Systems and methods for tool detection and associated control modes

Abstract

The invention relates to systems and methods for tool detection and associated control modes. A method of detecting a tool being received in a medical system includes receiving a tool having a first target in a tool identification assembly having a first reader with a first detection zone. The method further includes acquiring first sensor data from the first reader for the first detection zone, and detecting an absence indication of the first target when the first sensor data is within a first predetermined threshold range, and recording the absence indication. The method also includes generating an insertion flag associated with a tool being received in the tool identification assembly by combining the absence and presence indications from the first reader in chronological order. The method further includes comparing the insertion flag to a predetermined set of model insertion flags, and determining a characteristic of a tool being received in the tool identification assembly based on the comparison.

Description

[0001] This application is a divisional application of Chinese Patent Application 2019800562391 (PCT / US2019 / 040965), filed on July 9, 2019, entitled "System and method for tool detection and associated control modes".

[0002] Cross-references to related applications This application claims the benefit of U.S. Provisional Application 62 / 696,058, filed July 10, 2018, which is incorporated herein by reference in its entirety. Technical Field

[0003] This disclosure relates to systems and methods for detecting and identifying tools, and in various embodiments may include determining the appropriate installation of the tool, the tool type, tool controls, and / or other characteristics of the tool and its use. Background Technology

[0004] Minimally invasive medical techniques aim to reduce the amount of tissue damaged during medical procedures, thereby reducing patient recovery time, discomfort, and harmful side effects. These techniques can be performed through natural openings in the patient's anatomy or through one or more surgical incisions. Through these natural openings or incisions, physicians can insert minimally invasive medical instruments (including surgical instruments, diagnostic instruments, therapeutic instruments, or biopsy instruments) to reach the target tissue location. Some minimally invasive medical instruments can be remotely operated or otherwise computer-assisted. Proper installation and identification of medical devices allow for their safe and effective use during medical procedures. Therefore, systems and methods are needed to determine the proper installation of medical devices and to allow for their identification. Summary of the Invention

[0005] The claims accompanying the specification best summarize some embodiments of the invention.

[0006] Consistent with some embodiments, a method for detecting a tool being received in a medical system is provided. The method may include receiving a tool, which may have a first target, in a tool identification component having a first reader with a first detection area. The method may further include acquiring first sensor data from the first reader for the first detection area. The method may further include detecting a absence indication of the first target when the first sensor data is within a first predetermined threshold range, and recording the absence indication. The method may further include detecting a presence indication of the first target when the first sensor data is within a second predetermined threshold range, and recording the presence indication. The method may further include generating an insertion flag associated with the tool being received in the tool identification component by combining the absence indication and presence indication from the first reader in a chronological order. The method may further include comparing the insertion flag with a predetermined set of model insertion flags. The method may further include determining characteristics of the tool being received in the tool identification component based on the comparison.

[0007] Consistent with other embodiments, a method is provided for verifying that a tool is fully mounted in a tool identification component. The method may include receiving a tool in the tool identification component, and the tool may include a first target at a proximal portion of the tool. The tool identification component may include a first reader positioned along the insertion trajectory of the tool, having a first detection area. The method may further include indicating, via sensor data from the first reader, when the first target is present within the first detection area and when the first target is not present in the first detection area. The method may further include generating a detected insertion marker by combining indications from the first reader in an event sequence. The method may further include comparing the detected insertion marker with one or more pre-established model insertion markers. The method may further include determining, based on the comparison, that the tool is fully mounted in the tool identification component.

[0008] It should be understood that both the foregoing general description and the following detailed description are exemplary and explanatory in nature and are intended to provide an understanding of the disclosure rather than to limit its scope. In this regard, additional aspects, features, and advantages of the disclosure will be apparent to those skilled in the art from the following detailed description. Attached Figure Description

[0009] Figure 1 This is a simplified schematic diagram of a remotely operated medical system according to some embodiments.

[0010] Figure 2A This is a simplified partial schematic diagram of a medical device system according to some embodiments.

[0011] Figure 2BThis is a simplified schematic diagram of a medical device with extended medical tools according to some embodiments.

[0012] Figure 3A and Figure 3B It is a simplified schematic side view of the patient coordinate space of a medical device, including one mounted on an insertion assembly, according to some embodiments.

[0013] Figure 4A This is a simplified schematic perspective view of a tool recognition component according to some embodiments, wherein a tool is inserted in the tool recognition component.

[0014] Figure 4B This is a simplified schematic perspective view of the tool identification component according to some embodiments.

[0015] Figures 4C-4I It is a simplified schematic partial cross-sectional view of a source and detector that can be used to detect one or more characteristics of a tool installed in a tool identification component, according to some embodiments.

[0016] Figure 4J It is a simplified schematic partial cross-sectional view of various other reader / target groups according to some embodiments, which can be used to detect the characteristics of one or more tools installed in the tool identification component.

[0017] Figures 5A-5D It is a simplified illustrative side view of a tool installed in a tool identification component according to some embodiments.

[0018] Figures 5E-5J This is a simplified illustrative side view of a tool when it is installed in a tool identification component, according to some embodiments.

[0019] Figure 5K-Figure 5L It is a simplified illustrative side view of another tool when the tool is installed in the tool identification component according to some embodiments.

[0020] Figure 5M , Figure 5N , Figure 5O and Figure 5P It is a simplified schematic side view of a tool installed in a tool identification component with a detector, according to some embodiments.

[0021] Figure 5Q This is a simplified schematic side view of another medical device when another medical device is installed in the tool identification component, according to some embodiments.

[0022] Figures 6A-6C This is a simplified schematic perspective view of a reader and target pair according to some embodiments.

[0023] Figure 6DThis is a performance graph of the reader and target pair according to some embodiments.

[0024] Figure 7A This is a simplified schematic perspective view of a reader / target pair according to some embodiments.

[0025] Figure 7B This is a performance table of multiple reader-target pairs according to some embodiments.

[0026] Figure 8A It is a simplified schematic side view of an elongated target with two sections that can be used with a tool being installed in a tool identification component, according to some embodiments.

[0027] Figures 8B-8D According to some embodiments Figure 8A A representative partial cross-sectional view of a segment of the slender target shown.

[0028] Figures 8E-8F This is a representative side view of other elongated targets according to some embodiments.

[0029] Figure 9 This is a flowchart providing a method for determining the characteristics of a tool according to some embodiments.

[0030] Figures 10A-10C This is a table illustrating representative algorithms for detecting characteristics of a medical device installed in a tool identification component, according to some embodiments.

[0031] Figure 11 These are representative images from inside a catheter that can be captured by a camera at the distal end of a medical device, according to some embodiments.

[0032] Figure 12 The illustration depicts a method for component verification according to some embodiments.

[0033] Figure 13 The illustration shows a method for fault detection according to some embodiments.

[0034] Figure 14A The diagram illustrates what was used to generate Figure 14B The component that generates a curve graph of sensor data.

[0035] Figure 14B The figure shows a graph of sensor data received at the tool identification component during component installation.

[0036] The embodiments and advantages of this disclosure can be best understood by referring to the following detailed description. It should be understood that the same reference numerals are used to identify the same elements shown in one or more of the figures, wherein the illustrations herein are for illustrative purposes and not for limiting the embodiments of this disclosure. Detailed Implementation

[0037] In the following description, specific details of some embodiments consistent with this disclosure are set forth. Numerous specific details are set forth in order to provide a full understanding of the embodiments. However, it will be apparent to those skilled in the art that some embodiments may be practiced without some or all of these specific details. The specific embodiments disclosed herein are intended to be illustrative and not restrictive. Other elements that are not specifically described herein but are within the scope and spirit of this disclosure can be implemented by those skilled in the art. Furthermore, to avoid unnecessary repetition, one or more features shown and described in connection with one embodiment may be incorporated into other embodiments unless otherwise specifically described or if one or more features would render the embodiment inoperable.

[0038] In some instances, well-known methods, procedures, components, and circuits are not described in detail so as not to unnecessarily obscure multiple aspects of the embodiments.

[0039] This disclosure describes various instruments and instrument parts from the perspective of their states in three-dimensional space. As used herein, the term "orientation" refers to the position of an object or part of an object in three-dimensional space (e.g., three translational degrees of freedom along Cartesian X, Y, and Z coordinates). As used herein, the term "orientation" refers to the rotational arrangement of an object or part of an object (three rotational degrees of freedom—e.g., roll, pitch, and yaw). As used herein, the term "attitude" refers to the orientation of an object or part of an object in at least one translational degree of freedom and the orientation of the object or parts of the object in at least one rotational degree of freedom (up to six degrees of freedom). As used herein, the term "shape" refers to a set of attitudes, orientations, or orientations measured along the object.

[0040] Figure 1 This is a simplified schematic diagram of a remotely operated medical system 100 according to some embodiments. In some embodiments, the remotely operated medical system 100 may be adapted for use in, for example, surgical procedures, diagnostic procedures, treatment procedures, or biopsy procedures. While some embodiments of such procedures are provided herein, any references to medical devices or surgical instruments and medical methods or surgical procedures are non-limiting. The systems, instruments, and methods described herein can be used with animals, human carcasses, animal carcasses, parts of human or animal anatomy, for non-surgical diagnostics, and for industrial systems and general robotic systems, and remotely operated medical systems.

[0041] like Figure 1 As shown, the medical system 100 typically includes a manipulator assembly 102 for operating the medical device 104 to perform various procedures on the patient P. The manipulator assembly 102 may be a remotely operated assembly, a non-remotely operated assembly, or a hybrid remotely and non-remotely operated assembly having selectable degrees of freedom of motion that can be operated manually and / or remotely and selectable degrees of freedom of motion that can be operated non-manually and / or non-remotely. The manipulator assembly 102 is mounted to or near the operating table T. The main assembly 106 allows the operator O (e.g., as...) to... Figure 1 The surgeon, clinician and / or physician shown views the intervention site and controls the manipulator assembly 102.

[0042] The main component 106 may be located at the operator console, which is typically situated in the same room as the surgical table T, such as on one side of the surgical table where the patient P is located. However, it should be understood that the operator O may be located in a different room or in a completely different building from the patient P. The main component 106 generally includes one or more control devices for controlling the manipulator component 102. The control devices may include any number of various input devices, such as joysticks, trackballs, data gloves, trigger guns, manual operation controllers, voice recognition devices, body motion or presence sensors and / or similar devices. To provide the operator O with a strong sense of direct control of the instrument 104, the control devices may be provided with the same degrees of freedom as the associated medical instrument 104. In this way, the control devices provide the operator O with a telepresence or perception of the control devices and the medical instrument 104 as one entity.

[0043] In some embodiments, the control device may have more or fewer degrees of freedom than the associated medical device 104, while still providing remote presentation / presence to the operator O. In some embodiments, the control device may optionally be a manual input device that moves in six degrees of freedom and may also include an actuable handle for actuating instruments (e.g., for closing a gripping clamp, applying a potential to an electrode, delivering medication, and / or the like).

[0044] Manipulator assembly 102 supports medical device 104 and may include a motion structure of one or more non-servo-controlled links (e.g., one or more links that can be manually positioned and locked in a suitable orientation, often referred to as an assembly structure) and / or 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 a manipulator. Manipulator assembly 102 may optionally include multiple actuators or motors that drive inputs on medical device 104 in response to commands from a control system (e.g., control system 112). Actuators may optionally include a drive system that, when coupled to medical device 104, can advance medical device 104 into a natural orifice or surgically created anatomical orifice. Other drive systems may move the distal end of medical device 104 with multiple degrees of freedom, which may include three linear motions (e.g., linear motion along the X, Y, Z Cartesian axes) and three rotational motions (e.g., rotation about the X, Y, Z Cartesian coordinate axes). Additionally, the actuator can be used to actuate the articulated portion of the medical device 104 for grasping tissue in the jaws of a biopsy apparatus and / or the like. Actuator orientation sensors, such as rotary transformers, encoders, potentiometers, and other mechanisms, can provide the medical system 100 with sensor data describing the rotation and orientation of the motor shaft. This orientation sensor data can be used to determine the motion of the object manipulated by the actuator.

[0045] The remotely operated medical system 100 may include a sensor system 108 having one or more subsystems for receiving information about the instruments of the manipulator assembly 102. These subsystems may include: an orientation / position sensor system (e.g., an electromagnetic (EM) sensor system); a shape sensor system for determining orientation, orientation, velocity, rate, attitude, and / or shape along the distal end and / or one or more segments that may constitute the flexible body of the medical device 104; and / or a visualization system for acquiring images from the distal end of the medical device 104.

[0046] The remote-operated medical system 100 also includes a display system 110 for displaying images or representations of the surgical site and medical device 104 generated by a subsystem of the sensor system 108. The display system 110 and the main component 106 can be oriented so that the operator O can control the medical device 104 and the main component 106 by means of telepresence / presence perception.

[0047] In some embodiments, medical device 104 may have a visualization system (discussed in more detail below) that may include an endoscope assembly that records concurrent or real-time images of the surgical site and provides the images to an operator or operator O via one or more displays of medical system 100, such as one or more displays of display system 110. The concurrent images may be, for example, two-dimensional or three-dimensional images acquired by an endoscope positioned within the surgical site. In some embodiments, the visualization system includes an endoscope component that may be integrally or removably coupled to medical device 104. However, in some embodiments, a separate endoscope attached to a separate manipulator assembly may be used in conjunction with medical device 104 to image the surgical site. The visualization system may be implemented as hardware, firmware, software, or a combination thereof that interacts with or is executed by one or more computer processors (which may include the processor of control system 112).

[0048] Display system 110 can also display images of surgical sites and medical instruments acquired through a visualization system. In some examples, remote-operated medical system 100 can configure controls for medical instrument 104 and main component 106 such that the relative orientation of the medical instrument is analogous to the relative orientation of the operator O's eyes and hands. In this way, operator O can manipulate medical instrument 104 and hand controls as if observing the workspace in a substantially realistic situation. In terms of realistic presence, this means that the image presentation is a realistic perspective image simulating the viewpoint of a physician physically manipulating medical instrument 104.

[0049] In some examples, the display system 110 may use image data from imaging technologies such as computed tomography (CT), magnetic resonance imaging (MRI), fluorescence microscopy, thermography, ultrasound, optical coherence tomography (OCT), thermal imaging, impedance imaging, laser imaging, nanotube X-ray imaging, or similar techniques to present images of the surgical site recorded preoperatively or intraoperatively. The preoperative or intraoperative image data may be presented as two-dimensional (2D), three-dimensional (3D), or four-dimensional (4D) images (including, for example, time-based or velocity-based information), and / or as images from models created from preoperative or intraoperative image datasets.

[0050] In some embodiments, typically for the purpose of image-guided surgical procedures, the display system 110 may display a virtual navigation image in which the actual position of the medical device 104 is registered with preoperative or real-time images / models (i.e., dynamic reference). This presents a virtual image of the internal surgical site to the operator O from the perspective of the medical device 104. In some examples, the perspective may be from the tip of the medical device 104. Images and / or other graphic or alphanumeric indicators of the tip of the medical device 104 may be overlaid on the virtual image to aid the operator O in controlling the medical device 104. In some examples, the medical device 104 may be invisible in the virtual image.

[0051] In some embodiments, display system 110 may display a virtual navigation image in which the actual position of medical device 104 is registered with a preoperative or live image to present a virtual image of medical device 104 within the surgical site to operator O from an external perspective. An image of a portion of medical device 104 or other graphic or alphanumeric indicators may be overlaid on the virtual image to assist operator O in controlling medical device 104. As described herein, a visual representation of data points may be rendered onto display system 110. For example, measured data points, moving data points, registered data points, and other data points described herein may be displayed on display system 110 as a visual representation. Data points may be visually represented on the user interface as multiple points or dots on display system 110 or as a rendering model, such as a grid or line model created based on a set of data points. In some examples, data points may be color-coded according to the data they represent. In some embodiments, the visual representation may be refreshed in display system 110 after each processing operation has been performed to change the data points.

[0052] The remote-operated medical system 100 may also include a control system 112. The control system 112 includes at least one memory (not shown) and at least one computer processor (not shown) for implementing control between the medical device 104, main component 106, sensor system 108, and display system 110. The control system 112 also includes some or all of the programmed instructions (e.g., a non-transitory machine-readable medium storing these instructions) for implementing some or all of the methods described according to the aspects disclosed herein, including instructions for providing information to the display system 110. While the control system 112 is in Figure 1The simplified schematic is shown as a single block, but the control system 112 may include two or more data processing circuits distributed throughout the remotely operated medical system 100 to perform distributed data processing. For example, one portion of the data processing performed by the distributed control system 112 may optionally be performed on or near the manipulator component 102, another portion may optionally be performed at the main component 106, and other portions may optionally be performed at other data processing circuits. At least one computer processor or two or more data processing circuits of the control system 112 may execute instructions corresponding to the processing disclosed herein and described in more detail below. Any variety of centralized or distributed data processing architectures can be utilized. Similarly, the programmed instructions may be implemented as several independent programs or subroutines, or they may be integrated into several other aspects of the remote operating system described herein. In one embodiment, the control system 112 supports wireless communication protocols such as Bluetooth, IrDA (Infrared Data Communication), HomeRF (Home Radio Frequency), IEEE 802.11, DECT (Digital Enhanced Wireless Communication), and wireless telemetry.

