Systems and methods for motion control of steerable devices

Abstract

The invention relates to a system and method for motion control of a steerable device. Systems and methods for controlling movement of a steerable device are provided. In some embodiments, a system may include a control device, a manipulator system, and / or a control system communicatively coupled to the manipulator system and the control device. The control system may track a virtual user-indicated orientation based on the first user input, determine a device orientation of a portion of the steerable device, and determine an orientation difference in a first direction between the determined device orientation and the virtual user-indicated orientation. The control system may also receive a second user input that commands movement of the steerable device in a second direction. At least a portion of the second direction may be opposite the first direction. The control system may also reduce the orientation difference based on the aspect of the second user input and the catch-up curve.

Description

[0001] This application is a divisional application of Chinese patent application 201980065605X (PCT / US2019 / 054016) filed on October 1, 2019, entitled “System and method for motion control of a steerable device”.

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS

[0003] This application claims the benefit of U.S. Provisional Application No. 62 / 741,354, filed October 4, 2018, which is incorporated herein by reference in its entirety. Technical Field

[0004] Examples described herein relate to systems and methods for procedures, such as systems and methods for controlling a steerable device of a system. Background Art

[0005] Instruments can be used to manipulate and perform tasks in a workspace. Such instruments can be configured to be partially or completely supported and operated by a manipulator assembly. Such instruments and manipulator assemblies can be used to perform non-medical procedures or medical procedures. For example, a medical tool or medical manipulator can be used to perform minimally invasive medical procedures. As another example, an industrial tool or industrial manipulator can be used for manufacturing or testing. As another example, a tool or manipulator can be used in programs for entertainment, exploration, and various other purposes.

[0006] Minimally invasive medical techniques can generally be intended to reduce the amount of tissue damaged during invasive medical procedures, thereby reducing the patient's recovery time, discomfort, and harmful side effects. Such minimally invasive techniques can be performed through natural orifices in the patient's anatomy or through one or more incisions. Through these natural orifices or incisions, the clinician can insert a medical tool to reach the target tissue location. Minimally invasive medical tools include instruments such as therapeutic instruments, diagnostic instruments, and surgical instruments. Minimally invasive medical tools can also include imaging instruments (such as endoscopic instruments) that provide the user with a field of view within the patient's anatomy.

[0007] Certain medical and non-medical instruments, including manipulative instruments, imaging instruments, or other sensing instruments, may be remotely operated or otherwise computer-assisted. It would be advantageous to provide intuitive controls for operating these instruments and other steerable devices, and for the controls to respond quickly and accurately to user inputs during the procedure. Summary of the Invention

[0008] The following presents a simplified summary of various examples described herein and is not intended to identify key or critical elements or to delineate the scope of the claims.

[0009] In one example, a system may include: a control device configured to receive user input; a manipulator system including an actuator configured to receive and drive a steerable device; and a control system communicatively coupled to the manipulator system and the control device. The control system may be configured to track a virtual user-indicated orientation based on a first user input, determine an orientation of a portion of the steerable device, and determine an orientation difference in a first direction between the determined orientation and the virtual user-indicated orientation. The control system may also be configured to receive a second user input commanding movement of the steerable device in a second direction. At least a portion of the second direction is opposite to the first direction. In response to the second user input, the control system is configured to reduce the orientation difference based on an aspect of the second user input and a catch-up profile.

[0010] In another example, a method may include receiving a first user input from a master controller indicating movement of a steerable elongated device in a first direction of motion, and tracking a virtual user-indicated orientation based on the first user input. The method may also include controlling the movement of the steerable elongated device based on the first user input, and detecting a current device orientation of the steerable elongated device from a sensor of the steerable elongated device. The method may also include determining an orientation difference between the detected current device orientation and the virtual user-indicated orientation, and receiving a second user input from the master controller in a second direction of motion. At least a portion of the orientation of the second direction is opposite to the first direction of motion. In response to the second user input, the orientation difference may be reduced based on a catch-up curve.

[0011] In another example, a device may include one or more processors and a non-transitory computer memory storing machine-executable instructions. When executed by the one or more processors, the machine-executable instructions may cause the device to receive a first user input from a control device commanding movement of a steerable device in a first direction, and to track a virtual user-indicated orientation based on the first user input. When executed by the one or more processors, the machine-executable instructions may further cause the device to command an actuator coupled to the steerable device to move the steerable device in the first direction based on the first user input. The movement of the steerable device in response to the first user input may generate an orientation difference. When executed by the one or more processors, the machine-executable instructions may further cause the device to detect a device orientation of a portion of the steerable device from a sensor of the steerable device and determine a measurement of the orientation difference. When executed by the one or more processors, the machine-executable instructions may further cause the device to receive a second user input from the control device commanding movement of the steerable device in a second direction. At least a portion of the second direction may be opposite to the first direction. In response to the second user input, the orientation difference may be reduced based on an aspect of the second user input and a catch-up curve.

[0012] It should be understood that the foregoing summary and the following detailed description are illustrative and explanatory in nature, and are intended to provide an understanding of the present disclosure without limiting the scope of the present disclosure. In this regard, other aspects, features and advantages of the present disclosure will be apparent to those skilled in the art based on the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a simplified diagram of a medical system according to some embodiments.

[0014] Figure 2A and Figure 2B is a simplified diagram of a side view of a patient coordinate space including a medical device mounted on an insertion assembly, according to some embodiments.

