022] In an embodiment, the angular orientation of the distal tip is determined via sensor fusion techniques.

[0023] In an embodiment, the three-dimensional position of the distal tip is determined by performing a motion decomposition of the angular orientation and computing the integral of the decomposed motion.

[0024] In an embodiment, the method further comprises tracking the three-dimensional motion of the distal tip based on the three-dimensional position of the distal tip at each detected strip. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 shows a longitudinal side view of a distal component of a system for tracking a distal tip of a longitudinal element configured for insertion into a body according to an exemplary embodiment of the present disclosure;

[0026] Figure 2 Shown according to Figure 1 Another longitudinal side view of the distal component of the system;

[0027] Figure 3 Shown according to Figure 1 Schematic diagram of the system;

[0028] Figure 4 Shown according to Figure 1 Schematic diagram of the movement of the longitudinal elements of the system;

[0029] Figure 5 Shown according to Figure 1 A schematic diagram of the angular motion of the distal tip of a longitudinal element of the system; and

[0030] Figure 6 A longitudinal side view of a distal component of a system for tracking a distal tip of a longitudinal element configured for insertion into a body is shown according to another exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0031] The present disclosure may be further understood with reference to the following description and accompanying drawings, in which like elements are represented by like reference numerals. The present disclosure relates to tracking systems, and in particular to tracking systems in which the three-dimensional movement of the distal tip of an endoscope or other longitudinal element can be tracked. An exemplary embodiment of the present disclosure includes a longitudinal element (e.g., an endoscope) configured to be inserted into a living body, the longitudinal element including an IMU (inertial measurement unit) sensor at its distal tip and a series of strips printed along the longitudinal element. The strips are separated from each other by predetermined distances along the longitudinal element. The longitudinal element is slidable through a structure including a linear encoder component that measures the linear motion (e.g., distance) of the longitudinal element as the longitudinal element slides therethrough.

[0032] The IMU sensor and the linear encoder component communicate with a processor (e.g., wirelessly or via a wired electrical coupling) that determines the precise position of the distal tip of the longitudinal element based on the angular motion (e.g., orientation) of the distal tip determined via data from the IMU sensor and the linear motion detected via the linear component. The processor determines the precise position of the distal tip of each strip detected via the linear encoder component so that the three-dimensional movement of the distal tip can be tracked. Those skilled in the art will appreciate that the distal tip tracking provided by the exemplary embodiments facilitates guiding the longitudinal element through the patient's body to the target area, thereby reducing exposure to radiation from, for example, fluoroscopy, and when used in conjunction with, for example, an endoscopic vision system, can provide anatomical mapping. Those skilled in the art will also appreciate that the terms proximal and distal as used herein are intended to refer to directions toward and away from a user of the device, respectively.

[0033] like Figure 1-5 As shown, a tracking system 100 determines the precise position of a distal tip 104 of a longitudinal element 102 (e.g., an endoscope) that is inserted into a living body to a target area within an anatomical region or organ to be treated. The tracking system 100 includes the longitudinal element 102 configured to be inserted into the body and an external member 106 configured to be positioned outside the body at a point of entry into the body, for example, at a body orifice through which the longitudinal element 102 is to be inserted into the body.

[0034] The longitudinal element 102 is configured to slide through an outer member 106 and includes an IMU sensor 108 at the distal tip 104 of the longitudinal element 102 and a series of strips 110 along the longitudinal element 102, each of the strips 110 being separated from one another by a predetermined distance. The outer member 106 includes a linear encoder 112 that detects the strips 110 as the longitudinal element 102 slides through the outer member to determine the linear movement of the distal tip 104. The IMU sensor 108 and the linear encoder 112 are both in communication with a processor 114, such that the processor receives data from the IMU sensor 108 and the linear encoder 112 to determine the angular orientation of the distal tip 104 and the linear movement of the longitudinal element 102 relative to the entry point.

[0035] Based on the determined angular orientation of the distal tip 104 and the linear displacement of the longitudinal element 102, the processor 114 determines the three-dimensional position of the distal tip 104. The processor 114 determines the position of the distal tip 104 for each strip 110 detected via the linear encoder 112. According to an exemplary embodiment, the tracking system 100 also includes a display 116 on which continuous three-dimensional tracking of the distal tip 104 can be shown.

[0036] like Figure 1-2 As shown, longitudinal element 102 extends longitudinally from a distal tip 104 configured to be inserted into the body to a proximal end that remains outside the body accessible to a user of system 100 (e.g., a physician). In one embodiment, longitudinal element 102 is any of a variety of endoscopes (including, for example, a ureteroscope). However, those skilled in the art will appreciate that longitudinal element 102 can be any of a variety of longitudinal elements configured to be inserted into the body to treat a target area within the body. In one example, longitudinal element 102 comprises an endotracheal tube.