[0053] In some embodiments, the control system 112 may receive force and / or torque feedback from the medical device 104. In response to this feedback, the control system 112 may transmit a signal to the main component 106. In some examples, the control system 112 may transmit a signal instructing one or more actuators of the manipulator component 102 to move the medical device 104. The medical device 104 may extend to an internal surgical site within the body of the patient P via one or more openings in the patient P's body. Any suitable conventional and / or specialized actuators may be used. In some examples, one or more actuators may be separate from or integrated with the manipulator component 102. In some embodiments, one or more actuators and the manipulator component 102 are provided as part of a remotely operated trolley positioned adjacent to the patient P and the operating table T.

[0054] The control system 112 may optionally further include a virtual visualization system to provide navigational assistance to the operator O when controlling the medical device 104 during an image-guided surgical procedure. Virtual navigation using the virtual visualization system may be based on a reference to a preoperative or intraoperative dataset of acquired anatomical pathways. The virtual visualization system processes images of the surgical site imaged using imaging techniques such as computed tomography (CT), magnetic resonance imaging (MRI), fluorescence microscopy, thermography, ultrasound, optical coherence tomography (OCT), thermal imaging, impedance imaging, laser imaging, nanotube X-ray imaging, and / or similar techniques. Software, which can be used in conjunction with manual input, is used to convert the recorded images into segmented two-dimensional or three-dimensional composite representations of local or global anatomical organs or regions. The image dataset is associated with the composite representation. The composite representation and the image dataset describe the various locations and shapes of pathways and their connectivity. The images used to generate the composite representation may be recorded preoperatively or intraoperatively during the clinical procedure. In some embodiments, the virtual visualization system may use standard representations (i.e., not patient-specific) or a mixture of standard representations and patient-specific data. The composite representation and any virtual image generated from it can represent the static posture of deformable anatomical regions during one or more phases of motion (e.g., during the inspiratory / expiratory cycle of the lungs).

[0055] During the virtual navigation procedure, sensor system 108 can be used to calculate the approximate position of medical device 104 relative to the anatomy of patient P. This position can be used to generate macroscopic (external) tracking images of the anatomy of patient P and virtual internal images of the anatomy of patient P. Sensor system 108 can implement one or more electromagnetic (EM) sensors, fiber optic sensors, and / or other sensors to register and display the medical device and preoperatively recorded surgical images. For example, U.S. Patent Application US13 / 107,562 (filed May 13, 2011) (publishing “Medical System Providing Dynamic Registration of a Model of an Anatomic Structure for Image-Guided Surgery”) discloses such a sensor system, which is incorporated herein by reference in its entirety. The remotely operated medical system 100 may further include optional operating and support systems (not shown), such as lighting systems, steering control systems, flushing systems, and / or suction systems. In some embodiments, the remotely operated medical system 100 may include more than one manipulator assembly and / or more than one master assembly. The total number of remote-operated manipulator components included in a remote-operated medical system will depend on the number of factors, including the surgical procedure and the spatial constraints within the operating room. When implemented as multiple units, the main component 106 can be collocated or positioned in separate locations. Multiple main components allow more than one operator to control one or more remote-operated manipulator components in various combinations.

[0056] Figure 2A This is a simplified schematic diagram of a medical device system 200 according to some embodiments. In some embodiments, the medical device system 200 may be used as a medical device 104 in an image-guided medical procedure performed using a remotely operated medical system 100. In some examples, the medical device system 200 may be used in non-remotely operated exploratory procedures or in procedures involving conventionally manually operated medical devices, such as endoscopes. Optionally, the medical device system 200 may be used to collect (i.e., measure) a set of data points corresponding to locations within an anatomical pathway of a patient (such as patient P).

[0057] The medical device system 200 includes an elongated device 202 (such as a flexible catheter) coupled to a drive unit 204. The elongated device 202 includes a flexible body 216 having a proximal end 217 and a distal or tip portion 218. In some embodiments, the flexible body 216 has an outer diameter of approximately 3 mm. Other flexible bodies may have larger or smaller outer diameters.

[0058] The medical device system 200 further includes a tracking system 230, which is used to determine the orientation, velocity, rate, attitude, and / or shape along the distal end 218 and / or one or more segments 224 of the flexible body 216, as described in further detail below, using one or more sensors and / or imaging devices. The entire length of the flexible body 216 between the distal end 218 and the proximal end 217 can be effectively divided into multiple segments 224. The tracking system 230 can optionally be implemented as hardware, firmware, software, or a combination thereof that interacts with or is otherwise executed by one or more computer processors, which may include... Figure 1 The control system 112 includes at least one processor or two or more data processing circuits.

[0059] The tracking system 230 may optionally use a shape sensor 222 to track the distal end 218 and / or one or more segments 224. The shape sensor 222 may optionally include an optical fiber aligned with the flexible body 216 (e.g., provided within an internal channel (not shown) or externally mounted). In one embodiment, the optical fiber has a diameter of approximately 200 μm. In other embodiments, the optical fiber may be larger or smaller. The optical fiber of the shape sensor 222 forms an optical fiber bending sensor for determining the shape of the flexible body 216. In an alternative, an optical fiber including a fiber Bragg grating (FBG) is used to provide strain measurements in one or more dimensions of the structure. Various systems and methods for monitoring the shape and relative position of optical fibers in three dimensions are described in the following documents: U.S. Patent Application US11 / 180,389 (filed July 13, 2005) (disclosing "Fiberoptic position and shape sensing device and method relating thereto"); U.S. Patent Application US12 / 047,056 (filed July 16, 2004) (disclosing "Fiber-optic shape and relativeposition sensing"); and U.S. Patent US6,389,187 (filed June 17, 1998) (disclosing "Optical Fiber Bend Sensor"), which are incorporated herein by reference in their entirety.

[0060] In some embodiments, the sensor may employ other suitable strain sensing techniques, such as Rayleigh scattering, Raman scattering, Brillouin scattering, and fluorescence scattering. In some embodiments, the shape of the elongated device may be determined using other techniques. For example, the history of the distal attitude of the flexible body 216 can be used to reconstruct the shape of the flexible body 216 over a given time interval. In some embodiments, the tracking system 230 may optionally and / or additionally use an orientation sensor system 220 to track the distal end 218. The orientation sensor system 220 may be a component of an EM sensor system, wherein the orientation sensor system 220 includes one or more conductive coils that can withstand an externally generated electromagnetic field. Each coil of the EM sensor system then generates an induced electrical signal having characteristics that depend on the orientation and orientation of the coil relative to the externally generated electromagnetic field. In some embodiments, the orientation sensor system 220 may be configured and positioned to measure six degrees of freedom (e.g., three azimuth coordinates X, Y, Z and three orientation angles of pitch, yaw, and roll of an indicator base point) or five degrees of freedom (e.g., three azimuth coordinates X, Y, Z and two orientation angles of pitch and yaw of an indicator base point). A further description of the orientation sensor system is provided in U.S. Patent 6,380,732 (filed August 11, 1999) (published "Six-Degree of Freedom Tracking System Having a PassiveTransponder on the Object Being Tracked"), which is incorporated herein by reference in its entirety.

[0061] In some embodiments, the tracking system 230 may alternatively and / or additionally rely on historical posture, orientation, or orientation data stored for known points of the instrument system along cycles of alternating motion (such as breathing). This stored data can be used to develop shape information about the flexible body 216. In some examples, a series of orientation sensors (not shown) (such as electromagnetic (EM) sensors similar to those in the orientation sensor system 220) can be positioned along the flexible body 216 and then used for shape sensing. In some examples, the history of data acquired during the procedure from one or more of these sensors can be used to represent the shape of the elongated device 202, particularly if the anatomical pathway is substantially static.

[0062] The flexible body 216 includes a channel 221 whose size and shape are designed to receive a medical instrument 226. Figure 2BThis is a simplified schematic diagram of a flexible body 216 having an extended medical tool 226 according to some embodiments. In some embodiments, the medical tool 226 can be used for procedures such as surgery, biopsy, ablation, illumination, irrigation, or aspiration. The medical tool 226 can be deployed through channels 221 of the flexible body 216 and used at a target location within the anatomy. The medical tool 226 may include, for example, an image acquisition probe, a biopsy instrument, a laser ablation fiber, and / or other surgical, diagnostic, or therapeutic tools. The medical tool may include a single working component, such as a scalpel, a blunt blade, an optical fiber, an electrode, and / or the like. Other medical tools may include, for example, forceps, graspers, scissors, clamp applicators, and / or the like. Other medical tools may further include electrically activated medical tools, such as electrosurgical electrodes, transducers, sensors, and / or the like. In various embodiments, the medical tool 226 is a biopsy instrument that can be used to remove sample tissue or cell samples from a target anatomical location.

[0063] Medical instrument 226 can be used in conjunction with an image acquisition probe also within flexible body 216. In various embodiments, medical instrument 226 may be an image acquisition probe comprising a distal portion of a stereo camera or single-field-of-view camera having, at or near the distal end 218 of flexible body 216, for acquiring images (including video images) processed by visualization system 231 for display and / or provided to tracking system 230 to support tracking of distal end 218 and / or one or more segments 224. The image acquisition probe may include a cable coupled to the camera for transmitting the acquired image data. In some examples, the image acquisition device may be a bundle of optical fibers, such as a fiber optic endoscope, coupled to visualization system 231. The image acquisition device may be monospectral or multispectral, for example, acquiring image data in one or more of the visible, infrared, and / or ultraviolet spectra. Alternatively, medical instrument 226 itself may be an image acquisition probe. Medical instrument 226 may be advanced from an opening in channel 221 to perform a procedure and then retracted into the channel when the procedure is complete. The medical instrument 226 can be removed from the proximal end 217 of the flexible body 216 or from another optional instrument port (not shown) along the flexible body 216.

[0064] Medical instrument 226 may additionally accommodate a cable, linkage, or other actuation control (not shown) extending between its proximal and distal ends to controllably bend the distal end of medical instrument 226. Steering instruments are described in detail in U.S. Patent 7,316,681 (filed October 4, 2005) (published "Articulated Surgical Instrument for Performing Minimally Invasive Surgery with Enhanced Dexterity and Sensitivity") and U.S. Patent Application 12 / 286,644 (filed September 30, 2008) (published "Passive Preload and Capstan Drive for Surgical Instruments"), which are incorporated herein by reference in their entirety.

[0065] The flexible body 216 may also be accommodated extending between the drive unit 204 and the distal end 218 to controllably bend the cable, linkage, or other steering control (not shown), as illustrated, for example, by the dashed line depiction 219 of the distal end 218. In some examples, at least four cables are used to provide independent control of the pitch "up" steering of the distal end 218 and the yaw "left" steering of the distal end 218. Steering elongated devices are described in detail in U.S. Patent Application US13 / 274,208 (filed October 14, 2011) (published "Catheter with Removable Vision Probe"), which is incorporated herein by reference in its entirety. In embodiments where the medical device system 200 is actuated by a remotely operated component, the drive unit 204 may include a drive input device removably coupled to and receiving power from a drive element (such as an actuator) of the remotely operated component. In some embodiments, the medical device system 200 may include clamping features, a manual actuator, or other components for manually controlling the movement of the medical device system 200. The elongated device 202 may be steerable, or alternatively, the system may be non-steerable without an integrated mechanism for operator control of bending of the distal end 218. In some examples, one or more cavities are defined within the walls of the flexible body 216, allowing the medical device to be deployed and used at a target surgical location through one or more cavities.

[0066] In some embodiments, the medical device system 200 may include flexible bronchial instruments, such as bronchoscopes or bronchial tubes for use in the examination, diagnosis, biopsy, or treatment of the lungs. The medical device system 200 is also suitable for navigating and treating other tissues via natural or surgically established pathways within any of the various anatomical systems, including the colon, intestine, kidneys and renal calyces, brain, heart, circulatory system including the vascular system, and / or the like.

[0067] Information from tracking system 230 can be sent to navigation system 232, where it is combined with information from visualization system 231 and / or a preoperatively acquired model to provide real-time location information to the physician or other operator. In some examples, the real-time location information can be displayed... Figure 1 The display system 110 is used for control of the medical device system 200. In some examples, Figure 1 The control system 112 can use orientation information as feedback to position the medical device system 200. Various systems for registering and displaying surgical instruments and surgical images using fiber optic sensors are disclosed in U.S. Patent Application US13 / 107,562, filed May 13, 2011, entitled "Medical System Providing Dynamic Registration of a Model of an Anatomic Structure for Image-Guided Surgery," which is incorporated herein by reference in its entirety.

[0068] In some examples, the medical device system 200 can Figure 1 The medical system is operated remotely within 100. In some embodiments, Figure 1 The manipulator component 102 can be replaced by a direct operator control. In some examples, the direct operator control may include various handles and operator interfaces for handheld operation of the instrument.

[0069] Figure 3A and 3B This is a simplified schematic diagram of a side view of a medical device mounted on an insertion assembly, according to some embodiments, in patient coordinate space. Figure 3A and 3B As shown, the surgical environment 300 includes the patient P being located in... Figure 1On the surgical environment 300. Patient P may be stationary within the surgical environment in the sense of limiting overall patient movement through sedation, restraint, and / or other means. Periodic anatomical movements (including the breathing and cardiac movements of patient P) may continue unless the patient is instructed to hold their breath to temporarily cease respiratory movements. Therefore, in some embodiments, data may be collected at specific phases of breathing and used for tagging and identification. In some embodiments, the phase in which data is collected may be inferred based on physiological information collected from patient P. Within the surgical environment 300, a point collection device 304 is coupled to an instrument holder 306. In some embodiments, the point collection device 304 may use an EM sensor, shape sensor, and / or other sensor modalities. The instrument holder 306 is mounted to an insertion stage 308 fixed within the surgical environment 300. Alternatively, the insertion stage 308 may be movable but has a known location within the surgical environment 300 (e.g., known via a tracking sensor or other tracking device). The instrument holder 306 may be a component of a manipulator assembly (e.g., manipulator assembly 102) coupled to the point-collecting instrument 304 to control insertion motion (i.e., movement along axis A) and optionally to control movement of the distal end 318 of the elongated device 310 in multiple directions (including yaw, pitch, and roll). The instrument holder 306 or the insertion stage 308 may include actuators (not shown), such as servo motors, for controlling the movement of the instrument holder 306 along the insertion stage 308.

[0070] An elongated device 310 (e.g., a medical device) can be coupled to a device body 312. The device body 312 is coupled to and secured relative to a device holder 306. In some embodiments, a fiber optic shape sensor 314 is secured at a proximal point 316 on the device body 312. In some embodiments, the proximal point 316 of the fiber optic shape sensor 314 may be movable together with the device body 312, but the location of the proximal point 316 may be known (e.g., known via a tracking sensor or other tracking device). The shape sensor 314 measures the shape from the proximal point 316 to another point (such as the distal end 318 of the elongated device 310). The point collection device 304 may be substantially similar to the medical device system 200.

[0071] As the instrument body 312 moves along the insertion axis A on the insertion stage 308, the orientation measuring device 320 provides information about the orientation of the instrument body 312. The orientation measuring device 320 may include a resolver, an encoder, a potentiometer, and / or other sensors that determine the rotation and / or orientation of the actuator that controls the movement of the instrument holder 306 and thus the movement of the instrument body 312. In some embodiments, the insertion stage 308 is linear. In some embodiments, the insertion stage 308 may be arcuate, or have a combination of arcuate and linear segments.

[0072] Figure 3A The instrument body 312 and instrument holder 306 are shown in a retracted position along the insertion stage 308. In this retracted position, the proximal point 316 is located at orientation L0 on axis A. In this position along the insertion stage 308, the component of the position of the proximal point 316 can be set to zero and / or another reference value to provide a basic reference describing the orientation of the instrument holder 306 and therefore the proximal point 316 on the insertion stage 308. With this retracted position of the instrument body 312 and instrument holder 306, the distal end 318 of the elongated device 310 can be positioned precisely inside the access port of the patient P. Also in this position, the orientation measuring device 320 can be set to zero or another reference value (e.g., I=0). Figure 3B In this configuration, the instrument body 312 and instrument holder 306 have been advanced along the linear track of the insertion stage 308, and the distal end 318 of the elongated device 310 has been advanced into the patient P. In this advancement orientation, the proximal point 316 is located at orientation L1 on axis A. In some examples, encoders and / or one or more actuators controlling the movement of the instrument holder 306 along the insertion stage 308 and / or other orientation data from one or more orientation sensors associated with the instrument holder 306 and / or the insertion stage 308 are used to determine the orientation Lx of the proximal point 316 relative to orientation L0. In some examples, orientation Lx may further be used as an indicator of the distance or insertion depth of the distal end 318 of the elongated device 310 into the anatomical space of the patient P.