[0015] Figure 3 is a flow chart illustrating a method of controlling a steerable device according to some embodiments.

[0016] Figure 4-Figure 6 is a diagram illustrating the relationship between user input and the orientation of a steerable device in accordance with some embodiments.

[0017] Figure 7 is a flow chart illustrating a method of controlling a steerable device in response to a fault, according to some embodiments.

[0018] By referring to the detailed description below, the embodiments of the present disclosure and its advantages will be best understood. It should be understood that the same reference numerals are used to identify similar elements shown in one or more of the accompanying drawings, wherein the display therein is for illustrating the embodiments of the present disclosure, not for limiting the embodiments of the present disclosure. DETAILED DESCRIPTION

[0019] The technology described herein provides a technique for controlling a steerable device, such as an instrument of a robotic device or system. Examples of applicable robotic devices or systems include medical devices that are remotely operated or otherwise manipulated to drive a flexible, elongated device into a passageway, such as an airway or a blood vessel. As an illustrative and enabling example, with respect to an example flexible robotic device or system, such as a device for Figure 1 、 Figure 2A and Figure 2B Various aspects of the disclosed technology are described herein. In various embodiments, a user instructs the system to use the system's actuators to drive the robotically controlled catheter. When the forces applied by the actuators are opposed, tension may build up within the catheter. Figure 3-Figure 7The disclosed techniques described for controlling a catheter or other instrument can be implemented to control the manner in which tension is generated and released to provide an intuitive control technique with many advantages, including smooth changes in tension and high responsiveness to user input.

[0020] Figure 1 is a simplified diagram of a robotic medical system 100 according to some embodiments. In some embodiments, medical system 100 may be suitable for use in, for example, surgical procedures, diagnostic procedures, therapeutic procedures, or biopsy procedures. While some embodiments herein are directed to such procedures, any reference to medical or surgical instruments and medical or surgical methods is non-limiting. The systems, instruments, and methods described herein may be used with robotic systems for animals, human cadavers, animal cadavers, parts of human or animal anatomy, non-surgical diagnostic and industrial systems, and / or other general robotic systems.

[0021] like Figure 1 As shown in , the medical system 100 may include a manipulator assembly 102 for operating a medical device 104 in performing various procedures on a patient P. The medical device 104 may extend to an internal location within the patient P through an opening within the patient P. The manipulator assembly 102 may be a teleoperated assembly, a non-teleoperated assembly, or a hybrid teleoperated and non-teleoperated assembly having selected degrees of freedom of movement that may be electrically and / or teleoperated and selected degrees of freedom of movement that may be non-electrically and / or non-teleoperated. The manipulator assembly 102 may be mounted to and / or located near an operating table T. The main assembly 106 allows an operator O (e.g., Figure 1 The surgeon, clinician, or physician shown in FIG) observes the intervention site and controls the manipulator assembly 102.

[0022] Main assembly 106 can be located at an operator console, which is typically located in the same room as operating table T, such as to the side of the operating table on which patient P is located. However, it should be understood that operator O can be located in a different room from patient P or in an entirely different building. Main assembly 106 typically includes one or more control devices for controlling manipulator assembly 102. The control devices can include any number of various input devices, such as a joystick, trackball, scroll wheel, steering wheel, buttons, data gloves, trigger guns, hand controls, voice recognition devices, human motion or presence sensors, and / or the like.

[0023] The manipulator assembly 102 supports the medical device 104 and can include one or more non-servo controlled links (e.g., one or more links that can be manually positioned and locked in position, often referred to as setup structures), one or more servo controlled links (e.g., one or more links that can be controlled in response to commands from a control system), and / or a kinematic structure of the manipulator. The manipulator assembly 102 can include a plurality of actuators or motors that drive inputs on the medical device 104 in response to commands from a control system (e.g., control system 112). The actuators can include drive systems that, when coupled to the medical device 104, can advance the medical device 104 into a natural or surgically created anatomical orifice. Other drive systems can move the distal portion of the medical device 104 in multiple degrees of freedom, which can include three linear motions (e.g., linear motion along the X, Y, Z Cartesian axes) and three rotational motions (e.g., rotations about the X, Y, Z Cartesian axes). Additionally, the actuator may be used to actuate an articulatable end effector of the medical instrument 104 for grasping tissue in the jaws of a biopsy device and / or the like.

[0024] The medical system 100 may include a sensor system 108 having one or more subsystems for receiving information about the manipulator assembly 102 and / or the medical device 104. Such subsystems may include a position / location sensor system (e.g., an electromagnetic (EM) sensor system); a shape sensor system for determining the position, orientation, speed, velocity, posture, and / or shape of a distal portion and / or along one or more segments of a flexible body that may comprise the medical device 104; a visualization system for capturing images from the distal portion of the medical device 104; and / or actuator position sensors (such as resolvers, encoders, potentiometers, and the like) that describe the rotation and orientation of a motor that controls the device 104.

[0025] The medical system 100 may include a display system 110 for displaying images or representations of a surgical site and a medical device 104. In some examples, the display system 110 may present preoperative or intraoperative images of the surgical site using an imaging modality such as computed tomography (CT), magnetic resonance imaging (MRI), fluoroscopy, thermography, ultrasound, optical coherence tomography (OCT), thermography, impedance imaging, laser imaging, nanotube X-ray imaging, and / or the like. In some embodiments, the medical device 104 may include a visualization system including an image capture component for recording instantaneous or real-time images of the surgical site and providing the images to the operator O via one or more displays of the display system 110.