[0037] The distal tip 104 of the longitudinal element 102 includes an IMU sensor 108. The IMU sensor 108 may be embedded within the distal tip 104, such as Figure 2 As shown. The IMU sensor 108 is an electronic device used to calculate and report the precise force on an element, the rate of change of the angular orientation of the element, and the direction of movement of the element. The IMU sensor 108 is a hybrid of three sensors including a gyroscope, a magnetometer, and an accelerometer to determine motion detection, orientation around multiple axes, and forces applied to the body. Therefore, the IMU sensor 108 is also capable of performing motion tracking. However, IMU-based tracking may not be reliable for long-term tracking because it calculates position by double integrating the measured acceleration. As the calculation error of the double integration grows exponentially over time, the calculated position drifts over time, resulting in what is known as "IMU positioning drift."

[0038] As will be described in greater detail below, the longitudinal element 102 includes a series of strips 110 that can be detected via a linear encoder 112 to eliminate IMU positioning drift. According to an exemplary embodiment, the series of strips 110 can be printed, laser cut, or etched along the longitudinal element 102. In an exemplary embodiment, each strip 110 extends around the circumference of the longitudinal element 102, and the strips 110 are separated from each other along the longitudinal element 102 by a predetermined distance known to the system.

[0039] In one embodiment, the strips 110 are spaced equidistant from one another. The strips 110 can have any of a variety of colors and / or configurations, as long as each of the strips 110 can be detected via the linear encoder 112. In one embodiment, the strips 110 can be black. The strips 110 should extend along at least a portion of the length of the longitudinal element 102 configured to be inserted into a patient's body.

[0040] The outer member 106 includes a linear encoder 112 mounted therein and is configured to be positioned at a point of entry into the patient's body. As described above, in one example, this can include a location adjacent to a body orifice through which the longitudinal element 102 will be inserted. According to an exemplary embodiment, the outer member 106 can be positioned against or proximate to the point of entry of the device into the body and, in one embodiment, is configured to be attached to the point of entry.

[0041] According to an exemplary embodiment, outer member 106 has a generally tubular configuration that includes a channel 118 extending therethrough such that longitudinal element 102 can slide longitudinally through channel 118. As longitudinal element 102 slides through channel 118, linear encoder 112 detects each of strips 110 to determine, among other things, the length of the portion of the device that has been inserted into the body.

[0042] In one embodiment, the linear encoder 112 includes a pair of optical fibers—a first optical fiber 120 and a second optical fiber 122. Each of the first and second optical fibers 120, 122 is capable of detecting the strip 110 and / or non-strip components extending therebetween to determine the linear displacement of the longitudinal element 102 as it enters and / or exits the body. In other words, the distance the longitudinal element 102 has moved distally and / or proximally by the outer member 106 is detected. In this embodiment, the linear encoder 112 includes the first and second optical fibers 120, 122 such that each of the optical fibers 120, 122 outputs a displacement—output A, output B, respectively. Each of outputs A and B represents the linear displacement of the longitudinal element 102 relative to its point of entry into the body. The two outputs A and B allow the processor 114 to determine whether the distal tip 104 has moved forward (i.e., distally) or backward (i.e., proximally).

[0043] like Figure 3 As shown, the IMU sensor 108 and the linear encoder 112 are in communication with a processor 114. The IMU sensor 108 and the linear encoder 112 can be wirelessly and / or electrically coupled to the processor 114 so that the processor 114 can receive data from each of the IMU sensor 108 and the linear encoder 112. The processor 114 of the present embodiment comprises a computing device configured to execute computer-executable instructions for operations that provide functionality to the system 100.

[0044] For example, as will be described in further detail below, the processor 114 executes instructions for determining orientation information of the distal tip 104, determining linear motion of the longitudinal element 102, and determining a three-dimensional position of the distal tip 104 based on the orientation information and the linear motion. The processor 114 of the present embodiment is connected to a display 116, which illustrates / displays the results of the tracking system 100, such as three-dimensional motion tracking of the distal tip 104. The processor 114 and display 116 in the exemplary embodiment are components of a computing device that communicates with the IMU sensor 108 and the linear encoder 112 of the system 100.

[0045] In another embodiment, these elements are modular components connected to the linear encoder 112 of the system 100. Those skilled in the art will appreciate that the system 100 according to embodiments may include any combination of any of the above components to allow three-dimensional tracking of the distal tip 104.