[0073] For safe and efficient operation of a medical device system, medical tools need to be properly installed, positioned, identified, authorized, and / or otherwise received, and recognized when installed into a system (such as manipulator assembly 102) or inserted into a receiving member (such as medical device system 200). As disclosed herein, a tool identification component at the receiving member can be used to detect the presence, proximity, and / or absence of a target on the tool to detect and develop an insertion marker for each inserted tool. Based on the detected and developed insertion marker, various options for operating the tool or medical device system can be enabled or disabled. Although many embodiments described herein describe the receiving member as a catheter, the described tool identification system and methods are suitable for use with any type of tool and receiving member. In one embodiment described in detail below, the tool identification component can be used to determine the mode of operation based on whether the medical tool is fully inserted into the catheter assembly. For example, if the tool is a camera probe, the tool identification component can be used to determine whether the probe is properly located in the delivery catheter before the catheter can be operated in a driven mode and advanced into the patient. Allowing the catheter to be blindly advanced without ensuring the camera probe is properly positioned could potentially cause injury to the patient, which can be prevented by the use of the tool recognition component. Once at its destination, the camera probe can be withdrawn from the catheter to make way for different medical instruments. Withdrawal of the camera probe prevents the physician from observing internal body structures to be treated or evaluated. Consistent with the teachings of this disclosure, the tool recognition component can detect that the camera has been removed and can respond by entering a safe mode. When in safe mode, the control system (e.g., Figure 1 One or more functions of the control system 112 can be restricted or disabled. For example, the speed at which catheter flexibility and / or catheter orientation adjustments can be made can be limited. Such restrictions are intended to reduce the likelihood of patient injury resulting from blind adjustments to the device remaining inserted in the patient after the camera has been withdrawn. Therefore, implementation of the teachings of this disclosure is expected to improve the safety of minimally invasive procedures. The tool identification component can also be used to identify counterfeit, competitor, or otherwise unauthorized devices or tools (such as devices or tools manufactured by competitors or unauthorized manufacturers). The tool identification component can also be used to identify the type of tool (e.g., needle, ablation tool, cutter, gripper, etc.), and based on the identification of the tool type, control mode alternation or tool behavior modification can be implemented.

[0074] Figure 4AAn exemplary tool identification system implemented as a tool identification component 410 is illustrated, wherein a receiving member 450 (e.g., a conduit, flexible body 216, or elongated device 310) may extend into the tool identification component 410. It should be understood that the receiving member 450 (e.g., a conduit) can also be inserted through the tool identification component 410, and an insertion mark / signature can be generated when the receiving member 450 and / or the tool 404 is inserted. In this embodiment, the tool identification component 410 includes a reader mount 402. In various embodiments, the reader mount 402 may be mounted to a manipulator component (e.g., manipulator component 102), such as... Figure 4B As described in more detail below. The tool identification component 410 is capable of including one or more target readers configured to detect one or more targets on a tool and / or conduit. Figure 4A In the example shown, target reader 406 is coupled to the proximal end of reader mount 402, and another target reader 407 is coupled to the distal end of reader mount. In this embodiment, reader mount 402 is shown as a cylinder or spool, wherein channel 452 is separated by an elongated body 403. Reader mount 402 may be formed of plastic, ceramic, or another type of material that minimizes interference with target readers 406, 407. Each of target readers 406, 407 extends into a corresponding channel in channel 452 to couple to reader mount 402. Target readers 406, 407 are separated by a distance D1. The target reader 406 may include an inductive sensor (e.g., an inductor and inductor coil that detects changes in inductance caused by the ferromagnetic and conductive properties of a material), a capacitive sensor, a Hall effect sensor, a grating sensor, an optical sensor, a magnetic switch, a barcode scanner, a radio frequency identification (RFID) scanner, a relative orientation sensor, or a combination thereof, capable of reading one or more corresponding targets on a tool to be inserted into the receiving member 450 of the tool identification assembly 410. Any combination of different types of target readers may be implemented in the tool identification assembly 410.

[0075] Exemplary tool 404 (e.g., tool 226) and / or receiving component 450 can include one or more targets that can be read by one or more target readers 406, 407 on tool identification component 410. For Figure 4AIn the example shown, tool 404 includes targets 456 and 457 separated by a distance D2. The distance D2 between targets 456 and 457 on the tool can have a predetermined relationship with the distance D1 between target readers 406 and 407. Tool 404 is sized for insertion along an insertion trajectory path 458 into reader mount 402 and receiver member 450. Tool 404 can extend through reader mount 402 and receiver member 450. Receiver member 450, having one or more targets (which may resemble targets 456 and 457), can also be configured to extend through reader mount 402, thereby allowing target readers 406 and 407 to detect the presence of targets on both receiver member 450 and tool 404. Receiver member 450 can be configured and / or constructed to minimize any interference between target readers 406 and 407 and targets 456 and 457. However, the receiving member 450 can be configured to increase the inductance reading at the target reader by a predetermined amount to indicate the presence of the receiving member 450 (e.g., a conduit). Various techniques can be implemented to minimize interference between target readers 406, 407. For example, target readers 406, 407 can perform corresponding tasks at different times in a time-division multiplexed manner. As described in more detail below, the presence, proximity, and / or absence of targets 456, 457 can be sensed, detected, or otherwise identified by target readers 406, 407. For example, targets may include ferromagnetic materials (e.g., metal pillars, metal coatings), one or more apertures, surfaces or materials having a wide variety of optical absorption properties, barcodes, RFID chips, or combinations thereof that can be sensed, detected, or otherwise identified by the target reader. In one example, when a target is placed near a target reader, the target reader can detect the presence of the target by detecting changes in inductance and / or inductance. It should be understood that the discussion of targets on tool 404 can also be applied to targets on receiving member 450 (e.g., a conduit). When the receiving member 450 is inserted into the identification component 410, an insertion mark can be generated for the receiving member 450, and when the tool 404 is inserted into the identification component 410, an insertion mark can be generated for the tool 404. When both the tool 404 and the receiving member 450 are inserted into the identification component 410, the inductance reading may be higher than the individual reading of the target on either the receiving member 450 or the tool 404. In some embodiments, this can be used to determine the presence and / or absence of the receiving member 450 and the tool 404.

[0076] exist Figure 4AIn one embodiment, the reader mount 402 includes two channels 452 and can therefore accommodate two target readers 406, 407—one in each channel 452. In an alternative embodiment, the reader mount can include any number of channels and can accommodate any number of target readers. For example, the reader mount 402 can include a single channel 452, three channels 452, four channels 452, or some other number of channels 452 and can accommodate as many target readers as channels. In some embodiments, the reader mount 402 may have no channels but can accommodate any number of target readers via other coupling mechanisms. In some embodiments, there may be fewer target readers than channels, and some channels may be empty. In some embodiments, the reader mount can have a non-cylindrical shape and can be any type of bracket or mounting mechanism for mounting one or more target readers in a location near the receiving member. In some embodiments, the receiving member can have an open channel for receiving and allowing longitudinal movement of the tool or any shape. In some embodiments, reader mount 402 (or a region of reader mount) can be considered as one or more elements of one or more target readers 406, 407, because reader mount 402 can function as a detector for one or more targets on tool 404. For example, channel 452 can have a different composition than the rest of reader mount 402 and can facilitate the detection of one or more targets on tool 404.

[0077] exist Figure 4A In some embodiments, tool 404 may include any number of targets positioned along the length of the tool. For example, the tool may include a single target, three targets, or some other number of targets. A different number of targets than the number of target readers may exist. For example, there may be three target readers in the tool identification component and two targets on the tool, one target reader in the tool identification component and two targets on the tool, or two target readers in the tool identification component and one target on the tool.

[0078] Targets 456 and 457 can be positioned on tool 404 such that they will be detected by target readers 406 and 407 when the tool is at least partially installed (or inserted) into receiving member 450. Figure 4AIn one embodiment, targets 456, 457 may be mounted near the proximal end 411 of tool 404, and target readers 406, 407 may be mounted (e.g., to manipulator assembly 102) near the proximal end of receiver 450. The proximal positions of target readers 406, 407 relative to receiver 450 and tool 404 provide a configuration that allows tool identification assembly 410 to recognize that tool 404 is fully extended into receiver 450. In alternative embodiments, targets 456, 457 may be positioned at other locations along tool 404, and target readers 406, 407 may be positioned at other locations along receiver 450. For example, in some embodiments, distal positions may be suitable. In other alternative embodiments, reader mounts may be omitted, and target readers may be coupled to or integrated into the receiver itself.

[0079] Target readers 406 and 407 can communicate with a computing system configured to process data from the target readers (e.g., changes in inductance, magnetic field, light intensity, light color, etc.). The computing system can be, for example, a component of a remotely operated medical system (e.g., control system 112). The computing system can receive data from the target readers 406 and 407 periodically or continuously at regular or irregular intervals. For example, the target readers 406 and 407 can communicate data to the computing system in response to changes in data sensed by the target readers (e.g., changes in inductance, resistance, capacitance, magnetic field, light intensity, light color, etc.). In another example, data from the target readers is communicated regularly (periodically or continuously) to the computing device, and the computing device is assigned the task of determining when the data has changed. The computing system may include one or more processors configured to process data received from the target readers 406 and 407 (including detecting changes in the sensed data received from the target readers 406 and 407).

[0080] As described, the tool identification component 410 can be configured to detect whether the tool 404 is fully inserted into the receiving member 450. The tool identification component 410 can also be configured to detect whether the receiving member 450 (such as a catheter) is fully inserted into the patient. The tool 404 can be considered fully inserted when it is inserted to the extent that it allows use within the patient's body, to the extent that the distal end 413 of the tool 404 is within a certain distance of the distal end of the receiving member 450, to the extent that the tool 404 extends through the reader mount 402, to the extent that the distal portion of the tool 404 extends a relative distance beyond the distal end of the receiving member, or a combination thereof. In some embodiments, the tool 404 can be considered fully inserted when it is coaxially inserted through the receiving member 450 such that the distal end 413 of the tool is flush with the distal end of the receiving member.

[0081] Determining whether tool 404 is fully inserted relative to receiving member 450 (or otherwise acceptablely positioned for operation) may include comparing readings from target readers 406, 407 with pre-established model insertion marks. As used herein, "pre-established model insertion marks" or "model insertion marks" refers to insertion marks generated by a modeling software application, input from a user interface, measurements recorded during the installation of another tool that have been established to indicate the orientation of the tool when inserted into receiving member 450, etc. When readings from target readers 406, 407 match the model insertion marks indicating full insertion of the tool, tool 404 may be determined to be acceptablely positioned for operation and therefore fully inserted; and when readings from target readers 406, 407 do not match the model insertion marks indicating full insertion of the tool, tool 404 may be determined to be unacceptably positioned for operation and therefore not fully inserted. The readings from the target readers 406 and 407 corresponding to the model insertion mark indicating the tool for full insertion can include various characteristics, such as the sequence of target readings through the target readers 406 and 407, the threshold duration of the target readings through the target readers 406 and 407, various thresholds, ratios of values, or combinations of sequences, threshold durations, thresholds, and / or ratios of values.

[0082] Various properties of the readings detected by target readers 406 and 407 can influence the determination of whether a specific reading from target readers 406 and 407 contributes to the detection of an insertion mark. For example, the intensity (i.e., threshold), duration, multiple thresholds, or a combination of intensity, duration, and multiple thresholds of the reading can be used to determine when target readers 406 and 407 detect a target. Additionally or alternatively, derivative properties of the signals read by target readers 406 and 407 (such as the rate of change of the signal (e.g., slope)) can be used in the determination of the detected insertion mark. When an inductive element is used as a target, target readers 406 and 407 can generate an inductive measurement signal that changes as the target 456 and 457 approaches the target reader, as the target 456 and 457 proximities the target reader 406 and 407, and as the target 456 and 457 move away from the target reader 406 and 407. The amplitude (or intensity) of the inductance measurement can indicate the presence of target 456, 457 in the detection area of ​​target readers 406, 407. The intensity (i.e., amplitude threshold), duration, multiple thresholds, and combinations of intensity, duration, and multiple thresholds of the inductance measurement read by target readers 406, 407 can be used to determine whether a target has been detected in the detection area of ​​target readers 406, 407. Additionally, the slope, inductance ratio, and / or other derivatives of the inductance measurement signal can be used to indicate the presence or absence of a target in the detection area of ​​target readers 406, 407. One way to indicate target detection and non-detection is to use binary (e.g., '1' or '0') signals to indicate the presence or absence of a target in the respective detection area of ​​target readers 406, 407, as determined by the intensity, duration, slope, ratio, and combinations thereof of the inductance measurement signal, and other derivatives of the inductance measurement signals from target readers 406, 407.

[0083] For example, the presence (which can be indicated by '1') and / or absence (which can be indicated by '0') of a target in the detection area of ​​the corresponding target readers 406, 407 can be determined by the ratio of inductance measurement results. When the ratio is used to indicate the presence or absence of a target, a reference inductance is measured and then used to compare with other inductance measurement results before, during and / or after the insertion of the conduit and / or tool into the tool identification assembly 410. The reference inductance measurement result can be acquired from a reference target reader without a conduit or probe inserted through it, and / or the reference inductance reading can be acquired from target readers 406, 407 without a conduit or probe inserted through it. The ratio of inductance measurement results from target readers 406, 407 can be calculated by the following formula (1): in It is an inductance reference. It is the inductance measurement result from the target reader, and It is the ratio between the inductance measurement result and the inductance reference.

[0084] When compared K When determined, the value can indicate the presence and / or absence of receiving member 450 and / or (one or more) tools 404. Table 1 below indicates the possible inductance measurements that can be received from one or more of the target readers 406, 407 and the possible configurations that can be indicated by the value.

[0085] Table 1 In this example, if the inductance measurement result is in the range of 0.99 to 1.01, this indicates that neither the receiving member 450 nor any tool 404 has a target 456 or 457 in the detection area of ​​the target reader 406, 407 (i.e., no "0"). If the inductance measurement result is in the range of 1.02 to 1.04, this indicates that tool #1 has a target in the detection area of ​​the target reader (i.e., "1" exists), while the conduit, tool #2, and tool #3 do not have a target in the detection area of ​​the target reader (i.e., no "0" exists). If the inductance measurement result is in the range of 1.04 to 1.06, this indicates that the conduit has a target in the detection area of ​​the target reader (i.e., "1" exists), while tool #1, tool #2, and tool #3 do not have a target in the detection area of ​​the target reader (i.e., no "0" exists). If the inductance measurement result is in the range of 1.06 to 1.08, this indicates that both the conduit and tool #1 (e.g., a vision probe) have a target in the detection area of ​​the target reader (i.e., a "1"), while tools #2 and #3 do not have a target in the detection area of ​​the target reader (i.e., a "0" does not exist). If the inductance measurement result is in the range of 1.08 to 1.10, this indicates that the conduit, tool #1, and tool #2 all have a target in the detection area of ​​the target reader (i.e., a "1"), while tool #3 does not have a target in the detection area of ​​the target reader (i.e., a "0" does not exist). If the inductance measurement result is in the range of 1.10 to 1.12, this indicates that the conduit, tool #1, tool #2, and tool #3 all have a target in the detection area of ​​the target reader (i.e., a "1" exists). If the inductance measurement result is above 1.12, this indicates that the configuration of the conduit and / or tool in the tool identification assembly 410 is unknown. This can indicate that an unidentified tool or conduit is present in the tool identification assembly 410. Determine the inductance ratio KIt can minimize the impact of inductance variations between various target readers caused by changes in usage, manufacturing, materials, and environmental conditions. Based on the detected configuration of conduits and tools, the system can determine the operating mode or enable / disable behavior.

[0086] When two target readers 406 and 407 are used in combination, such as Figure 4A As shown, the model insertion marker indicating full insertion of the tool may include a specific sequence of measurements read from the proximal target reader 406 and the distal target reader 407 when the tool 404 (and / or catheter) is inserted. Additionally, the measurements read from the target readers 406 and 407 can depend on the number of targets present on the tool 404. For a single-target implementation (such as target 457), the distal target reader 407 has a positive or presence reading for target detection, while the proximal target reader 406 has a negative or absence reading for target detection. For a single-target implementation, when the tool 404 is fully inserted into the receiving member 450, target 457 may be read first by the proximal target reader 406 and then by the distal target reader 407. Therefore, an exemplary sequence of target detection associated with a fully inserted tool 404 having a single target 457 can include: (1) neither the proximal target reader 406 nor the distal target reader 407 detects the target 457 (from the combination of '0' and '0' of the two target readers 406 and 407, respectively); (2) the proximal target reader 406 detects the target 457, while the distal target reader 407 does not detect the target 457 (from the combination of '1' and '0' of the two target readers 406 and 407, respectively); and then (3) the proximal target reader 406 no longer detects the target 457, while the distal target reader 407 detects the target 457 (from the combination of '0' and '1' of the two target readers, respectively).