[0026] In some examples, the medical system 100 can configure the displayed representation, the medical instrument 104, and the controls of the primary assembly 106 so that the relative orientation of the medical instrument resembles the relative orientation of the eyes and / or hands of the operator O. In this manner, the operator O can manipulate the medical instrument 104 and hand controls as if viewing the workspace in substantial telepresence.

[0027] In some examples, such as for the purpose of image-guided medical procedures, the display system 110 can display a virtual navigation image in which the actual position of the medical instrument 104 is registered (e.g., dynamically referenced) with a preoperative or immediate image / model. This can be done to present the operator O with a virtual image of the internal surgical site from the perspective of the medical instrument 104.

[0028] The medical system 100 may also include a control system 112. The control system 112 includes at least one memory and at least one computer processor (not shown) for implementing control between the manipulator assembly 102, the medical device 104, the main assembly 106, the sensor system 108 and / or the display system 110. The control system 112 also includes programmed instructions (e.g., a non-transitory machine-readable medium storing instructions) to implement some or all of the methods described in accordance with various aspects disclosed herein, including instructions for providing information to the display system 110. Although the control system 112 is Figure 1 106, but the system may include two or more data processing circuits, with a portion of the processing optionally being performed on or adjacent to the manipulator assembly 102, another portion of the processing being performed at the master assembly 106, and / or the like. A processor of the control system 112 may execute instructions corresponding to the processes disclosed herein and described in more detail below.

[0029] In some examples, control system 112 can receive force and / or torque feedback from medical device 104. In response to this feedback, control system 112 can transmit a signal to master assembly 106. In some examples, control system 112 can transmit a signal instructing one or more actuators of manipulator assembly 102 to move medical device 104.

[0030] The control system 112 can obtain sensor data from the sensor system 108, which is used to calculate the approximate position of the medical device 104 relative to the anatomy of the patient P. The system can implement the sensor system 108 to register and display the medical device with medical images recorded preoperatively or intraoperatively. For example, PCT Publication WO 2016 / 191298 (published on December 1, 2016 and entitled "Systems and Methods of Registration for Image Guided Surgery"), which is incorporated herein by reference in its entirety, discloses an example system.

[0031] The medical system 100 may further include operating and support systems, such as lighting systems, articulated (such as steering) control systems, flushing systems, and / or suction systems (not shown). In some embodiments, the medical system 100 may include more than one manipulator assembly and / or more than one main assembly. Among other factors, the exact number of manipulator assemblies may depend on the medical procedure and the space limitations within the operating room. The main assemblies 106 may be juxtaposed, or they may be positioned in separate locations. Multiple main assemblies may allow one or more operators to control one or more manipulator assemblies in various combinations.

[0032] Figure 2A and Figure 2B is a simplified diagram of a side view of a patient coordinate space including a medical device mounted on an insertion assembly, according to some embodiments. Figure 2A and Figure 2B As shown in , a surgical environment 300 may include a patient P positioned on an operating table T. Patient P may be stationary within the surgical environment 300 in the sense that the patient's overall movement is limited by sedation, restraints, and / or other means. Cyclic anatomical motion, including respiratory and cardiac motion of patient P, may continue. Within the surgical environment 300, a medical instrument 304 is used to perform a medical procedure, which may include, for example, surgery, biopsy, ablation, illumination, irrigation, aspiration, or system registration procedures. The medical instrument 104 may be, for example, instrument 104. Instrument 304 includes a flexible, elongated device 310 (e.g., a catheter) coupled to an instrument body 312. Elongated device 310 includes one or more passageways (not shown) sized and shaped to receive a medical tool (not shown).

[0033] The elongated device 310 may also include one or more sensors (e.g., components of the sensor system 108). In some examples, an articulation sensor 314, such as a fiber optic shape sensor, may be affixed to a proximal point 316 on the instrument body 312. The proximal point 316 of the articulation sensor 314 may move with the instrument body 312, and the position of the proximal point 316 may be known (e.g., via a tracking sensor or other tracking device). The articulation sensor 314 may measure the shape from the proximal point 316 to another point, such as a distal portion 318 of the elongated device 310. The articulation sensor 314 may be aligned with the flexible elongated device 310 (e.g., provided within an internal passageway (not shown) or mounted externally). In some examples, the optical fiber may have a diameter of approximately 200 μm. In other examples, the diameter may be larger or smaller. The articulation sensor 314 may be used to determine the shape of the flexible elongated device 310. Optical fibers including fiber Bragg gratings (FBGs) may be used to provide strain measurements in a structure in one or more dimensions. Various systems and methods for monitoring the shape and relative orientation of an optical fiber in three dimensions are described in U.S. Patent Application No. 11 / 180,389, filed July 13, 2005, entitled "Fiber Optic Position and Shape Sensing Device and Method Relating Thereto," U.S. Patent Application No. 12 / 047,056, filed July 16, 2004, entitled "(Fiber Shape and Relative Orientation Sensing)," and U.S. Patent No. 6,389,187, filed June 17, 1998, entitled "Optical Fiber Bend Sensor," which are incorporated herein by reference in their entireties. The sensors in some embodiments may employ other suitable strain sensing techniques, such as Rayleigh scattering, Raman scattering, Brillouin scattering, and fluorescence scattering. Various systems for registering and displaying surgical instruments with surgical images using fiber optic sensors are provided in PCT Publication WO 2016 / 191298 (published on December 1, 2016 and entitled “Systems and Methods of Registration for Image Guided Surgery”), which is incorporated herein by reference in its entirety.