[0046] like Figure 4 As shown, the linear encoder 112 determines the one-dimensional displacement of the longitudinal element 102 at the entry point (ie, the position of the outer member 106). Figure 4-5 As shown, this linear displacement is then converted into angular motion of the distal tip 104, which is determined via data from the IMU sensor 108. As will be appreciated by those skilled in the art, the linear motion and the angular motion together determine the three-dimensional position of the distal tip 104. In an exemplary embodiment, the angular motion (e.g., orientation) of the distal tip 104 is determined each time a detected one-dimensional displacement change of the longitudinal element 102 occurs.

[0047] Specifically, when linear encoder 112 detects the passage of strip 110 and determines that linear displacement has occurred, processor 114 calculates orientation information using sensor fusion techniques. Specifically, because gyroscopes typically have drift issues, the accelerometer sensor of the exemplary embodiment is used to calibrate the gyroscope sensor using sensor fusion techniques to provide accurate orientation information.

[0048] According to an exemplary embodiment, the processor 114 performs motion decomposition based on the orientation data received from the IMU sensor 108. The processor 114 then determines the tip position based on the decomposed motion. In an embodiment, the tip position is determined by calculating the integral of the decomposed motion. Since the tip position is determined when each strip 110 is detected passing, the processor 114 is able to track the three-dimensional motion of the distal tip 104. As described above, the first and second optical fibers 120, 122 are also able to track the longitudinal movement direction of the longitudinal element 102 relative to the external member 106. The tracked motion can be displayed on the display 116. Since the tip position is determined only through a single integration operation in this embodiment, there is no drift problem that may occur when tracking only through the IMU sensor. Therefore, the system 100 provides an accurate position of the distal tip 104.

[0049] According to an exemplary method for tracking the distal tip 104 of the longitudinal element 102 of the system 100, the outer member 106 is positioned outside the body at the point of entry into the patient's body. In one embodiment, this may be to open a body orifice to the target area of ​​the anatomy to be treated. Then, as the longitudinal element 102 is slid through the channel 118 of the outer member 106, the linear encoder 112 of the outer member 106 detects each strip 110 passing through the outer member 106.

[0050] As each strip 110 is detected, the angular motion of the distal tip 104 is also determined via data received from the IMU sensor 108. The processor 114 then performs motion decomposition based on the angular motion / orientation data. The position of the distal tip 104 is calculated by integrating this decomposed motion. As described above, as the longitudinal element 102 slides through the outer member 106, the position of the distal tip 104 is determined for each detected strip 110. Similarly, as described above, the first and second optical fibers 120, 122 of the linear encoder 112 are able to determine the direction of movement of the longitudinal element 102, i.e., whether the longitudinal element is being inserted into the body via distal motion or withdrawn from the body via proximal motion. As the position of the distal tip 104 is continuously determined, the three-dimensional movement of the distal tip 104 is tracked based on the position of the distal tip 104 determined for each strip 110 and displayed on the display 116.

[0051] like Figure 6As shown, a tracking system 200 according to another exemplary embodiment of the present disclosure can be substantially similar to the system 100 and include a longitudinal element 202 that can slide through an outer member 206. Similar to the system 100, the longitudinal element 202 is configured to be inserted into a living body to reach a target area to be treated therein, and can include, for example, a flexible endoscope, an endotracheal tube, etc. The outer member 206 is configured to be positioned outside the body at an entry point into the body, for example, at the opening of a body orifice through which the longitudinal element 102 will be inserted.

[0052] Similar to the longitudinal element 102, the longitudinal element 202 includes an IMU sensor (not shown) at the distal tip 204 of the longitudinal element 202 and a series of strips 210 along the longitudinal element 202. The strips 210 extend at least partially circumferentially around the longitudinal element 202 and are separated from each other along the longitudinal element 202. The strips 210 are separated from each other by a predetermined distance, which can be a known constant separation distance or a distance that varies in any known pattern, as long as the system 200 can determine the distance between each strip 210 and the strips 210 that have previously passed through the outer member 206 based on each strip 210 passing through the outer member 206. The outer member 206 also includes a linear encoder 212 that detects the strips 210 as the longitudinal element 202 is slid through the outer member 206 to determine the linear movement of the distal tip 204.

[0053] System 200 is substantially similar to system 100, except that the linear encoder 212 in this embodiment includes a camera 220 for detecting the strip 210, rather than an optical fiber, as described above with respect to system 100. The camera 220 detects changes in image intensity to identify the strip 210 along the longitudinal element 202 as the strip 210 passes through the outer member 206. Similar to system 200, the IMU sensor and linear encoder (e.g., camera 220) communicate with a processor, which receives data from the IMU sensor and linear encoder 212 to determine the angular orientation of the distal tip 204 and the linear motion of the longitudinal element 202 relative to the entry point, respectively.