[0087] When a second target (e.g., target 456) is included on tool 404, the target detection sequence changes to accommodate the second target. For example, when target 456 is also included on the tool in addition to target 457, target 456 may be read or detected only by proximal target reader 406. In some embodiments, when target 456 is read or detected by distal target reader 407, fully inserted tool 440 may be indicated. For example, if target 456 is positioned further away from proximal end 411, fully inserted tool may be associated with proximal target reader 406 having a '0' reading and distal target reader 407 having a '1' reading (corresponding to target 457 being detected by the distal target reader).

[0088] In some embodiments, tool 404 can only be considered fully inserted (or installed) into receiving member 450 until target readers 406, 407 generate a reading of the matching model insertion flag for a predetermined minimum duration (e.g., a fraction of a second, one second, two seconds, three seconds, four seconds, five seconds, ten seconds, etc.). Detection of a model insertion flag reaching a duration less than that specified for indicating full insertion can be ignored. It should also be understood that the content of the model insertion flag can be a sequence of events with various time delays between the event sequences. The reading from target readers 406, 407 can be determined to match a given model insertion flag when the timing and type of the event match between the reading from target readers 406, 407 and the model insertion flag.

[0089] Establishing a model insertion mark indicating full insertion of the tool can reduce the incidence of false positives caused by partially inserted tools. For example, when tool 404 is partially inserted into reader mount 402, distal target reader 407 can have a positive reading (e.g., a '1' reading) for target detection of target 457, while proximal target reader 406 has a negative reading (e.g., a '0' reading) for target detection of target 457. As used herein, a "positive" reading refers to a positive detection of a target within the detection area of ​​the target reader. Therefore, a "positive" reading can be the received signal strength of the target reader above a threshold, the ratio of received signals within a predetermined range, the slope of the received signal indicating the presence of a target within an acceptable range, the integral value of the received signal within an acceptable range, the received signal strength threshold being maintained for a predetermined duration, or a combination of these, and other signal properties indicating the presence of a target within the detection area of ​​the target reader. As used herein, a "negative" reading refers to a detection of a target not being within the detection area of ​​the target reader. Therefore, a "negative" reading can be the received signal strength of the target reader below a threshold, the ratio of received signals within a predetermined range, the slope of received signals outside an acceptable range indicating that the target does not exist in the detection area, the integral value of received signals within a range indicating that the target does not exist, the received signal strength threshold not being maintained for a predetermined duration, or a combination of these, and other signal attributes indicating that the target is not in the target reader's detection area.

[0090] The model insertion flag specified above is similarly intended to reduce the false positive rate caused by the insertion of foreign objects (such as elongated items similar in composition to the target on the tool), which could cause both the proximal target reader 406 and the distal target reader 407 to show positive readings for target detection. For example, when an inductive sensor is implemented in the target readers 406, 407, the insertion of a metal rod across the target readers 406, 407 into the tool identification assembly 410 could cause both target readers 406 to show positive readings for target detection. The model insertion flag specified above will prevent such double positives from being interpreted as a detection of tool 404.

[0091] Despite the possibility of false positives, in some cases, model insertion flags can correspond to all target readers indicating the presence of a target on the tool. Such model insertion flags can allow for the use of more cost-effective target readers or a smaller number of target readers (e.g., a single target reader).

[0092] In some cases, more than one model insertion mark can indicate that the tool is acceptablely positioned in the receiving component. Therefore, in some situations, readings from the target reader can be compared with more than one pre-established model insertion mark. Generally, increasing the number of target readers increases the number of possible model insertion marks. Several exemplary model insertion marks are described in more detail below by way of example and without limitation.

[0093] In addition to determining whether a tool is acceptablely positioned for operation, the tool identification component 410 can be used to classify the tool 404. For example, a detected insertion marker obtained from a reading from the target reader can be compared with multiple model insertion markers associated with different types of tools. Thus, different tool types can be characterized by different numbers or types of targets to be read by the target reader. Certain readings characterizing the corresponding tool type can also be included in the model insertion markers used to indicate that the tool is acceptablely positioned (e.g., fully inserted) in the receiving member 450 for operation. In some cases, different materials can be used for targets in different medical tools. Therefore, tools can be classified not only by the detected insertion markers obtained based on readings from the target reader but also by variations in sensing data. For example, targets in different tools can provide additional and different sensing data as detected by the target reader.

[0094] The tool identification component 410 can be further used to determine the operating mode based on one or both of insertion / orientation status and instrument type. For example, if the tool is determined to be fully inserted, the control system 112 can enter a general operating mode where there are no restrictions on the use of the various functions of the manipulator component 102. However, if the tool is determined not to be fully inserted, the control system 112 can enter a safety mode that includes one or more constraints on the operation of the manipulator component 102. Examples of constraints include limiting the speed of operation (e.g., the speed of catheter insertion), limiting catheter flexibility, increasing catheter flexibility, limiting the speed at which catheter adjustments can be made, and disabling certain functions (such as a lens cleaning function that enables cleaning using multiple streams of air or other fluids). In some cases, functions can be activated or disabled on an instrument-by-instrument basis. For example, when it is determined that the tool is fully inserted into the receiving member (e.g., a catheter) and includes an endoscope or visual probe, certain functions (e.g., a lens cleaning function) can be activated. When the tool is fully inserted, those same functions can be disabled, but alternatively, this includes ablation tools. In other embodiments, the absence detected by the visual probe can cause the lighting source to dim or be deactivated.

[0095] Additionally, the control system 112 can control image acquisition of the imaging tool based on whether the tool is fully inserted, partially inserted, or not inserted into the receiving member at all. For example, when the tool is not inserted, the control system 112 can control the imaging tool to collect images at a slow rate (e.g., one image per second or slower) to confirm that the tool has not yet been inserted, while minimizing image processing prior to insertion. When the tool is at least partially inserted into the receiving member, the control system 112 can increase the image collection rate to determine the orientation of the tool within the receiving member. Images collected within the receiving member can include longitudinal markings (or “stripes”) that can be used to determine the relative rotational orientation of the tool within the receiving member. Since longitudinal markings are only observable from within the receiving member, image collection outside the receiving member or from the distal end of the receiving member cannot include longitudinal markings. When the distal end of the tool reaches the distal end of the receiving member (e.g., a catheter), one or more targets on the tool can be detected by one or more target detectors on the receiving member. These detections can indicate that the tool is approaching full insertion into the receiving member or that the tool is fully inserted. Images collected just before full insertion can increasingly be dominated by anatomy. Therefore, it would be desirable to reduce or discontinue image collection using tools for orientation determination, as the tools may no longer be able to observe longitudinal markings. These are just a few examples, among others, of the control changes that can occur based on the tool's insertion orientation.

[0096] Figure 4BThe illustration shows a tool identification component 410 coupled to an instrument holder 415 (e.g., instrument holder 306) of a remotely operated manipulator assembly (e.g., remotely operated manipulator assembly 102). In alternative embodiments, the tool identification component 410 may be coupled to a non-remotely operated manipulator or other structure for receiving tools. Figure 4B In this configuration, the tool identification component 410 is coupled proximally to the instrument holder 415 via an expandable support structure 417, which can be used to support an extension of the receiving member 450 outside the patient's anatomy. For example, the tool identification component 410 can be press-fitted onto a proximal mount (not shown) on the expandable support structure 417. Figure 4B As shown, the tool identification component 410 may further include a reference reader 408. The reference reader 408 may include an inductive sensor (e.g., an inductor and inductor coil that detect changes in inductance caused by the ferromagnetic and conductive properties of a material), a capacitive sensor, a Hall effect sensor, a grating sensor, an optical sensor, a magnetic switch, a barcode scanner, an RFID scanner, a relative orientation sensor, or a combination thereof. Figure 4B As shown in the embodiments, the reference reader 408 may not be axially aligned with the target readers 406, 407. For example, the reference reader may have an orientation orthogonal to the target readers 406, 407. In some embodiments, the reference reader may be omitted, or the reference reader may be used in conjunction with a single target reader. The reference reader 408 may communicate with a computing system configured to process readings from the target readers (e.g., changes in inductance, resistance, capacitance, magnetic field, light intensity, color, etc.). The computing system may be, for example, a component of a remotely operated medical system (e.g., control system 112).

[0097] In some embodiments, tool 404 may include an endoscope or visual probe configured to allow a physician to visualize internal body structures as the catheter or other receiving member 450 is delivered to the treatment or evaluation site. Once at the destination, the visual probe can be withdrawn to make way for different medical instruments or for other reasons. Retraction of the probe may prevent the physician from seeing the internal body structures to be treated or evaluated. Therefore, entering a safety mode when it is detected that the probe is not fully inserted into the catheter can reduce the likelihood of patient injury resulting from adjustments to the tools inserted into the patient after probe withdrawal. In the case of probe removal, the operator may not be able to see internal body structures during adjustments, and therefore the control system can enter a mode that limits catheter flexibility and / or the speed at which adjustments to the catheter can be made. Similarly, disabling certain functions when the probe is not fully inserted into the catheter can reduce the risk of patient injury due to accidental use of such functions (e.g., accidental expulsion of air into the patient's lungs).

[0098] In some embodiments, the tool identification component or other tool detection sensor may be located in other locations. For example, the tool detection sensor may be located on the quick-connect coupling between the vision probe and the conduit or on the motor kit of the remotely operated manipulator assembly. In some embodiments, the tool identification component may identify that the tool is not present in the tool holder, thus indicating that the tool may be in another location, such as the conduit.

[0099] In some embodiments, based on the identification tool, the time constant can be altered to allow for the amount of time the catheter may require to relax. In some embodiments, based on the identification tool, the torque limit for the draw motor can be altered, which can affect the amount of catheter relaxation (e.g., the amount of torque applied by the draw motor can be varied based on the type of tool installed). If the insertion mark is detected and a needle is identified, the catheter can be temporarily “relaxed” (i.e., the draw wire controlling the catheter can provide a small amount of relaxation allowing the catheter to become more flexible). This relaxation can facilitate needle insertion without scratching the catheter lumen. Furthermore, depending on the type of tool detected, the user interface input buttons on the control device can be reconfigured. For example, if a camera probe is detected, a button can be provided for camera cleaning. If an ablation probe is detected, the same button can be reconfigured to provide the ablation energy to be delivered. If a vacuum-utilizing needle is detected, the same button can be reconfigured to provide a vacuum. It should be understood that many different adjustments can be made based on which tool is identified by the insertion mark and whether the tool is fully inserted into the receiving member.

[0100] Figures 4C-4J Various embodiments of target readers and targets that can be used to detect characteristics of one or more tools and / or conduits installed in the tool identification component 410 are illustrated. Figure 4CThe illustration shows a tool identification assembly 410 including a target reader with a source 430 and a detector 436 (which may be an optical detector). The source 430 and detector 436 can be used to detect the presence, absence, orientation, classification (which may include a unique identifier, such as tool manufacturer identification), or other information about a tool 404 (e.g., an imaging probe, catheter, etc.) inserted between the source and detector. A body 416 (e.g., part of a reader mount 402) can be used to position the source 430 and detector 436 on opposite sides of an area through which the tool 404 can be mounted. The source 430 and detector 436 are positioned relative to each other in such a way that the detector 436 can adequately detect signals emitted from the source 430. Examples of the source 430 could be an optical source capable of generating a light signal 420 radiated toward the detector 436, and the detector 436 could be an optical detector. When there are no obstructions (such as tool 404) in the area between source 430 and detector 436, some of the generated optical signals 420 can be detected by detector 436 (e.g., optical signal 422 is detected). A conductor 412 connected to source 430 is capable of transmitting a signal to source 430 (e.g., via electrical and / or optical devices from a power source) to excite the source and generate optical signals 420. A conductor 414 connected to detector 436 is capable of transmitting a signal from detector 436 to a control system (such as control system 112) based on one or more detected properties (e.g., intensity) of the detected optical signal 422 received by detector 436 (e.g., via electrical and / or optical devices). Figure 4C As seen, no tool is positioned between source 430 and detector 436, thereby providing a threshold level for the intensity of the detected optical signal 422 received at detector 436 in the absence of a tool. The threshold level for the intensity of the detected optical signal 422 in the absence of a tool is higher than the threshold level for the intensity when a tool is present between source 430 and detector 436.

[0101] Figure 4D and Figure 4E The illustration shows tool 404 positioned between source 430 and detector 436. Figure 4D The illustration shows a tool 404 with a target 418 (which may be an aperture, an optical target, or any other suitable target), the target 418 being positioned to allow some of the generated light signals 420 to pass through the aperture and be received by a detector 436 as a detected light signal 422. The intensity of the detected light signal 422 received at the detector 436 can be transmitted to the control system via a conductor 414. Figure 4DThe orientation of the tool 404 with the orifice in the detector 436 can cause the detector 436 to detect a high intensity of the detected light signal 422. Due to the interference of the tool 404 with the generated light signal 420, the light signal is positioned between the source 430 and the detector 436. Figure 4E The orientation of a tool 404 without a target 418 (e.g., an orifice) can cause detector 436 to detect a low intensity of the detected light signal. One or more processors in the control system 112 can use sensor data from detector 436 to determine the presence, absence, orientation, and / or classification of a tool installed in the tool identification assembly 410.

[0102] One or more targets 418 (e.g., orifices) can be included in the tool 404 to generate appropriate detected insertion marks to identify the orientation and / or classification of the tool 404. In the case of multiple targets 418 on the tool 404, when the tool 404 is inserted into the tool identification component 410, the detector 436 can detect several changes in the intensity of the detected light 422. For example, the detected insertion marks can include (1) such as Figure 4E The low intensity of the detected light 422 shown is when the target is not detected because it has not yet been located in the region between the source 430 and the detector 436, (2) as Figure 4D The high intensity of the detected light 422 shown when the target is detected due to being moved into the area between the source 430 and the detector 436, (3) again as shown Figure 4E The low intensity of the detected light 422 shown when the target moves across the area between source 430 and detector 436 can be used to generate an insertion mark for the tool 404 being inserted. When additional targets are included with the tool 404, the detection insertion mark described above can include alternating detected intensities between low and high. The detection insertion mark can be compared with a pre-existing model insertion mark to identify the type of tool 404 being inserted. It should be understood that the number of various targets (e.g., orifices) and the spacing of targets along the tool 404 can be used to provide a unique pattern for the measurement constituting the detection insertion mark.

[0103] Now for reference Figure 4F and Figure 4GAnother configuration of source 430 and detector 436 is representatively illustrated and can be used to detect the presence, absence, orientation, classification, or other information about a tool. Tool 404 can be positioned near the pair of source 430 and detector 436, wherein target 418 (e.g., a reflective surface or surface treatment in this embodiment) is positioned to receive some of the generated light signals 420 redirected toward detector 436 as detected light signals 422. The intensity of the detected light signal 422 received at detector 436 can be transmitted, for example, to a control system via conductor 414. Figure 4F The orientation of tool 404 (where target 418 is adjacent to the source and detector (430:436) pair) can cause detector 436 to detect the high intensity of the detected light signal 422. Figure 4G The orientation of tool 404 (where target 418 is not adjacent to the source and detector (430:436) pair) can cause detector 436 to detect a low intensity of the detected light signal 422. One or more processors in control system 112 can use the signal transmitted from detector 436 to determine the presence, absence, orientation, and / or classification of a tool installed in tool identification component 410.

[0104] When it is desired to generate readings that constitute appropriate detected insertion marks to identify the orientation and / or classification of tool 404, one or more targets 418 can be included with tool 404. In the case of multiple targets 418 on tool 404, when tool 404 is inserted into tool identification component 410, detector 436 can detect several changes in the light intensity of detected light signal 422 that correspond to the detection of multiple targets 418 (e.g., ...). Figure 4G The text in the image indicates that the target was not detected due to low intensity, such as... Figure 4F The text indicates that a high intensity of the target was detected, and then... Figure 4G The low intensity when the target moves away, and then again as before. Figure 4FThe high intensity of the next target detected in the instrument 404 is used to generate a target detection pattern for the insertion mark that makes up the tool 404. The detected insertion mark of the tool 404 can be compared with a pre-existing model insertion mark to identify the type of tool 404 being inserted. It should be understood that the number of various targets 418 and the spacing of the targets along the tool 404 can be used to generate unique detected insertion marks. The target 418 can be any material or surface that can be used to affect one or more properties of the signal generated by the source 430, such as the intensity of the light directed to the detector 436. For example, the target 418 can be a strip of reflective material (such as a metal strip) positioned around the outer surface of the tool 404, which reflects more light from the source 430 to the detector 436 when the target 418 is near the source-detector pair. The target 418 can also be a surface treatment or material that alters the intensity of light directed to the detector 436, such as when the target 418 is a different color (i.e., a portion of the outer surface 405 is colored differently from the rest of the outer surface 405 and / or the tool 404 is made of various colored materials), when the outer surface 405 is treated to absorb more light at the target location (i.e., brighter and darker hues (including white and black), different hues, etc.), and / or when the outer surface 405 has a different texture that diffuses and / or disperses light, thereby causing a change in the intensity of one or more detected light signals 422 received by the detector 436. It should be understood that the target 418 can also cause a low intensity of light to be detected by the detector 436, while the absence of the target can cause a high intensity of light to be detected by the detector 436.