[0034] In some examples, orientation sensors, such as electromagnetic (EM) sensors, can be incorporated into the medical device 304. A series of orientation sensors can be positioned along the flexible elongated device 310 and used for shape sensing. In some examples, the orientation sensors can be configured and positioned to measure six degrees of freedom, such as three orientation coordinates X, Y, Z and three orientation angles indicating pitch, yaw, and roll of a base point. In some examples, the orientation sensors can be configured and positioned to measure five degrees of freedom, such as three orientation coordinates X, Y, Z and two orientation angles indicating pitch and yaw of a base point. Further description of orientation sensor systems is provided in U.S. Patent No. 6,380,732 (filed on August 11, 1999 and entitled "Six-Degree of Freedom Tracking System Having a Passive Transponder on the Object Being Tracked"). (

[0014] A six-degree-of-freedom tracking system with a passive transponder on a tracked object is provided in U.S. Pat. No. 4,877,977, which is incorporated herein by reference in its entirety.

[0035] The elongated device 310 can house cables, linkages, or other steering controls (not shown) that extend between the instrument body 312 and the distal portion 318 to controllably bend the distal portion 318. In some examples, at least four cables are used to provide independent "up-down" steering for controlling the pitch of the distal portion 318 and "side-to-side" steering for controlling the yaw of the distal portion 318. Steerable elongated devices are described in detail in U.S. Patent Application No. 13 / 274,208 (filed October 14, 2011), disclosing "Catheter with Removable Vision Probe," which is incorporated herein by reference in its entirety. The instrument body 312 can include a drive input device that is removably coupled to a drive element of the assembly (such as an actuator) and receives power from the drive element.

[0036] The instrument body 312 can be coupled to an instrument bracket 306. The instrument bracket 306 can be mounted to an insertion stage 308 that is fixed within the surgical environment 300. Alternatively, the insertion stage 308 can be movable but have a known position within the surgical environment 300 (e.g., via a tracking sensor or other tracking device). The instrument bracket 306 can be a component of a manipulator assembly (e.g., manipulator assembly 102) that is coupled to the medical device 304 to control insertion motion (e.g., motion along axis A) and / or motion of the distal portion 318 of the elongated device 310 in multiple directions, such as yaw, pitch, and / or roll. The instrument bracket 306 or insertion stage 308 can include an actuator, such as a servo motor (not shown), that controls the motion of the instrument bracket 306 along the insertion stage 308.

[0037] The sensor device 320, which can be part of the sensor system 108, can provide information about the orientation of the instrument body 312 as it moves along the insertion axis A on the insertion table 308. The sensor device 320 can include one or more resolvers, encoders, potentiometers, and / or other sensors that determine the rotation and / or orientation of the actuators that control the movement of the instrument bracket 306 and, therefore, the movement of the instrument body 312. In some embodiments, the insertion table 308 is linear. In some embodiments, the insertion table 308 can be curved or have a combination of curved and linear sections.

[0038] Figure 2A The instrument body 312 and the instrument carrier 306 are shown in a retracted orientation along the insertion station 308. In this retracted orientation, the proximal point 316 is at position L0 on the axis A. Figure 2B 308 , the instrument body 312 and the instrument carriage 306 are advanced along the linear rails of the insertion table 308, and the distal portion 318 of the elongated device 310 has been advanced into the patient P. In this advanced position, the proximal point 310 is at position L1 on the axis A. In some examples, encoders and / or other position data from one or more actuators that control movement of the instrument carriage 306 along the insertion table 308 and / or one or more position sensors associated with the instrument carriage 306 and / or the insertion table 308 can be used to determine the position of the proximal point 316 relative to position L0. In some examples, this position can further serve as an indicator of the distance or insertion depth of the distal portion 318 of the elongated device 310 inserted into the passageway of the anatomy of the patient P.

[0039] refer to Figure 3-Figure 7 , a method for controlling a steerable device, such as the flexible elongated device 310 and / or the instrument 104 described above, is described. Figure 3is a flow chart describing a method 350 for controlling a steerable device according to some embodiments. The method 350 is a set of operations or processes in Figure 3 Shown in. Figure 3 The process shown in can be Figure 3 In some embodiments of method 350, one or more of the illustrated processes may not be performed. Figure 3 One or more processes not explicitly shown in the method 350 may be included before, after, between, or as part of the processes shown. In some embodiments, one or more processes of the method 350 may be implemented at least in part in the form of executable code stored on a non-transitory tangible machine-readable medium that, when executed by one or more processors (e.g., the processors of the control system 112 described above), causes the one or more processors to perform the one or more processes. Figure 4-Figure 6 is a diagram illustrating the relationship between user input and the orientation of a steerable device in a control environment according to some embodiments.