[0054] Based on the determined angular orientation of the distal tip 204 and the linear displacement of the longitudinal element 202, as well as the previous three-dimensional position of the distal tip 204, the processor determines the three-dimensional position of the distal tip 204. The processor determines the position of the distal tip 204 using each strip 210 detected via the linear encoder 212 across the outer member 206 to provide three-dimensional tracking of the distal tip 204, which can be displayed on a display.

[0055] Those skilled in the art will appreciate that various modifications may be made to the present disclosure without departing from the scope of the present disclosure. In addition, those skilled in the art will appreciate that the features of any one of the various embodiments may be combined in any manner not inconsistent with the description and / or function of the embodiment.

Claims

1. A system for tracking a distal tip of a longitudinal element inserted into a patient's body, comprising: a longitudinal element extending longitudinally from a distal tip configured to be inserted into a target area within an anatomical structure of a patient's body to a proximal end configured to remain external to the patient's body, the longitudinal element comprising an IMU sensor at the distal tip and a series of strips extending along the longitudinal element, data from the IMU sensor determining an angular orientation of the distal tip of the longitudinal element; and an external member configured to be positioned external to the patient's body at an entry point into the target area of ​​the patient's body, the external member including a channel extending longitudinally therethrough and a linear encoder configured to detect each of the strips of the longitudinal element as the longitudinal element is slid through the external member, such that data from the linear encoder determines a linear displacement of the longitudinal element relative to the external member at the entry point, the three-dimensional position of the distal tip being calculated based on the determined angular orientation and the determined linear displacement at each detected strip.

2. The system of claim 1 , wherein the linear encoder comprises a first optical fiber and a second optical fiber, the first optical fiber and the second optical fiber respectively detecting a first linear displacement and a second linear displacement of the longitudinal element at the entry point to determine a linear movement direction of the longitudinal element relative to the external member.

3. The system according to any one of claims 1 to 2, wherein: Each of the strips extends around the periphery of the longitudinal element and is separated from an adjacent one of the strips by a predetermined distance. The system of claim 3 , wherein the strips are equidistantly spaced from one another.

5. The system of any one of claims 1-4, wherein the longitudinal element is one of an endoscope and an endotracheal tube.

6. The system of any one of claims 1-5, wherein the angular orientation of the distal tip is determined via sensor fusion techniques.

7. The system according to any one of claims 1 to 6, wherein: The position of the distal tip is determined by performing a motion decomposition of the angular orientation and computing an integral of the decomposed motion.

8. The system according to any one of claims 1 to 7, wherein: The position of the distal tip for each detected strip is determined to track the three-dimensional motion of the distal tip.

9. The system of claim 8, wherein the three-dimensional movement of the distal tip is displayed on a display.

10. The system of any one of claims 1-9, wherein the linear encoder comprises a camera that senses image intensity changes to detect each of the strips.

11. A system for tracking a distal tip of a longitudinal element inserted into a patient's body, comprising: a longitudinal element extending longitudinally from a distal tip configured to be inserted into a target area within an anatomical structure of the patient's body to a proximal end configured to remain external to the patient's body, the longitudinal element comprising an IMU sensor at the distal tip and a series of strips extending along the longitudinal element, each of the strips being separated from an adjacent one of the strips by a predetermined distance; and an outer member configured to be positioned external to the patient's body at an entry point into the target area of ​​the patient's body, the outer member including a channel extending longitudinally therethrough and a linear encoder configured to detect each of the strips of the longitudinal element as the longitudinal element is slid through the outer member; and a processor configured to receive data from the IMU sensor and the linear encoder to determine an angular orientation of the distal tip of the longitudinal element based on the data received from the IMU sensor and to determine a linear displacement of the longitudinal element relative to the external member based on the data received from the linear encoder, the processor configured to determine a three-dimensional position of the distal tip for each detected strip.

12. The system of claim 11, wherein the linear encoder comprises a first optical fiber and a second optical fiber, the first optical fiber and the second optical fiber respectively detecting a first linear displacement and a second linear displacement of the longitudinal element at the entry point to determine a linear movement direction of the longitudinal element relative to the external member.

13. The system of any one of claims 11-12, wherein the processor determines the angular orientation of the distal tip via sensor fusion techniques.

14. The system of any one of claims 11-13, wherein the processor determines the position of the distal tip by performing a motion decomposition of the angular orientation and computing an integral of the decomposed motion.

15. The system of any one of claims 11-14, further comprising a display configured to display the tracked three-dimensional motion of the distal tip.

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