[0105] Now for reference Figure 4H and Figure 4I The illustration shows another configuration of the target reader in the tool identification component 410. Figure 4H and Figure 4I In the example shown, the target reader is implemented to include a detector 436 (without a source) to detect the presence, absence, location, classification, or other information about the tool. This configuration differs from the target reader described previously, at least in that the target reader does not include a source and does not supply a source signal, such as an optical signal 420. In this configuration, the target 418 on the tool 404 can be a source (such as an optical source) and can supply a source signal (such as an optical signal 420 radiated from the target 418). The tool 404 can be positioned near the detector 436, wherein the target 418 (e.g., an optical source or optical light source, such as phosphorescent material, discrete LEDs, luminous rings, rings diffusing light from discrete light sources, etc.) is positioned to generate a source light signal 420, which is received by the detector 436 as a detected light signal 422. The intensity of the detected light signal received at the detector 436 can be transmitted to a control system, for example, via a conductor 414. Figure 4HThe orientation of tool 404 (where target 418 is adjacent to detector 436) can cause detector 436 to detect a high intensity of light from target 418 as detected light signal 422. Figure 4I The orientation of tool 404 (where target 418 is not adjacent to detector 436) can cause detector 436 to detect a low intensity of light from target 418 as detected light signal 422. One or more processors in control system 112 can use the signal transmitted from detector 436 to determine the presence, absence, orientation, and / or classification of a tool installed in tool identification component 410.

[0106] When it is desired to generate readings that constitute appropriate detected insertion marks to identify the orientation and / or classification of tool 404, one or more targets 418 can be included with tool 404. In the case of multiple targets 418, when tool 404 is inserted into tool identification component 410, detector 436 can detect several changes in light intensity corresponding to the absence and presence of detected targets 418 (e.g., ...). Figure 4I The low intensity in the expression represents the absence of the target, such as Figure 4G The high intensity of the target's presence is indicated in the text, and then again as shown in the image. Figure 4I The low intensity of the target (representing the absence of the target) is used to generate a unique detected insertion mark for tool 404. Again, the detected insertion mark for tool 404 can be compared with a pre-existing model insertion mark to identify the type of tool 404 being installed. It should be understood that a variety of targets 418, the number of targets 418, and the spacing of targets 418 along tool 404 can be used to generate the detected insertion mark. In this configuration of optical target reader and optical target, the target can be any material or light source that can be used to generate an optical source signal 420 that can be directed to detector 436. For example, target 418 can be a phosphorescent ring, a discrete light source (e.g., an LED) arranged in a ring, a light-emitting ring, and / or a ring diffusing light from a discrete light source (e.g., an LED).

[0107] It should also be understood that the optical target reader and optical target can be used together with any other type of target reader and target provided in this disclosure and / or as an alternative to any other type of target reader and target provided in this disclosure. For example, this and other versions of the optical target reader and optical target can be used with electromagnetic embodiments of the target reader and target.

[0108] Now for reference Figure 4JAnother schematic view of a tool identification assembly 410 with various target readers and target pairs is shown. A first target reader and target pair can include a target reader with a Hall effect sensor 460 capable of detecting the proximity of a magnetic field 466 generated by a target including a magnet 474 (e.g., an electromagnet). When a tool 404 is mounted in the tool identification assembly 410, the Hall effect sensor 460 can detect when the magnet 474 is within a certain distance of the Hall effect sensor 460. A second target reader and target pair can include a target reader with an RFID scanner 462 capable of detecting the proximity of a target including an RFID chip 476 within a certain distance of the RFID scanner 462. The RFID scanner can radiate a radio frequency (RF) signal 470, which can read an ID from the RFID chip 476 and transmit that information to the control system 112. An RFID target reader and target pair may be better suited for identifying which tool 404 is installed in the tool identification component 410, but the pair can also be used to determine whether the tool 404 is fully installed in the tool identification component 410. For example, a model insertion mark indicating a fully inserted tool can include a detection RFID ID. A third target reader and target pair may include a target reader with a barcode scanner 464 capable of reading the barcode of the target 478 by illuminating the target 478 with light and reading the pattern of the reflected light. A barcode scanner target reader and target pair may be better suited for identifying which tool 404 is installed in the tool identification component 410, but the pair can also be used to determine whether the tool 404 is fully installed in the tool identification component 410. For example, a model insertion mark indicating a fully inserted tool can include a detection barcode.

[0109] Now for reference Figures 5A-5Q Various configurations of the tool identification component 500 may include all or some of the structure and functions of the tool identification component 410. The tool identification component 500 may contain one or more target readers and target pairs, such as... Figure 4J Those described in [the text]. Figures 5A-5Q In each configuration illustrated in the diagram, tool 520, which may include all or some of the structures and functions of tool 404 (e.g., imaging tool, ablation tool, catheter, etc.), is sensed by tool identification component 500. It should also be understood that... Figures 5A-5Q It can include multiple tools 520, wherein each tool 520 generates an insertion mark when it is inserted into the receiving member 516.

[0110] Now for reference Figure 5AThe tool identification component 500 includes two target readers 510 and 514 for sensing a tool 520 having a target 528. The target readers 510 and 514 may be substantially similar to target readers 406 or 407, and the target 528 may be substantially similar to targets 456 or 457. The tool identification component 500 can be configured to detect whether the tool 520 is fully inserted into the receiving member 516.

[0111] exist Figure 5A In this embodiment, the model insertion marker used to determine that the tool 520 is fully inserted into the receiving member 516 of the tool identification component 500 includes a positive reading for target detection from the distal target reader 514, while the proximal target reader 510 indicates a negative reading for target detection. As described above, such a model insertion marker can advantageously limit the false positive rate of fully inserted tool 520. Figure 5A In this configuration, tool 520 is fully inserted into tool identification component 500. In this orientation, target 528 is aligned with (or at least within close proximity to) the distal target reader 514. In this orientation, the distal target reader 514 is able to detect target 528, while the proximal target reader 510 is not. Tool 520 may be formed of a material that is not detectable by the target reader 514.

[0112] Although target 528 is illustrated to have approximately the same dimensions (e.g., length) as target readers 510, 514, in various alternative embodiments, it may be advantageous for target 528 to have different dimensions (e.g., significantly longer than target readers 510, 514). Optionally, tool recognition component 500 may be configured to provide indication (e.g., auditory tone, auditory cue, tactile feedback, etc.) when target 528 is read by one of target readers 510, 514. In this regard, a short target 528 may pass quickly past target readers 510, 514, making it possible for control system 112 to fail to recognize target 528 aligned with target readers 510, 514. In contrast, a longer target 528 may take a longer time to pass past target readers 510, 514, thereby increasing the likelihood that control system 112 receives indication that target readers 510, 514 have detected target 528.

[0113] Target 528 may be between 7 and 68 mm in length, for example, and target readers 510 and 514 may be spaced apart by a distance between 3 and 60 mm. Target readers 510 and 514 can be spaced apart sufficiently such that a given target 528 cannot be detected simultaneously by both target readers 510 and 514. For example, if target readers 510 and 514 can detect targets 4 mm apart (see, for example...). Figure 5QIf the target 528 is at a distance of L3, L4 and is 15 mm long, then the target readers 510 and 514 can be spaced apart by at least 23 mm. Similarly, if the target 528 is 30 mm long and the target readers 510 and 514 can detect the target 528 at a distance of 4 mm, then the target readers 510 and 514 can be spaced apart by 38 mm.

[0114] Figures 5B-5D Additional embodiments of the tool identification component 500 are illustrated, wherein repeated reference numerals denote the same previously disclosed elements as appropriate. For example, Figure 5B , Figure 5C and Figure 5D The diagram illustrates three target readers: 510, 512, and 514. Figure 5A The diagram shows two target readers, 510 and 514. Figure 5A and Figure 5B It has a target of 528, and Figure 5C It has two targets, 526 and 528, and Figure 5D It has two targets, 524 and 526. Therefore, it is applicable. Figures 5B-5D The corresponding components Figure 5A The descriptions of those components are not repeated.

[0115] Figure 5B A tool identification component 500 is described, including target readers 510, 512, and 514 for sensing a tool 520 having a single target 528. When the tool identification component 500 includes three target readers 510, 512, and 514 and the tool 520 includes a single target 528, multiple detection insertion markers can be generated and used to indicate whether the tool 520 is properly inserted for operation (e.g., fully inserted into the receiving member 516). When target reader 514 indicates a positive detection reading for target 528 and target readers 510 and 512 indicate a negative detection reading for target 528 (e.g., ... Figure 5B When (as shown), a detected insertion mark can indicate that tool 520 is properly inserted. Alternatively (not shown), a detected insertion mark indicating that tool 520 is properly inserted can be generated when target 528 is aligned with target reader 512. Target reader 512 can indicate a positive detection reading for target 528, while target readers 510 and 514 indicate a negative detection reading for target 528. As described above, target readers 510, 512, and 514 can be spaced sufficiently apart from each other to prevent two of target readers 510, 512, and 514 from simultaneously detecting the same target 528.

[0116] Figure 5CA tool identification assembly 500 is described, comprising three target readers 510, 512, and 514 for sensing a tool 520 having two targets 526 and 528. When target readers 512 and 514 indicate positive detection readings for targets 526 and 528 respectively, and target reader 510 indicates a negative detection reading for targets 526 and 528, a detected insertion mark indicating that the tool 520 is fully inserted into the tool identification assembly 500 can be generated. As described above, the target readers 510, 512, and 514 can be spaced sufficiently apart from each other to prevent two of the target readers 510, 512, and 514 from simultaneously detecting the same target 526 or 528.

[0117] Figure 5D A tool identification assembly 500 is described, comprising three target readers 510, 512, and 514 for sensing a tool 520 having two targets 524 and 528. When target readers 510 and 514 indicate a positive detection reading for targets 524 and 528, and target reader 512 indicates a negative detection reading for targets 524 and 528, a detected insertion mark indicating that the tool 520 is fully inserted into the tool identification assembly 500 can be generated. As described above, the target readers 510, 512, and 514 can be spaced sufficiently apart from each other to prevent two target readers 510, 512, and 514 from simultaneously detecting the same target 524 or 528.

[0118] Now for reference Figures 5E-5J These diagrams illustrate an exemplary illustrative installation sequence in which tool 520 is installed within tool identification component 500. In this example, tool identification component 500 includes two target readers 510 and 512, and the tool includes two targets 526 and 528. Target reader 510 can be referred to as non-existent reader A, while target reader 512 can be referred to as present reader P. Figures 5E-5J Each indicator in the table indicates whether target reader 510 does not have a positive or negative detection reading for target 526 or 528 and target reader 512 does have a positive or negative detection reading. For example, Figure 5E The negative detection readings of both readers 510 and 512, corresponding to the absence of target A and the presence of target P, are shown (A=0 and P=0). Figure 5FThe diagram shows A=1 and P=0, indicating that target reader 510 does not have a positive detection reading for target (in this case, target 528), and target reader 512 has a negative detection reading for targets 526 and 528. The logical states of target reader 510 (not present) and target reader 512 (present) can be used to develop the detected insertion flag of tool 520, which can be retained (e.g., in a stored manner, in a written form, in a pictorial representation, etc.) for later reference and / or comparison with previously retained model insertion flags to determine the absence, presence, orientation, and / or classification of tool 520. Figures 5E-5J In some embodiments, the detected insertion flag may include various combinations of readings, such as a set of reading sequences from the target reader. Readings from the target reader may be compared with model insertion flags. Model insertion flags may be static flags that identify a match based on the current logic state of the target reader, or they may be a series of model flags that identify a match based on a set of sequences of readings from the detected set that must match the readings before flag matching is registered.

[0119] Figure 5E The tool 520 is shown being inserted into the tool recognition component 500 towards the target 528, but not yet reaching the target reader 510 (i.e., A=0, P=0). As the tool 520 continues to be inserted into the tool recognition component along direction 550 (e.g., towards the patient), the target 528 can become aligned with the target reader 510, as... Figure 5F As shown. At this location, there is no A reader indicating a positive detection reading of "1", while there is a P reader indicating a negative detection reading of "0" (i.e., A=1, P=0). At this point, the detected insertion flag obtained from the readings generated up to this point cannot match the model insertion flag, and therefore, the indicator tool 520 is not fully installed in the tool recognition component 500. Therefore, insertion of the tool 520 can continue. Figure 5G At the location of tool 520, none of targets 526 and 528 are detected by either target reader 510 or 512. Therefore, the absence of reader A and the presence of reader P both indicate a negative detection reading of "0" (i.e., A=0, P=0). At this point, the detected insertion flag obtained from the readings generated so far still cannot match the model insertion flag, and therefore continues to indicate that tool 520 is not fully installed in tool identification component 500. Therefore, insertion of tool 520 can continue.

[0120] exist Figure 5HAt the location of tool 520, targets 526 and 528 are detected by the corresponding target readers 510 and 512. Therefore, the absence of the A reader 510 and the presence of the P reader 512 both indicate a positive detection reading of "1" (i.e., A=1, P=1). At this point, the detected insertion flag obtained from the readings generated so far can still match the model insertion flag, and therefore, it continues to indicate that tool 520 is not fully installed in the tool identification component 500. Therefore, insertion of tool 520 can continue. Figure 5I At the location of tool 520, none of targets 526 and 528 are detected by either target reader 510 or 512. Therefore, the readings of both the absence of reader A and the presence of reader P are "0" indicating a negative detection reading (i.e., A=0, P=0). At this point, the detected insertion flag obtained from the readings generated so far still cannot match the model insertion flag, and therefore continues to indicate that tool 520 is not fully installed in tool identification component 500. Therefore, insertion of tool 520 can continue. Figure 5J At the location of tool 520, there is no A reader reading that indicates a negative detection reading of "0", and there is a P reader reading that indicates a positive detection reading of "1" (i.e., A=0, P=1). At this point, the detected insertion flag obtained from the readings generated up to this point can be compared with the model insertion flag. When the detected insertion flag obtained from the sequence of readings through 5J is determined to match the sequence of readings in the model insertion flag, then tool 520 can be considered to be fully installed in tool identification component 500. Therefore, insertion into the tool identification component can be stopped.

[0121] It should be understood that this is merely an example of the principles of this disclosure, and the detected insertion mark obtained from the readings generated at readers 510, 512 can be used to determine the absence, presence, location, and / or classification of tool 520. For Figures 5E-5J In the example system shown, the insertion flag can be represented as a sequential record of the absence A and presence P states of readers 510, 512, such as 1) A=0, P=0; 2) A=1, P=0; 3) A=0, P=0; 4) A=1, P=1; 5) A=0, P=1. The detected insertion flag, including the sequence of readings at readers 510, 512, can be compared with other model insertion flags to identify the location of tool 520 in the tool identification component 500 and / or to identify the tool as a specific instrument type or specific instrument. A portion of the detected insertion flag can be used to indicate the absence of tool 520 (e.g., when A=0, P=0, as in...). Figure 5E The presence of (in the middle) or tool 520 (e.g., when A=1 or P=1, as in Figure 5F , Figure 5H , Figure 5J (in Chinese). When in Figures 5E-5J When only one target is used (e.g., target 528 is not used), the detected insertion flag can be represented as 1) A=0, P=0 ( Figure 5G However, target 528 is not used); 2) A=1, P=0 ( Figure 5H However, target 528 is not used); 3) A=0, P=0 ( Figure 5I However, target 528 is not used); 4) A=0, P=1 ( Figure 5J However, target 528 is not used. Therefore, it should be understood that several variations in the number of readers and targets, as well as the longitudinal spacing between adjacent readers and between adjacent targets, can be used. All these factors can be changed / tuned / adjusted to accommodate many variations in the detected insertion mark.

[0122] Figure 5K and Figure 5L Another exemplary illustrative installation sequence is shown, in which tool 520 is installed into a tool identification component 500 with another configuration having target readers and targets. In this example, tool identification component 500 includes two target readers 510, 512, and tool 520 includes an elongated target 528. The elongated target 528 is long enough to span between the target readers 510, 512, such as... Figure 5L As shown, this allows both the non-existent A reader and the present P reader to detect the same target 528 simultaneously, which can be used to generate a unique detected insertion flag. Figure 5K and Figure 5L The detected insertion flag shown can be represented as 1) A=1, P=0; 2) A=1, P=1. If the detected insertion flag matches the model insertion flag, the tool can be identified as having been fully or adequately inserted.