[0040] refer to Figure 3 In process 352, a system such as the medical system 100 above can receive a first user input that instructs the system to move a steerable device of the system in a first direction of motion. The first direction of motion can be along any axis (e.g., one or both of the lateral axes, the insertion axis, etc.), or can be in any orientation (e.g., yaw, pitch, roll, etc.). The user input can be provided by the operator O using the control device of the main component 106, and in various examples, the control device can include a joystick, trackball, scroll wheel, steering wheel, button, data glove, trigger gun, manual controller, voice recognition device, human motion or presence sensor and / or other suitable control device. The user input can include a desired speed, desired orientation and / or other indication for the steerable device.

[0041] refer to Figure 3 and Figure 4 In process 354, the system may track a user-indicated position associated with the steerable device in response to the first user input. Figure 4In the control environment 400 of , a user-indicated position, which may be referred to as a primary position or a proxy position, is represented by circles 402A and 402B. The user-indicated position may be a virtual position in that it may be different from the actual position of the steerable device. At cycle zero, where remote operation is initiated, the user-indicated position (e.g., position 402A) may match the position of the steerable device (e.g., position 404A). In the example shown, a first user input may instruct the system to drive the steerable device such that a portion of the steerable device (e.g., a distal portion of the steerable device) moves from position 402A to position 402B. As shown, the system may track the movement of the user-indicated position from position 402A to position 402B.

[0042] In examples where the first user input includes a velocity measure, the amount by which the user-indicated position was moved can be determined by applying any applicable velocity modifications, such as a position limit or a catch-up modification as described in more detail below in the context of the second user input. The modified velocity can then be integrated (e.g., multiplied by a cycle time of a constant magnitude velocity) to determine the amount by which the user-indicated position was moved.

[0043] refer to Figure 3 In process 356, the system can control the steerable device in response to the first user input. In some embodiments, the control system 112 of the medical system 100 can cause an actuator of the manipulator assembly 102 to apply a force to a cable, linkage, pull wire, chord, or other steering control member within the steerable device in response to the first user input. In some embodiments, the control system 112 of the medical system can cause an actuator of an insertion table (e.g., insertion table 308) to apply a force to the steerable device in response to the first user input. The user input can be converted into an actuator position and / or an amount of force applied by the actuator.

[0044] Referring to process 358, the system can determine the current position of one or more parts of the steerable device in response to the movement of the actuator in process 356. For example, the control system 112 can receive data from sensors of the sensor system 108 (e.g., a shape sensor, an orientation sensor, an actuator orientation sensor, etc. of the steerable device) and can use the received data to determine the position, orientation, speed, velocity, posture, and / or shape of one or more segments along the steerable device. For example, the control system 112 can use the received data to determine the position, orientation, speed, velocity, posture, and / or shape of the distal portion of the steerable device or another portion of the steerable device. The control system 112 can also consider historical posture data to reconstruct the shape of the steerable device at certain time intervals. In some embodiments, the control system 112 can receive data from sensors of the sensor system 108 associated with the movement of the instrument bracket 306 along the insertion table 308 and can use the received data to determine the position, orientation, speed, velocity, posture, and / or shape of one or more segments along the steerable device. The orientation of the steerable device determined in process 358 may be fed back to process 356 in a feedback loop to adjust the actuators so that the steerable device appropriately responds to the user input of process 352. For example, the actuators may be controlled so that the orientation of the steerable device is closely aligned with the user-indicated orientation when the steerable device is unopposed.

[0045] exist Figure 4 An example in which the steerable device is unopposed is shown in FIG. The orientation of a given portion of the steerable device along a first direction of motion, also referred to as a slave orientation, is represented by circles 404A and 404B. Movement of the steerable device in response to user input is represented by a change in orientation from 404A to 404B. As can be seen, the orientation of the steerable device can closely track the orientation of the agent. In some embodiments, when moving in free space or when substantially unopposed, such as during process 352, the steerable device can move approximately 1:1 with received user input.

[0046] However, when used during a procedure, the steerable device may encounter opposing forces. For example, in medical applications where the steerable device is advanced through a passageway, the device may encounter resistance from the tissue forming the passageway. This resistance may be fed back to the operator O in a variety of ways. In some embodiments, the opposing force may be converted to resistance, vibration, or other tactile feedback at the control device, and / or indicated visually or via an audio prompt (e.g., on the display system 110).

[0047] exist Figure 5An example of a steerable device encountering opposing forces is shown in control environment 500. User-indicated positions along a first direction of motion are represented by circles 502A and 502B, and the position of the steerable device is represented by circles 504A and 504B. In this example, a first user input instructs the system to actuate the steerable device, causing a portion of the steerable device to move from user-indicated position 502A to user-indicated position 502B. However, due to the opposing forces, the additional force applied by the actuator may result in tension in the steering control of the steerable device without corresponding movement in the steerable device. Consequently, the steerable device may only move from 504A to 504B, which is less than the user-indicated movement from 502A to 502B. A positional discrepancy may occur between user-indicated position 502B and the corresponding position of steerable device 504B, as indicated by marker 506. This discrepancy may correspond to tension in the actuator and / or steering control of the steerable device, which may be referred to as wind-up. Certain aspects of winding are beneficial, and the resulting tension can be used to guide the steerable device, anchor the steerable device, and / or steer the deformable passageway.

[0048] Even without any input from operator O, the difference between the user-indicated orientation and the actual orientation may change over time. For example, although the user-indicated orientation may be responsive only to user indications, the actual orientation of the steerable device may change as the surrounding passages move and apply forces to the steerable device. External forces or loads on the steerable device may change the actual orientation of the steerable device without changing the user-indicated orientation. In many subsequent examples, the system may react based on the difference between the user-indicated orientation and the actual orientation rather than solely based on user input. For example, even without indications from operator O and without changing the operating mode, the system may apply opposing forces during a procedure to maintain the steerable device in a fixed orientation relative to the surrounding anatomy. From the operator's perspective, the system may seamlessly maintain the orientation of the steerable device.

[0049] refer to Figure 3 At process 360, the system may determine an amount of difference in the first direction between the orientation of the steerable device determined in process 358 and the user-indicated orientation of the user input received in process 352. As described above, the difference may vary based on changes in the user input and / or changes in the actual orientation of the elongated device due to external forces.

[0050] Subsequent user input, such as in the first direction, may further increase the difference between the orientation of the steerable device and the user-indicated orientation. For example, actuator force and tension in the steerable device may increase in response to the user input without noticeable movement of the steerable device. To avoid damage to surrounding tissue, the system may only increase the tension and corresponding difference to a predetermined threshold in response to the user input. The system may then clip or ignore any additional user input in the first direction that would further move the user-indicated orientation and thereby increase the tension and / or difference beyond the threshold. Inhibiting the response of the steerable device beyond the threshold can protect the surrounding environment. The threshold can vary during the course of the procedure, and in some examples, the threshold can be lowered as the steerable device moves deeper to reduce the risk of damage to increasingly narrow and / or fragile passages.

[0051] When user input is received to move the steerable device in the opposite direction, tension can be reduced before driving the steerable device in the opposite direction. Controlled adjustment of the winding can allow operator O to set a tension appropriate for the task without having to move the steerable device. Referring to process 362, the system can receive a second user input instructing the system to move the steerable device in a second direction. In some examples, at least a portion of the indicated movement can be opposite to the first direction. For example, the second direction can be directly opposite to the first direction, such as the second direction being left while the first direction is right, or the second direction being up while the first direction is down. As another example, the second direction can be partially opposite to the first direction, such as the second direction being east while the first direction is northwest or southwest. Like the first user input, the second user input can be provided by operator O using the controls of main assembly 106, and operator O can use the same controls to provide both the first and second user inputs to the system. Receiving the input by the system can be performed substantially as described in process 352.

[0052] refer to Figure 3 Process 364 and Figure 6 , the system can move the user indicated position in response to the second user input and based on a catch-up profile. Examples of catch-up profiles are described in more detail below. For example, the catch-up profile can add a velocity to a velocity associated with the second user input. Figure 6 In the control environment 600 of FIG. , a second user input may instruct the system to move the user-indicated orientation 602A to the user-indicated orientation 602B. As can be seen, there remains some difference 606 between the orientation of the steerable device 604 (which may not have changed in response to the input) and the second user-indicated orientation 602B. However, the subsequent difference 606 may be less than the previous difference between the orientation of the steerable device 604 and the first user-indicated orientation 602A.

[0053] Based on the change in the difference caused by process 364, the system can drive the steerable device in response to the second user input to reduce the tension in the steerable device based on the catch-up curve shown in process 366. In some embodiments, the control system 112 of the medical system 100 can cause the actuator of the manipulator assembly 102 to reduce the force applied to the steering control of the steerable device corresponding to the first direction previously applied in response to the first user input. In some embodiments, the control system 112 can cause the actuator to drive the instrument carriage 306 along the insertion table 308 to reduce the force applied to the steerable device corresponding to the first user input.

[0054] refer to Figure 6 , the amount by which the second user-indicated orientation 602B moves in response to the second user input, and the corresponding amount by which tension is reduced, can be determined in part by the catch-up curve. In examples where the second user input includes a velocity measurement, the amount by which the user-indicated orientation moves can be determined by applying any applicable velocity modifications (such as orientation limits or catch-up modifications from the catch-up curve). The modified velocity can then be integrated to determine the amount by which the user-indicated orientation is moved. In some embodiments, the catch-up curve can provide a 1:1 relationship between an unwinding input (a user input that eliminates a winding) and a winding input (a user input that generates a winding). For example, the magnitude or duration of a user input that generates a given amount of difference and / or tension in the steerable device can be approximately the same as the magnitude or duration of a user input that eliminates that difference and / or tension.

[0055] In some examples, the catch-up curve can be more sensitive to the unwind input than the winding input, such that the input used to reduce the difference and / or tension can be greater than the input used to generate the difference and / or tension. In some examples, the catch-up curve can be less sensitive to the unwind input than the winding input, such that the input used to reduce the difference and / or tension can be less than the input used to generate the difference and / or tension. The catch-up curve can include any combination of linear, nonlinear, exponential, logarithmic, step, piecewise, hyperbolic, parabolic, periodic / trigonometric, inverse hyperbolic, polynomial, modular, other monotonic functions, and / or the like, defining a relationship between a reduction in the difference and / or tension and an aspect of the user input.

[0056] In some examples, the catch-up curve can make the orientation difference and tension more sensitive to user input that decreases tension than to user input that increases tension. For example, the slope of the unwind function can be greater than the slope of the wind function. This increased sensitivity to the unwind input can make the system feel more responsive.