[0123] Now for reference Figure 5M-Figure 5P These figures illustrate illustrative views of various embodiments of the tool identification component 500. These figures demonstrate the ability to utilize optical target readers and optical targets (such as...) Figures 4C-4E The configuration of the system (e.g., tool identification component 500) shown (optical target reader 406 and optical target 456). It should be understood that these optical target readers and optical targets, as well as other configurations (such as...) Figures 4F-4G The optical target reader and optical target shown can be replaced by any of the reader / target groups in any of the system (e.g., tool identification component 500) embodiments of this disclosure.

[0124] Figure 5MA schematic view of a tool identification assembly 500 is shown, comprising two optical reader-target pairs and one non-optical reader-target pair (such as an RFID reader-target pair, a magnetic reader-target pair, an electromagnetic reader-target pair, etc.). Optical sources 530, 532 for the two optical readers radiate optical signals toward corresponding optical detectors 536, 538. When a target 524 (which may be an aperture) is formed to pass through the tool 520 and positioned to be detected by the optical readers, at least a portion of the source light signal from the optical sources 530, 532 can be received by the optical detectors 536, 538 through the target. The light signal received at the optical detectors 536, 538 can have a higher intensity relative to when the target is positioned so as not to be detected by the optical readers. In the absence of a target (e.g., an aperture), a limited light signal can be detected by the optical detectors, which can result in a lower intensity of the light signal received at the detectors relative to when the target is positioned so as to be detected by the optical readers. Higher intensity light detection can indicate the absence of tool 520 or the presence of an aperture (such as target 524), and can be represented by a negative reading of "0". Low intensity light detection can indicate the presence of tool 520 at least at the position of the reader and target pair, and can be represented by a positive reading of "1". Therefore, Figure 5M The system (e.g., tool identification component 500) can be viewed as having three target readers (i.e., two optical source and detector pairs 530:536, 532:538, and one non-optical reader 514) and two targets (i.e., one aperture target 524 and one non-aperture target 528). Figure 5M The tool 520 shown can generate three reader states based on its current orientation in the tool recognition component 500: reader 530:536 = "0"; reader 532:538 = "1"; and reader 514 = "1".

[0125] Similarly, Figure 5N The system (e.g., tool identification component 500) can be viewed as having two target readers (i.e., optical source and detector pairs 530:536, 532:538) and one target (aperture 528). Figure 5N The tool 520 shown can generate two reader states in the tool recognition component 500 based on its current orientation: reader 532:538 = "1"; reader 534:540 = "0".

[0126] Similarly, Figure 5O The system (e.g., tool identification component 500) can be viewed as having three target readers (i.e., optical source and detector pairs 530:536, 532:538, 534:540) and two targets 526, 528 (which may be orifices). Figure 5OThe tool 520 shown can generate three reader states based on its current orientation in the tool recognition component 500: reader 530:536 = "1"; reader 532:538 = "0"; and reader 534:540 = "0".

[0127] Similarly, Figure 5P The system (e.g., tool identification component 500) can be viewed as having three target readers (i.e., optical source and detector pairs 530:536, 532:538, 534:540) and two targets 524, 528 (which may be orifices). Figure 5P The tool 520 shown can generate three reader states based on its current orientation in the tool recognition component 500: reader 530:536 = "0"; reader 532:538 = "1"; and reader 534:540 = "0".

[0128] Figure 5Q A schematic view of a tool identification component 500 is shown, comprising two target readers 510, 512 and a target 526 (items 526a-e are different orientations of target 526). As a tool 520 is inserted through the tool identification component 500, target 526 can travel through various orientations 526a-e. As target 526 approaches the first reader 510, it is not detected by the first reader 510 until it is within a distance L1 from the reader 510 (e.g., orientation 526a). Within a distance L1 from the first reader 510, the target may be detectable, but the detected signal may not be strong enough to ensure valid detection. However, within a distance L3 from the first reader 510, detection of target 526 can be considered valid detection (e.g., orientation 526b). When target 526 passes reader 510, the detection of target 526 can be considered a valid detection until target 526 travels beyond distance L4 from reader 510. Therefore, the detection of target 526 can be considered a valid detection when target 526 remains within distance L5.

[0129] Distance L2 represents the longitudinal length of reader 510. Therefore, distance L5 includes distances L2, L3, and L4, and can be considered as the detection area of ​​reader 510. When target 526 travels past distance L1 (basically orientation 526d) of first reader 510, target 526 will no longer be detectable by first reader 510. Distance L6 is the distance between first reader 510 and second reader 512 that ensures minimal interference between the two readers 510 and 512 when detecting target 526. It should be understood that these distances are examples and may differ for other examples, such as... Figure 5K and Figure 5LThe example system shown (e.g., tool recognition component 500) allows a target to be detected by two readers. The detection area of ​​the optical target reader (such as...) Figures 4C-4E Those in the diagram can be the diameter of the target 418 (e.g., the aperture) plus short distances L3 and L4 on either side of the target 418 (e.g., the aperture), which can represent the portion of the detection area where the target reader indirectly detects light traveling through the target 418 (e.g., the aperture) but not directly impacting the target reader. When the target reader is directly below the aperture, the light signal can directly impact the optical reader, providing an increased intensity of the detected light.

[0130] Distance L1 can be, for example, a value between 4 mm, 5 mm, or approximately 4-5 mm. In some embodiments, distance L1 can be larger, including values ​​between 6 mm, 7 mm, 8 mm, 9 mm, 10 mm, or approximately 4 and 10 mm. Distances L3 and L4 can be, for example, values ​​between 2 mm, 3 mm, 4 mm, or approximately 2 and 4 mm. Distance L2 can be any distance suitable for the target reader being used. In some embodiments, distance L2 is in the range of approximately 3 mm to 60 mm. Distance L2 can be, for example, 3 mm, 4 mm, 6 mm, 8 mm, 10 mm, 12 mm, 20 mm, 30 mm, 40 mm, 50 mm, and 60 mm. Since distance L5 is the sum of distances L2, L3, and L4, then L5 can be in the range of approximately 7 mm to 68 mm. Distance L5 can also be considered as the desired separation distance between adjacent targets. However, targets can be separated by distances smaller or larger than distance L5. The distance L6 can be, for example, 9 mm, 10 mm, 11 mm, 12 mm, 13 mm, 14 mm, 15 mm, 16 mm, 17 mm, 18 mm, 19 mm, 20 mm, or a value between approximately 9 and 20 mm. The selection of the desired size from the specified range for distances L1, L2, L3, L4, L5, and L6 can depend on the target reader used in the system (e.g., tool identification component 500), the strength and sensitivity of the reader, the current supplied to the reader (e.g., an inductor or inductor coil for detecting ferromagnetic materials), and environmental conditions. Therefore, routine experiments can be used to determine the optimal size for these distances used in a specific system (e.g., tool identification component 500).

[0131] Now for reference Figure 6A The reader and target pair 600 is shown as utilizing an electromagnetic target reader 601 (which can be...) Figure 4A Example of target reader 406 shown) and ferromagnetic target (which can be Figure 4A(Example of target 456 shown). Target reader 601 can include a coil 602 disposed around a core 604 and can be mounted to a tool identification assembly 608 (e.g., tool identification assembly 500). The ferromagnetic target 606 can be mounted along a tool (such as tool 404). When tool 404 is inserted into tool identification assembly 608, a magnetic field (not shown) around the ferromagnetic target 606 can be detected by target reader 601. The coil 602 can be, for example, about 3 to 5 mm long. The core 604 can include an inductive material (such as a ferromagnetic material) and can be, for example, about 5 to 6 mm wide, 4 to 5 mm high, and 6 to 7 mm long. As used herein, the width corresponds to the dimension along the X-axis shown in the respective figures, the height corresponds to the dimension along the Y-axis shown in the respective figures, and the length corresponds to the dimension along the Z-axis shown in the respective figures.

[0132] Coil 602 can detect the proximity of target 606 within a certain distance of the coil by reading the change in inductance that occurs when target 606 is placed within a certain distance of coil 602. To detect the change in inductance, a reference inductance may need to be established. For example, when reader / target pair 600 is implemented in tool identification assembly 410, the reference inductance can be established by reference reader 408, which may include target reader 406 configured to read empty loops. The reference reader can measure the ambient inductance affected by environmental factors, including temperature changes, vibration changes, iron in patient blood, polychlorinated biphenyl (PCB) compounds, nearby mechanical components, or the like. The reference inductance can be established once, or can be established and re-established multiple times during medical procedures. Thus, the reference can be established once; or whenever tool identification assembly 410 is powered; or at regular intervals (e.g., every minute, every hour, every day, every week); or after certain events (e.g., after each procedure, after removal of tool 404); or in response to a combination thereof. Changes in inductance can be measured relative to a reference inductance and can be measured when current flows through coil 602. Thresholds are established for those changes in inductance relative to the reference inductance, which will be considered as positive or negative readings for the presence of target 606.

[0133] The reader / target pair 600 can communicate with one or more processors of a control system 112 configured to process readings from the reader / target pair 600. For example, the one or more processors can be configured to calculate changes in inductance or magnetic field based on data received from the reader / target pair 600. In some embodiments, a reference reading of the sensor (e.g., a reference inductance) can be measured and stored during manufacturing and then referenced by the system during use. Using pre-stored reference readings of the sensor eliminates the need for a reference coil.

[0134] Figure 6B and Figure 6C An additional embodiment of the reader / target pair 600 is illustrated. Figure 6B A reader and target pair 610 is depicted. The target reader 611 includes a coil 612 disposed around a core 614. A target 616 can be mounted along a tool (such as tool 404). When tool 404 is inserted into a tool identification assembly 618, a magnetic field (not shown) around the target 606 can be detected by the target reader 611. In this example, when... Figure 6A When comparing the reader in the target pair 600, the coil 612 is wider and the core 614 is longer than the core 604. Specifically, the core 614 may be approximately 8 to 9 mm wide, 4 to 5 mm high, and 13 to 14 mm long.

[0135] Similarly, Figure 6C A reader / target pair 620 is depicted. The target reader 621 includes a coil 622 disposed around a core 624. A target 626 can be mounted along a tool (such as tool 404). When tool 404 is inserted into a tool identification assembly 628, a magnetic field (not shown) around the target 606 can be detected by the target reader 621. In this example, when... Figure 6A When comparing the reader to the target pair 600, the coil 622 and core 624 can be longer than the coil 602 and core 604. Specifically, the core 624 can be approximately 5 to 6 mm wide, 4 to 5 mm high, and 13 to 14 mm long. Additionally, Figure 6A , Figure 6B and Figure 6C The illustrated embodiment shows a core (e.g., core 604, 614, 624) parallel to the length of the tool recognition components (e.g., tool recognition components 608, 618, 628). However, the cores (e.g., cores 604, 614, 624) and the tool recognition components (e.g., tool recognition components 608, 618, 628) can be configured to be orthogonal to each other, such that the endpoints of the cores are on either side of the tool recognition components, and are shaped similarly to... Figure 4E Similar to the diagram in the image.

[0136] Figure 6DThe performance of an example reader and target pair is illustrated. Graph 630 depicts the change in inductance as a percentage of distance from the target, measured in millimeters, for a reader and target comprising a copper coil, a half-inch-long ferromagnetic core, and a ferromagnetic target. As can be seen from Graph 630, the change in inductance spikes sharply once the target moves within a certain distance (e.g., 4 mm) of the coil-core arrangement. The threshold for a positive reading for the presence of a target can be established as consistent with the change in inductance when the target is within 4 mm of the coil-core arrangement (e.g., target reader 406).

[0137] Now for reference Figure 7A The document describes a reader and target pair 700. The reader and target pair 700 includes a shell-type reader with a core surrounding a coil. For example, the reader for the reader and target pair 700 includes a core 702 or ferromagnetic shield disposed around a coil 704. The coil 704 can also be referred to as a target reader 406. The reader and target pair 700 further includes a target 706, shown as being inserted into a tool receiving assembly 708. The target 706 may be located on the tool 404. The coil 704 may be approximately 3 to 5 millimeters long, and the core 702 may comprise a ferromagnetic material approximately 13 millimeters long. The coil 704 can detect the presence of the target 706 by sensing changes in inductance. Figure 7B Table 710 shows performance information for multiple reader / target pairs characterized by a copper solenoid coil 704, a ferromagnetic core 702, and a ferromagnetic target 706. Table 710 includes columns for core length, current, inductance, inductance variation, core outer diameter, and distance from the target (CL). The table illustrates the ability of coil 704 to detect target 706 at reasonable distances from the target (e.g., 2.5 mm and 4.5 mm). Table 710 also shows how variations in core length, current applied to the core, target 706 outer diameter, and distance from target 706 to coil 704 (i.e., the reader) can affect changes in the detected inductance.

[0138] Now for reference Figures 8A-8F They may desire slender targets with a certain length (e.g., 40mm, 50mm, or even 60mm). As described above, slender targets (e.g.) Figure 5K and Figure 5L Target 528 in the text can be used in algorithms designed to simultaneously detect a single target using two separate readers. However, some challenges arise in the case of these slender targets, such as manufacturing hollow cylindrical targets with desired length and diameter while providing a degree of flexibility to minimize damage to the slender targets during use.

[0139] refer to Figure 8AManufacturing a hollow cylindrical target with a desired length of 60 mm can be accomplished by manufacturing shorter target segments (e.g., tube segments, semi-cylindrical segments, or segments of any other possible shape) and joining the shorter segments together to form an elongated target 800. For example, two target segments 810, each 30 mm long, can be manufactured separately and then joined together at their ends. Figure 8A The diagram illustrates how an end 830 of a first target segment 810 is joined to an end 820 of a second target segment 810 to form an elongated target 800. In addition to being joined together, one end (e.g., end 830) can be configured to receive another end (e.g., 820) using a mating feature that provides a stronger joint than joining right-angled / square-off ends 820, 830. Other lengths of the target 800 can be manufactured by producing target segments of various lengths and joining them end-to-end to create the elongated target 800. Therefore, the elongated target 800 can comprise two or more target segments of various lengths to achieve a desired total length.

[0140] refer to Figure 8B The target segment 810 is shown having ends 820 and 830. End 820 of one target segment 810 is configured to mate with end 830 of the other target segment 810. The inner diameter D1 of the target segment 810 is generally constant over its entire length, except near end 830. At a length L7 from end 820, the outer diameter can gradually decrease towards end 820, forming a tapered outer diameter with angle A1 (see [reference]). Figure 8C Additionally, at a length L8 from the end 830, the inner diameter can gradually increase towards the end 830, forming a tapered inner diameter with an angle A1 (see...). Figure 8D The tapered outer diameter of end 820 can mate with the tapered inner diameter of end 830. By inserting end 820 of the first target section 810 into end 830 of the second target section 810 and joining the mating ends together, an elongated target 800 can be formed, providing increased resistance to damage caused by bending forces acting on the elongated target 800 during the process. The tapered ends increase the strength of the mating joint of the mating sections 810.

[0141] refer to Figure 8EThe elongated target 840 can be formed by coiling a metal wire around the tool 404. The coiled wire can be a biased member (such as a spring) or a non-biased member. The coiled wire provides flexibility to the target 840, which helps prevent damage to the target 840 or the tool 404 when the tool 404 is mounted in the tool identification assembly 410. This flexibility allows the target 840 to be up to 60 mm long or longer without significantly affecting the use of the tool 404 and the tool identification assembly 410. Compared to a cylindrical tube, the coiled target 840 can be less rigid and less likely to cause kinking of the tool 404 at the transition between the tool shaft and the target.

[0142] refer to Figure 8F Another flexible, elongated target can be fabricated by taking a tube 852 to a desired length (i.e., 30 mm, 50 mm, 60 mm, etc.) and cutting a spirally extending groove 854 around the outer surface of the tube 852 to increase the flexibility of the elongated target 850. The tube 852 can be metal, plastic, or any other suitable material. Again, the flexibility allows the target 850 to be up to 60 mm long or longer without significantly affecting the use of the tool 404 and the tool recognition assembly 410. Note that the spacing between adjacent rings of the spiral groove can be varied. The elongated target 850 provides sufficient flexibility to support installation within the tool recognition assembly and insertion into the anatomy of the patient P, as well as providing more material to enhance the detection of the target 850 by the target reader 406.

[0143] Now for reference Figure 9 Method 900 can be performed by a control system (e.g., control system 112) using one or more elements of tool identification component 410, and can be implemented in surgical environment 300 and / or remotely operated medical system 100. Method 900 is illustrated as a set of processes 902 to 910. Not all illustrated processes 902 to 910 need to be performed in all embodiments of method 900. Furthermore, processes not included in, may be performed before, after, between, or as part of processes 902 to 910. Figure 9 Additional processes are explicitly illustrated. In some cases, one or more of the illustrated processes may be implemented at least partially in the form of executable code stored on a non-transitory tangible machine-readable medium, which, when executed by one or more processors, can cause one or more processors to execute one or more of the processes.