[0057] In some examples, the catch-up curve may include two or more regions of different slopes. In these examples, the slope may be proportional to the difference, and regions with larger differences may have larger slopes and be more sensitive to unwind user inputs than regions with smaller differences. Reducing sensitivity when the difference is smaller may reduce the tendency to over-bias the neutral orientation or accidentally start moving the steerable device in the opposite direction.

[0058] In some examples, a catch-up curve for reducing discrepancy may include two regions. In a first region with greater discrepancy, user input may be more likely to indicate an intention to fine-tune the winding, and the curve may be relatively insensitive to user input, allowing the operator (O) to precisely adjust the tension. In a second region with less discrepancy, user input may be more likely to indicate an intention to move the steerable device in a second direction. Therefore, the curve may be relatively more sensitive to user input in the second region, allowing the system to respond more effectively.

[0059] The particular pursuit curve and aspects of the pursuit curve (such as function(s), slope(s), sensitivity, and other aspects) can depend on 1) the amount of difference (e.g., orientation error); 2) any aspect of the user input, such as the size of the input, the duration of the input, the length of the interval between inputs, and / or other suitable aspects; 3) time; 4) movement of the steerable device due to external loads; 5) the smoothness of response of the actuator or other tensioning mechanism; 6) the shape of the steerable device; 7) the sensitivity of the tissue comprising the channel; 8) the curvature of the anatomy; 9) operator preference; and / or 10) other suitable aspects of the system, operator O, or procedure.

[0060] In some examples, the catch-up curve may provide a decaying exponent as the user-indicated orientation asymptotically approaches the orientation of the device when the steerable device has no (or little) movement due to external loads, the user input is at a constant rate, and the catch-up term is a linear function of the instantaneous orientation error. For some systems and actuator configurations, the decaying exponent may provide a smooth change in tension in the steerable device.

[0061] refer to Figure 3 In process 368, the system may receive a third user input further instructing the system to move the steerable device in a second direction of motion, such as after the user-indicated orientation and the orientation of the steerable device have converged. The third user input may be provided by operator O using the controls of main assembly 106, and operator O may use the same controls to provide the first, second, and third user inputs to the system. The system's receipt of the third user input may be performed substantially as described in process 352.

[0062] Referring to process 370, the system can move the user-indicated orientation in response to the third user input. Since the orientation difference has been eliminated, referring to process 372, the system can control the steerable device to move in a second direction of motion in response to the third user input. This can be performed substantially as described in process 356.

[0063] During a medical procedure, as the steerable device is traversed through the patient's anatomy, method 350 can be repeated. For example, a steerable device traversing a branched anatomical region, such as a human lung, can be inserted into and removed from a series of anatomical branches using method 350 to manage tension associated with the difference between a user-indicated orientation and a corresponding orientation of the steerable device.

[0064] At any time, the system can detect a fault in the system, in the steerable member, and / or in the program. Based on the detection of the fault, the system can eliminate the difference and tension (if any) in the steerable member. Figure 7 is a flow chart describing a method 700 for controlling a steerable device in response to a fault according to some embodiments. The method 700 is a set of operations or processes in Figure 7 In some embodiments of method 700, one or more of the illustrated processes may not be performed. Figure 7 One or more processes not explicitly shown in the method 700 may be included before, after, between, or as part of the processes shown. In some embodiments, one or more processes of method 700 may be implemented at least in part in the form of executable code stored on a non-transitory tangible machine-readable medium, which, when executed by one or more processors (e.g., the processors of control system 112 described above), may cause the one or more processors to perform the one or more processes. Method 700 may be performed at any time including during method 350 described above.

[0065] refer to Figure 7 In process 702, a system such as the medical system 100 above may detect a fault in the system, in a steerable component, and / or in a procedure, or may receive an emergency indication from an operator O. Figure 7In process 704, if an orientation discrepancy exists, the system can control the steerable device to reduce the orientation discrepancy in response to a fault or emergency indication. The rate and extent of reduction in orientation discrepancy can be similar to a catch-up curve in that it can include linear, nonlinear, exponential, logarithmic, step, segmented, hyperbolic, parabolic, periodic / trigonometric, inverse hyperbolic, polynomial, modular, other monotonic functions, and / or the like to determine the rate and extent of reduction in orientation discrepancy and tension in the steerable device. Various aspects of this performance (such as function(s), slope(s), and other aspects) can depend on the shape of the elongated device, the sensitivity of the tissue comprising the passage, the curvature of the anatomy, operator preference, or other suitable aspects of the system, operator O, or the procedure. The rate and extent of reduction in orientation discrepancy can be selected so that there is no unintended movement of the steerable device that is perceptible to operator O.

[0066] In some examples, the orientation difference can be immediately eliminated and the tension in the steerable device can be immediately released. In delicate environments, rapidly reducing tension can be beneficial to reduce the risk of damage or injury to the steerable device. In some examples, the orientation difference can be reduced at a slower rate to avoid springback, buckling or bundling of the steering control, or other effects on the actuator or steering control.

[0067] Various examples of implementations of the present disclosure

[0068] The present invention describes various instruments and parts of instruments in terms of their states in three-dimensional space. For example, the term position refers to the position of an object or a portion of an object in three-dimensional space (e.g., along the three translational degrees of freedom of Cartesian x, y, and z coordinates). The term orientation refers to the rotational placement of an object or a portion of an object (e.g., one or more rotational degrees of freedom, such as roll, pitch, and yaw). The term pose refers to the position of an object or a portion of an object in at least one translational degree of freedom, or refers to the position of an object or a portion of an object in at least one rotational degree of freedom (e.g., up to six total degrees of freedom). The term shape refers to a set of poses, positions, or orientations measured along an object.

[0069] One or more elements in the embodiments of the present disclosure may be implemented in software to be executed on a processor of a computer system such as a control processing system. When implemented in software, the elements of the embodiments of the present disclosure may be code segments for performing various tasks. The program segments or code segments may be stored in a processor-readable storage medium or device, which may be downloaded via a computer data signal embodied in carrier form on a transmission medium or communication link. The processor-readable storage device may include any medium that can store information, including optical media, semiconductor media, and / or magnetic media. Examples of processor-readable storage devices include electronic circuits; semiconductor devices, semiconductor storage devices, read-only memories (ROMs), flash memories, erasable programmable read-only memories (EPROMs); floppy disks, CD-ROMs, optical disks, hard disks, or other storage devices. The code segments may be downloaded via a computer network such as the Internet, an intranet, or the like. Any of a variety of centralized or distributed data processing architectures may be employed. The programming instructions may be implemented as multiple separate programs or subroutines, or they may be integrated into multiple other aspects of the systems described herein. In some examples, the control system may support wireless communication protocols such as Bluetooth, Infrared Data Association (IrDA), HomeRF, IEEE 802.11, Digital Enhanced Cordless Telecommunications (DECT), Ultra-Wideband (UWB), ZigBee (Internet of Things), and wireless telemetry.

[0070] Medical tools can be delivered via a flexible, elongated device (e.g., a catheter) disclosed herein and can include, for example, image capture probes, biopsy instruments, laser ablation fibers, and / or other surgical, diagnostic, or therapeutic tools. The medical tool can include an end actuator having a single working member, such as a scalpel, a blunt knife, an optical fiber, an electrode, and / or the like. Other end actuators can include, for example, forceps, graspers, scissors, clip appliers, and / or the like. Other end actuators can further include electrically activated end actuators, such as electrosurgical electrodes, transducers, sensors, and / or the like. The medical tool can include an image capture probe including a stereo or monoscopic camera for capturing images (including video images). The medical tool can additionally accommodate a cable, linkage, or other actuation control device extending between its proximal and distal portions to controllably bend the distal portion of the medical tool. Steerable instruments are described in detail in U.S. Patent No. 7,316,681 (filed on October 4, 2005 and entitled “Articulated Surgical Instrument for Performing Minimally Invasive Surgery with Enhanced Dexterity and Sensitivity”) and U.S. Patent Application No. 12 / 286,644 (filed on September 30, 2008 and entitled “Passive Preload and Capstan Drive for Surgical Instruments”), the entire contents of which are incorporated herein by reference.

[0071] The systems described herein can be adapted to navigate and treat anatomical tissue via natural or surgically created passageways in any of a variety of anatomical systems, including the lungs, colon, intestines, kidneys and calyces, brain, heart, circulatory system including vasculature, and / or the like.

[0072] Note that the processes and displays presented may not be inherently related to any particular computer or other device. Various general-purpose systems may be used with the routines according to the teachings herein, or it may prove convenient to construct more specialized equipment to perform the described operations. Additionally, it will be appreciated that a variety of programming languages ​​may be used to implement the examples described herein.

[0073] While certain examples have been described and shown in the drawings, it should be understood that these examples are illustrative only and not restrictive, and that the described examples are not limited to the specific constructions and arrangements shown and described, since various other modifications may be made by those skilled in the art.

Claims

1. A system comprising: a control device configured to receive user input; a manipulator system including an actuator configured to receive and drive the steerable device; as well as a control system communicatively coupled to the manipulator system and the control device, the control system being configured to: Tracking a virtual user indicated position based on a first user input; determining a device orientation of a portion of the steerable device; Determining a position difference between the determined device position and the virtual user indicated position; receiving a second user input commanding movement of the steerable device; as well as In response to the second user input, the orientation difference is reduced. 2 . The system of claim 1 , wherein the control system is configured to reduce the orientation difference by reducing tension in a steering control of the steerable device. 3 . The system of claim 1 , wherein the reduction in the orientation difference is based on at least one of a magnitude of the second user input or a duration of the third user input.

4. The system of claim 1, wherein the reduction in the orientation difference is based on at least one of a shape of the steerable device or a sensitivity of a channel in which the steerable device is disposed. The system of claim 1 , wherein reducing the orientation difference comprises applying a velocity modification to the second user input. 6 . The system of claim 5 , wherein the speed modification is configured to make control of the steerable device more responsive to inputs that decrease the orientation difference than to inputs that increase the orientation difference. The system of claim 1 , wherein the direction of the second user input is at least partially opposite to the first user input.

8. The system of claim 1, wherein the control system is configured to: receiving a third user input commanding the steerable device to move in the same direction as the first user input; determining that the third user input causes the position difference to exceed a threshold; as well as A response to the third user input is suppressed based on a determination that the third user input causes the orientation difference to exceed the threshold.

9. The system of claim 1, wherein the control system is configured to: a fault is detected; and In response to the fault, the orientation difference is reduced without operator-perceptible movement of the steerable device.

10. The system of claim 9, wherein the control system is configured to reduce the orientation difference in response to the fault by removing tension in a steering control of the steerable device.

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