[0144] At process 902, a tool identification component (such as tool identification component 410) is capable of detecting or calculating reference sensor data readings for one or more target readers. The reference sensor data readings can be calculated based on readings from a dedicated reference target reader capable of obtaining sensor data readings for an empty detection area of ​​the reference reader. Because the reference reader can be dedicated to providing reference readings, the detection area of ​​the reference reader can remain empty throughout the operation of tool identification component 410. Reference sensor data readings can also be calculated based on readings from one of the target readers capable of obtaining sensor data readings for an empty detection area of ​​the reader (e.g., when tool 404 is not mounted in tool identification component 410). This process can be optional.

[0145] At process 904, the instrument is received into the insertion assembly. For example, tool 404 can be received into tool identification assembly 410. At process 906, control system 112 can compare sensor data readings from one or more target readers with reference sensor data readings. This comparison can be used to calculate the change in sensor data value from the reference sensor data value. At process 908, control system 112 can determine, based on the change in sensor data value from the reference sensor data value, for example, whether tool 404 is present or absent in tool identification assembly 410, whether tool 404 is fully installed in tool identification assembly 410, and / or the classification of the instrument (e.g., medical probe, endoscope camera, catheter, etc.). While tool 404 is being installed in tool identification assembly 410, changes in sensor data from one or more readers can be recorded as a detected insertion marker for tool 404. While tool 404 is being installed in tool identification assembly 410, the recorded detected insertion marker can be compared with one or more pre-established model insertion markers to determine whether tool 404 is fully installed in tool identification assembly 410. Moreover, as described earlier, the recorded detected insertion flags can also be compared with one or more pre-established model insertion flags to determine the classification of tool 404 (e.g., type of tool 404, specific tool 404, etc.).

[0146] At process 910, the control system 112 can determine or select an operating mode based on a comparison of the recorded detected insertion marker with one or more pre-established model insertion markers. For example, if the tool 404 is fully installed in the tool recognition component 410, an operating mode can be activated (e.g., continue advancing the tool 404 and catheter). If the tool 404 is not fully installed in the tool recognition component 410, another operating mode can be activated (e.g., fully installed tool 404). Additionally, depending on the type of tool 404 determined by the comparison of the detected insertion marker with the model insertion marker, another operating mode can be activated (e.g., limit the insertion speed of the tool 404 into the patient's anatomy, dim the optical source, limit catheter flexibility, increase catheter flexibility, limit the speed at which catheter adjustments can be made, disable / enable certain functions (such as image acquisition), etc.). Depending on whether the tool 404 is fully inserted into the tool recognition component 410, different functions can be enabled or disabled.

[0147] Now for reference Figures 10A-10C A table representing multiple detected insertion flags 1000 is provided, where each table represents a detected insertion flag 1000. Each detected insertion flag 1000 can be described by an algorithm having a sequence of events (or conditions) that occur when the tool 404 is installed within the tool identification component 410. These events occur when the target reader detects the presence or absence of a target within the reader's detection area. The detection of the target's presence ("1") or absence ("0") can be achieved through various devices (such as those mentioned above)... Figures 4A-4J and Figures 5A-5Q The events described are used to determine the presence (“1”) and absence (“0”) indicators in Tables 1002-1018. These events can include signal strength (or brightness), signal duration, rate of change of signal, multiple thresholds of signal strength, slope of the detected signal, ratio of inductance measurement results, and / or other derivatives of the inductance measurement signal. Therefore, the presence (“1”) and absence (“0”) indicators in Tables 1002-1018 can be determined by any of the devices described in this disclosure. By recording these events sequentially (e.g., in chronological order), a detected insertion flag (which includes a sequence of readings) can be established and then compared with one or more pre-established model insertion flags. Tables 1002-1018 relate to tool identification component 500, wherein tool identification component 410 can include two detectors (e.g., a absence A target reader 510 and a presence P target reader 512) and can receive a tool 404 including one or two targets (e.g., targets 526, 528), similar to Figures 5E-5L The system shown (e.g., tool recognition component 500).

[0148] As used herein, when a target is “detected” by the target reader or the target reader “detects” a target, this indicates that the target is located within the target’s detection area. As used herein, the “detection area” of the target reader is defined as a longitudinal distance along the tool identification component 410, within which target detection is determined by sensing a parameter that changes based on the proximity of the target to the target reader and determining whether the value of the parameter is above or below a predetermined threshold. For example, for an electromagnetic reader / target pair, the parameter could be an inductance change, and the predetermined threshold could be an inductance change above which the target is considered to have been “detected” within the detection area. It should be understood that the detection areas of multiple readers can overlap and separate from each other. As another example, for an optical reader and target pair, the parameter could be light intensity, and the predetermined threshold could be the light intensity above which the target is considered to be detected, or the predetermined threshold could be the light intensity below which the target is considered to be detected (e.g., when the instrument is a brighter color (like a white hue) and the target is a darker color (e.g., black)). Other thresholds can be used for other reader / target group types, such as the RF signal returned from the RFID being scanned, where the threshold can simply indicate whether the RFID is readable.

[0149] Each table includes an algorithm number (e.g., 1-11) specifying the algorithm being described by the table, and an algorithm sequence number (e.g., 1.1, 1.2, 1.3, etc.) indicating the presence or absence of a target within the detection area of ​​each target reader. "0" indicates the absence of a target within the detection area of ​​that specific target reader, and "1" indicates the presence of a target within the detection area. The absence of a target in the detection area (i.e., "0") can be determined when the target reader detects a value of a specific signal (e.g., optical signal, electromagnetic signal, RF scan signal, magnetic flux signal, etc.) below a predetermined threshold. The presence of a target in the detection area (i.e., "1") can be determined when the target reader detects a value of a specific signal (e.g., optical signal, electromagnetic signal, RF scan signal, magnetic flux signal, etc.) above or below the predetermined threshold and / or within the ratio of the measurement result to a reference measurement result. However, in the barcode reader / target pair example, the presence or absence of the target (i.e., the barcode) can be determined when the type detected by the barcode reader is a valid barcode or not a valid barcode. If “N / A” is used in the table, it indicates that the specific target (or reader) is not used in the algorithm and no detection information will be supplied for that sequence event.

[0150] Each table also indicates whether “stripes” were detected. As used herein, “stripes” refers to those included in medical devices (such as catheters, etc.). Figure 4BThe longitudinal markings on the inner surface of the catheter (450) can serve as reference points or reference systems. When the tool 404 is installed in the catheter, a camera at the distal end 413 of the tool 404 can collect images from inside the catheter before the tool 404 is fully installed. The longitudinal markings can be any feature visible on the inner surface of the catheter and distinguishable from the rest of the inner surface. Moreover, the longitudinal markings can occupy a small circumferential distance around the inner surface compared to the entire circumferential distance around the inner surface. Therefore, the longitudinal markings can form longitudinal stripes extending along a significant portion of the inner surface of the catheter.

[0151] refer to Figure 11 A representative image from inside the catheter is shown. By collecting image 1100 from inside the catheter 1012 during the installation of tool 404, it can be verified that tool 404 is at least partially installed in the catheter 1012 by observing the longitudinal markings 1010 in image 1100. After determining that tool 404 is at least partially installed in the catheter, the reader-target pair can be used to verify when tool 404 is fully installed in the catheter (or tool identification component 410). It should be understood that stripe detection is not required, but is only an option when the detected insertion mark is established. The reader-target pair can verify the full installation of tool 404, as well as other characteristics of tool 404, such as the classification of tool 404.

[0152] Table 1002 describes Algorithm 1, which includes sequences 1.1-1.3. Algorithm 1 involves a absence reader 510, a presence reader 512, and a target 526 located in the proximal portion of tool 404. When tool 404 is installed in tool identification component 410, readers 510 and 512 are capable of detecting event sequences that constitute the detected insertion mark as shown in Table 1002. Sequence event 1.1 indicates that neither reader detected target 526. Sequence event 1.2 indicates that absence reader 510 detected target 526, while presence reader 512 did not detect target 526. Sequence event 1.3 indicates that absence reader 510 did not detect target 526, while presence reader 512 detected target 526.

[0153] Table 1004 describes Algorithm 2, which includes sequences 2.1-2.3. Algorithm 2 involves stripe detection, absence reader 510, presence reader 512, and target 526 at the proximal portion of tool 404. When tool 404 is installed within tool identification component 410, a camera at the end of tool 404 is able to capture images of the inside of the conduit. Observing (one or more) of the captured images provides verification that tool 404 is at least partially installed in tool identification component 410. After stripe detection, when tool 404 is installed in component 410, the reader is able to detect the sequence shown in Table 1004. Table 1004 (i.e., Algorithm 2) is similar to Table 1002 (i.e., Algorithm 1), except that stripe detection events have been added. Sequence event 2.1 indicates that stripes have been detected and neither reader has detected target 526. Sequence event 2.2 indicates that absence reader 510 has detected target 526, while presence reader 512 has not detected target 526. Sequence event 2.3 indicates that reader 510 did not detect target 526, while reader 512 did detect target 526.

[0154] Table 1006 describes Algorithm 3, which includes sequences 3.1-3.4. Algorithm 3 involves the absence of reader 510, the presence of reader 512, and the target 528 located in the proximal portion of tool 404. If the readers are located in the same position in tool identification component 410 as the readers in Algorithm 1, then because the target is near the proximal portion, rather than at the proximal portion, the target can travel past both readers when tool 404 is fully installed. When tool 404 is installed in component 410, readers 510 and 512 are able to detect the sequences shown in Table 1006. Sequence event 3.1 indicates that neither reader 510 nor 512 detects target 528. Sequence event 3.2 indicates that the absence of reader 510 detects target 528, while the presence of reader 512 does not detect target 528. Sequence event 3.3 indicates that the absence of reader 510 does not detect target 528, while the presence of reader 512 detects target 528. Sequence event 3.4 indicates that neither reader 510 nor 512 detected target 528.

[0155] Table 1008 describes Algorithm 4, which includes sequences 4.1-4.5. Algorithm 4 involves a non-existent reader 510, an existing reader 512, a target 526 located in the proximal portion of tool 404, and a target 528 spaced apart from the proximal portion of tool 404. In this example, the spacing between targets 526 and 528 is smaller than the spacing between readers 510 and 512. Therefore, targets 528 and 526 can pass through the detection area of ​​the non-existent reader 510 before either target 526 or 528 enters the detection area of ​​the existing reader 512. Sequence event 4.1 indicates that neither reader 510 nor 512 detected either target 526 or 528. Sequence event 4.2 indicates that the non-existent reader 510 detected target 528 but not target 526, while the existing reader 512 did not detect either target 526 or 528. In this example, this is expected because when tool 404 is installed in component 410, the nearby proximal target 528 can first reach the absence reader 510. When tool 404 is further installed in component 410, target 528 can pass through absence reader 510, and target 526 can then enter the detection area of ​​absence reader 510. Therefore, sequence event 4.3 indicates that absence reader 510 detects target 526 but not target 528, while presence reader 512 continues to not detect either target 526 or 528. Sequence event 4.4 indicates that presence reader 512 detects target 528 but not target 526, while absence reader 510 does not detect either target 526 or 528. Sequence event 4.5 indicates that absence reader 510 does not detect either target 526 or 528, while presence reader 512 detects target 526 but not target 528.

[0156] Table 1010 describes Algorithm 5, which includes sequences 5.1-5.5. Algorithm 4 involves stripe detection, absence of reader 510, presence of reader 512, target 526 at the proximal portion of tool 404, and target 528 near but spaced away from the proximal portion of tool 404. When tool 404 is installed within tool identification assembly 410, a camera at the end of tool 404 is able to capture an image of the inside of the conduit. Observing (one or more) of the captured images can provide verification that tool 404 is at least partially installed in tool identification assembly 410. After stripe detection, when tool 404 is installed in assembly 410, the reader is able to detect the sequence shown in Table 1010. Table 1010 (i.e., Algorithm 5) is similar to Table 1008 (i.e., Algorithm 4), except that a stripe detection event has been added. Sequence event 5.1 indicates that a stripe has been detected, and neither reader 510, 512 has detected either target 526, 528. The remaining sequences 5.2-5.5 are the same as those 4.2-4.5 described in Algorithm 4 given above.

[0157] Now for reference Figure 10B Table 1012 describes Algorithm 6, which includes sequences 6.1-6.4. Algorithm 6 involves a absence reader 510, a presence reader 512, and an elongated target 526 located in the proximal portion of tool 404. When tool 404 is mounted in tool identification component 410, readers 510 and 512 are able to detect a sequence of readings as shown in Table 1002. The elongated target 526 is long enough to extend into both detection areas of readers 510 and 512. Sequence event 6.1 indicates that neither reader detects the elongated target 526. Sequence event 6.2 indicates that the absence reader 510 detects the elongated target 526, while the presence reader 512 does not detect the elongated target 526. Sequence event 6.3 indicates that both readers 510 and 512 detect the elongated target 526. Sequence event 6.3 indicates that the absence reader 510 does not detect the elongated target 526, while the presence reader 512 detects the elongated target 526.

[0158] Table 1014 describes Algorithm 7, which includes sequences 7.1-7.5. Algorithm 7 involves a non-existent reader 510, an existing reader 512, and an elongated target 528 near the proximal portion of tool 404. If the readers are located in the same position within the tool identification component 410 as the readers in Algorithm 1, then because the target is near the proximal portion, rather than at the proximal portion, the target can travel past both readers when tool 404 is fully installed. When tool 404 is installed within component 410, readers 510 and 512 are able to detect the sequences shown in Table 1014. Sequence event 7.1 indicates that neither reader 510 nor 512 detects the elongated target 528. Sequence event 7.2 indicates that the non-existent reader 510 detects the elongated target 528, while the existing reader 512 does not detect the elongated target 528. Sequence event 7.3 indicates that both readers 510 and 512 detect the elongated target 528. Sequence event 7.4 indicates that reader 510 did not detect the elongated target 528, while reader 512 did detect the elongated target 528. Sequence event 7.5 indicates that neither reader 510 nor 512 detected the elongated target 528.

[0159] Table 1016 describes Algorithm 8, which includes sequences 8.1-8.7. Algorithm 8 involves a absence reader 510, a presence reader 512, an elongated target 526 located on the proximal portion of tool 404, and an elongated target 528 located near but spaced away from the proximal portion of tool 404. Sequence event 8.1 indicates that readers 510 and 512 did not detect either elongated target 526 or 528. Sequence event 8.2 indicates that the absence reader 510 detected elongated target 528 but not elongated target 526, while the presence reader 512 did not detect either elongated target 526 or 528. For this example, this can be expected because when tool 404 is installed in component 410, the nearby proximal portion elongated target 528 can reach the absence reader 510 first. When tool 404 is further installed in component 410, elongated target 528 can extend into the detection area where reader 512 is present, while a portion of elongated target 528 remains in the detection area where reader 510 is absent. Therefore, sequence event 8.3 indicates that both readers 510 and 512 have detected elongated target 528, while neither reader 510 nor 512 has detected elongated target 526.

[0160] Sequence event 8.4 indicates that reader 510 no longer detects the elongated target 528, but the present reader detects the elongated target 528, while neither reader 510 nor 512 detects the elongated target 526. In this example, the spacing between the elongated targets 526 and 528 is greater than the spacing between readers 510 and 512. Therefore, the elongated target 528 can pass through the detection area of ​​the present reader 512 before entering the detection area of ​​the absent reader 510. Sequence event 8.5 indicates that the absent reader 510 detects the elongated target 526 but does not detect the elongated target 528, while neither reader 510 nor 512 detects the elongated target 528. When tool 404 is further installed in component 410, the elongated target 526 can extend into the detection area of ​​the present reader 512, while a portion of the elongated target 526 remains in the detection area of ​​the absent reader 510. Therefore, sequence event 8.6 indicates that both readers detected the elongated target 526, while neither reader 510 nor 512 detected the elongated target 528. Sequence event 8.7 indicates that reader 510 did not fail to detect either the elongated target 526 or 528, while reader 512 detected the elongated target 526 but did not detect the elongated target 528.

[0161] Table 1018 describes Algorithm 9, which includes sequences 9.1-9.7. Algorithm 8 involves stripe detection, absence of reader 510, presence of reader 512, elongated target 526 at the proximal portion of tool 404, and elongated target 528 spaced apart from the proximal portion of tool 404. When tool 404 is installed within tool recognition assembly 410, a camera at the end of tool 404 is able to capture an image of the inside of the conduit. Observing (one or more) of the captured images can provide verification that tool 404 is at least partially installed in tool recognition assembly 410. After stripe detection, when tool 404 is installed in assembly 410, the reader is able to detect the sequence shown in Table 1016. Table 1018 (i.e., Algorithm 9) is similar to Table 1016 (i.e., Algorithm 8), except that a stripe detection event has been added. Sequence event 9.1 indicates that stripe has been detected and that readers 510 and 512 have not detected either elongated target 526 or 528. The remaining sequences 9.2-9.7 are identical to sequences 8.2-8.7 described in Algorithm 8 given above.

[0162] Now for reference Figure 10C Table 1020 describes Algorithm 10, which includes sequences 10.1-10.6. Algorithm 10 involves a non-existent reader 510, a present reader 512, a target 526 located at the proximal portion of tool 404, and a target 528 located near but spaced away from the proximal portion of tool 404. The algorithm captures targets mentioned above. Figures 5E-5J The inserted flags under discussion. Sequence event 10.1 indicates that readers 510 and 512 did not detect either target 526 or 528. Sequence event 10.2 indicates that reader 510 did not detect target 528 but did not detect target 526, while reader 512 did not detect either target 526 or 528. Sequence event 10.3 indicates that readers 510 and 512 again did not detect either target 526 or 528. In this example, the spacing between readers 510 and 512 is similar to the spacing between targets 526 and 528. Therefore, targets 526 and 528 can be located in the detection areas of readers 510 and 512, respectively. Therefore, when tool 404 is further installed in component 410, target 528 can enter the detection area of ​​reader 512, while target 526 enters the detection area of ​​reader 510. Sequence event 10.4 indicates that reader 510 did not detect target 526 but did not detect target 528, while reader 512 detected target 528 but did not detect target 526. Sequence event 10.5 indicates that readers 510 and 512 again did not detect either target 526 or 528. Sequence event 10.6 indicates that the non-existent readers did not detect either target 526 or 528, while reader 512 detected target 526 but did not detect target 528.

[0163] Table 1022 describes Algorithm 11, which includes sequences 11.1-11.6. Algorithm 11 involves stripe detection, absence of reader 510, presence of reader 512, target 526 at the proximal portion of tool 404, and target 528 near but spaced away from the proximal portion of tool 404. When tool 404 is installed within tool identification assembly 410, a camera at the end of tool 404 is able to capture an image of the inside of the conduit. Observing (one or more) of the captured images can provide verification that tool 404 is at least partially installed in tool identification assembly 410. After stripe detection, when tool 404 is installed in assembly 410, the reader is able to detect the sequence shown in Table 1022. Table 1022 (i.e., Algorithm 11) is similar to Table 1020 (i.e., Algorithm 10), except that a stripe detection event has been added. Sequence event 11.1 indicates that a stripe has been detected and that readers 510 and 512 have not detected either target 526 or 528. The remaining sequences 11.2–11.6 are identical to the sequences 10.2–10.6 described in Algorithm 10 given above.

[0164] In alternative embodiments, the target reader can detect non-binary sensor data (i.e., data other than "absent" or "present"). For example, the target can have a coil with turns spaced unequally along its length. In one embodiment, the number of turns can increase along the length of the coil. The target reader can be able to detect variations in the pattern / type of the turns along the length of the coil, and those detected variations can be correlated with, for example, an insertion distance.

[0165] In some embodiments, the presence of one or more components in or near a tool identification component (e.g., tool identification component 410) can be determined by comparing the values ​​with the calibration values ​​of one or more components. Comparison of real-time sensor values ​​with known calibration values ​​of the intended components used to execute the program allows for the detection of unintended components, damaged components, or other unplanned conditions. Figure 12 A method 1200 for component verification according to some embodiments is illustrated. Method 1200 includes a set of operations or procedures. Not all illustrated procedures will be performed in all embodiments of the method. Additionally, one or more procedures not explicitly illustrated may be included before, after, between, or as part of the illustrated procedures. In some embodiments, one or more of the procedures may be at least partially implemented in the form of executable code stored on a non-transitory tangible machine-readable medium, which, when run by one or more processors (e.g., the processor of control system 112), can cause one or more processors to perform one or more of the procedures.

[0166] At process 1202, a first sensor value received from the target reader (e.g., 406, 407) is compared with a calibration value for a first intended component. The calibration value can be determined prior to the medical procedure. For example, the calibration value for a component can be determined under controlled conditions in a manufacturing environment where no other components are present in or near the component. The calibration value can be stored in a non-volatile memory device coupled to the component. In some embodiments, the first component can be a scalable support structure (e.g., scalable support structure 417 or other types of catheter anti-bending guides). The scalable support structure can include or be additionally coupled to a tool identification component (e.g., component 410) and can include a target reader with sensors (such as inductive sensors, capacitive sensors) or other sensing components. After the scalable support structure is installed, the sensor value received from the target reader can be compared with a calibrated sensor value previously determined for the scalable support structure.

[0167] At process 1204, the comparison is used to determine whether the first component is faulty or has other unforeseen problems. For example, if the first received sensor inductance value does not match the calibrated sensor inductance value within a predetermined matching range, the discrepancy may indicate a fault in the expandable support structure, a fault in the target reader, another component being installed in the expandable support structure, or some other unforeseen condition.

[0168] At process 1206, if a problem is detected based on the comparison in the case of the first component, a warning or other type of instruction may be provided to the user to resolve the problem. The warning may include instructions to remove and reinstall the component, replace the component, secure the component, inspect for unexpected devices within the component, or initiate other corrective or investigative measures. After the problem is resolved, processes 1202-1204 may be repeated until no problem is detected at process 1204.

[0169] At process 1208, a second sensor value received from the target reader (e.g., 406, 407) is compared with a calibration value for a second intended component. The calibration value for the second component can be determined prior to the medical procedure. For example, the calibration value for the second component can be determined under controlled conditions in a manufacturing environment where no other components are present in or near the component. The calibration value can be stored in a non-volatile memory device coupled to the component. In some embodiments, the second component can be a receiving member (e.g., receiving member 450) that includes a target readable by the tool identification component, such as a catheter. After the catheter is installed, the sensor value received from the target reader of the tool identification component can be compared with a previously determined calibrated sensor value for the catheter. The comparison can take into account the contribution of the first component to the value received from the tool identification component. For example, a calibrated catheter sensor value combined with a received or calibrated scalable support structure sensor value can be compared with a received catheter sensor value combined with a received or calibrated scalable support structure sensor value.

[0170] At process 1210, the comparison is used to determine whether there is an unexpected problem in the case of the second component. For example, if the sensor inductance value of the second received sensor does not match the calibrated sensor inductance value within a predetermined matching range, the inconsistency may indicate that the catheter is defective, the target reader is malfunctioning, another component (e.g., a tool, such as tweezers or a biopsy probe) is installed inside the catheter, or some other unexpected condition has occurred.

[0171] At process 1212, if a problem is detected based on the comparison in the case of the second component, a warning or other type of instruction may be provided to the user to resolve the problem. The warning may include instructions to remove and reinstall the component, replace the component, secure the component, inspect for unexpected devices within the component, or initiate other corrective or investigative measures. After the problem is resolved, processes 1208-1210 may be repeated until no problem is detected at process 1210.

[0172] At process 1214, a reference sensor value can be established for the assembled first and second components. The reference sensor value can, for example, correspond to the sensor value received when the conduit is installed in the expandable support structure. Component properties (such as inductive properties) can change over time. If the received sensor value is within an acceptable range of the calibration value, the received sensor value can be used as a reference sensor value for any other values ​​received from the tool identification assembly after the insertion of additional components. For example, if a tool is inserted into the conduit / expandable support structure assembly and the received sensor value is acceptablely compared to the calibration value, the received sensor value can be a reference value used to evaluate the received sensor value after the tool is inserted.

[0173] When a tool is inserted into the conduit and expandable support structure assembly, the sensor values ​​detected by the tool identification component can increase until a threshold is reached. As the tool moves through the target reader of the tool identification component, a specific pattern in the detected sensor values ​​can be identified. The detected pattern can be associated with a specific tool type. If the detected pattern does not correspond to the expected tool, a fault may be detected. Figure 13 A method 1300 for fault detection according to some embodiments is illustrated. Method 1300 includes a set of operations or procedures. Not all illustrated procedures will be performed in all embodiments of the method. Additionally, one or more procedures not explicitly illustrated may be included before, after, between, or as part of the illustrated procedures. In some embodiments, one or more of the procedures may be at least partially implemented in the form of executable code stored on a non-transitory tangible machine-readable medium, which, when run by one or more processors (e.g., the processor of control system 112), can cause one or more processors to execute one or more of the procedures.

[0174] At process 1302, the expected sensor type for the tool transitioning through the tool identification component is received. The tool identification component may include, for example, two target readers. The expected sensor type may be based on calibration values ​​determined under controlled testing or manufacturing conditions, or it may be based on a type detected in a similar previous procedure.

[0175] At process 1304, when the tool is inserted, real-time sensor data can be collected and compared with the expected sensor type. In one embodiment, such as Figure 14A As shown, the tool can be a catheter 1400 including a distal ring portion 1404 and a ridge portion 1402. Figure 14B The diagram illustrates a graph 1410 showing sensor data received over time as the conduit 1400 is inserted through the tool identification assembly. Sensor data 1412 can be received from a first target reader of the tool identification assembly, while sensor data 1414 can be received from a second target reader of the tool identification assembly. Sensor data 1412 forms a pattern including portions 1416 and 1418. Portion 1416 plots the sensor data received (e.g., inductance value) as the distal loop portion 1404 passes the first target reader. Portion 1418 plots the sensor data received as the ridge portion 1402 passes the first target reader. At process 1304, the intended pattern of the tool 1400 can be compared with the real-time sensor data 1412, 1414 to determine whether the pattern meets a matching criterion based on shape and / or magnitude. Pattern comparison can include a comparison of shape and edges in the received and intended sensor data. For example, a drop in portion 1416 can be associated with metal in the distal loop portion passing the target reader. Therefore, shape 1416 can be associated with the intended type of tool 1400. The intended type can be independent of the signal magnitude, so that even if the magnitude of the sensor value changes between tools of the same type, type detection can still be a reliable indicator for tool detection.

[0176] At process 1306, a type comparison can be used to determine whether a fault has been detected. A fault may include, for example, an unexpected or defective tool. At process 1308, if a fault is detected based on the comparison, a warning or other type of instruction may be provided to the user to resolve the problem. The warning may include instructions to remove and reinstall the tool, replace the tool, secure the tool, check for unexpected devices within the tool, or take other corrective or investigative measures. After the problem is resolved, processes 1304-1306 can be repeated up to 1306. If no problem is detected, the procedure can continue at process 1310.

[0177] Note that the processes and displays presented are not inherently related to any particular computer or other device. The various structures required for these systems will appear as elements in the claims. Furthermore, embodiments are described without reference to any particular programming language. It should be understood that various programming languages ​​can be used to implement the teachings of the invention as described herein.

[0178] While certain exemplary embodiments of the invention have been described and illustrated in the accompanying drawings, it should be understood that these embodiments are merely illustrative and not limiting, and that various other modifications may be conceived by those skilled in the art, and that the embodiments of the invention are not limited to the specific embodiments shown and described.

[0179] The various aspects of the topics described in this article are illustrated in the following numbered examples: Example 1: A medical system comprising: a tool recognition component including a first reader with a first detection area; a processor; and a memory having computer-readable instructions stored thereon, which, when executed by the processor, cause the system to: receive sensor data from the first reader; The absence of a target in the first detection area is determined based on the sensor data; a absence indication is recorded based on the determined absence of the target; the presence of the target in the first detection area is determined based on the sensor data; a presence indication is recorded based on the determined presence of the target; an insertion flag for a tool carrying the target is generated by combining the absence and presence indications in chronological order; the insertion flag is compared with a predetermined set of model insertion flags; and the characteristics of the tool are determined based on the comparison.

[0180] Example 2: The medical system according to Example 1, wherein the first reader is an inductive sensor, a Hall effect sensor, a grating sensor, an optical sensor, a magnetic switch, a barcode scanner, an RFID scanner, or a relative orientation sensor.

[0181] Example 3: The medical system according to Example 2, wherein the target includes ferromagnetic materials, metal cylinders, magnets, apertures, surfaces or materials with altered optical absorption properties, barcodes, RFID chips, or optical light sources.

[0182] Example 4: The medical system according to Example 1, wherein the first reader includes an inductive sensor and the target includes a ferromagnetic material, and wherein receiving the sensor data includes sensing the inductance in the inductive sensor.

[0183] Example 5: A medical system according to Example 1, wherein the first reader includes a grating sensor, the grating sensor including an optical sensor and an optical source, and the target includes an aperture in the tool, wherein when the target is within the first detection area, a light signal from the optical source travels through the aperture to the optical sensor, and wherein receiving the sensor data includes sensing light intensity through the optical sensor.

[0184] Example 6. A medical system according to Example 1, wherein the first reader includes an optical sensor and an optical source, wherein the optical source generates an optical signal that is directed to the optical sensor via a surface on the tool, and wherein receiving the sensor data includes sensing light intensity via the optical sensor.

[0185] Example 7. A medical system according to Example 6, wherein the target includes a region on the tool that reflects light differently from the body of the tool, and wherein the target includes: a reflective strip that reflects the optical signal to the optical sensor, or a strip that includes a color different from the tool, or a strip that has a different surface texture that changes the amount of light directed to the optical sensor, or a different colored section of the tool, or a section of the tool with a different hue, or a combination thereof.

[0186] Example 8. A medical system according to Example 1, wherein the first reader includes an optical sensor and the target includes an optical source, wherein when the target is within the first detection area, the optical source generates an optical signal directed to the optical sensor, and wherein acquiring the sensor data includes sensing light intensity through the optical sensor.

[0187] Example 9. The medical system according to Example 1, wherein the tool identification component includes a second reader with a second detection area.

[0188] Example 10. A medical system according to Example 1, wherein the first reader includes an inductive sensor and the target includes a ferromagnetic material, and wherein acquiring the sensor data includes sensing the inductance in the inductive sensor, and wherein, when executed by the processor, the computer-readable instructions further cause the system to determine an inductance ratio by comparing the inductance with a reference inductance.

[0189] Example 11: In the medical system according to Example 10, the absence or presence of the first target in the determined first detection area is determined by the inductance ratio.

[0190] Example 12, the medical system according to Example 11, wherein if the inductance ratio is in the range of 0.99–1.01, the target is determined to be absent in the first detection region, and wherein if the inductance ratio is in the range of 1.02–1.04, the target is determined to be present in the first detection region.

[0191] Example 13: The medical system according to Example 11, wherein if the inductance ratio is in the range of 1.04–1.06, the second target of the catheter is determined to be present in the first detection area.

[0192] Example 14: The medical system according to Example 11, wherein if the inductance ratio is in the range of 1.06–1.08, the target and the second target carried by the tool are determined to be present in the first detection area.

[0193] Example 15, the medical system according to Example 11, wherein if the inductance ratio is in the range of 1.08–1.10, the target, the second target carried by the tool, and the third target carried by the second tool are determined to be present in the first detection area of ​​the first reader.

[0194] Example 16. A medical system comprising: a tool identification component including a first reader with a first detection area; a processor; and a memory having computer-readable instructions stored thereon, which, when executed by the processor, cause the system to receive sensor data from the first reader; determine, based on the sensor data, when a target carried by a tool is present in the first detection area and when the target is not present in the first detection area; generate a detected insertion flag by combining the indications from the first reader in an event sequence; compare the detected insertion flag with one or more pre-established model insertion flags; and determine, based on the comparison, that the tool is in a fully installed configuration in the tool identification component.

[0195] Example 17. The method according to Example 16, wherein when executed by the processor, the computer-readable instructions further cause the system to determine the characteristics of the tool based on the comparison, and wherein the characteristics of the tool include the absence or presence of the tool in the tool identification component, the orientation of the tool in the tool identification component, whether the tool is fully installed in the tool identification component, the classification of the tool, whether the tool is a counterfeit tool, whether the tool is a competitor's tool, or a combination thereof.

[0196] Example 18: The method according to Example 17, wherein a first event in the event sequence indicates the absence of the target in the first detection area, and a second event in the event sequence indicates the presence of the target in the first detection area.

[0197] Example 19: The method according to Example 17, wherein a first event of the event sequence indicates the absence of the target in the first detection area, a second event of the event sequence indicates the presence of the target in the first detection area, and a third event of the event sequence indicates the absence of the target in the first detection area.

[0198] Example 20, the method according to Example 17, wherein when executed by the processor, the computer-readable instructions further cause the system to capture images via a camera positioned at the distal end of the tool, wherein the captured images include images of the inner surface of a conduit in which the tool is located.

[0199] Example 21, according to the method of Example 20, wherein the captured image includes a first event in which a positive indication of a longitudinal marker is added to the event sequence.

[0200] Example 22, according to the method of Example 21, wherein the tool identification component includes a second reader with a second detection area spaced apart from the first detection area; and wherein, when executed by the processor, the computer-readable instructions further cause the system to indicate, via second sensor data from the second reader, when the target is in the second detection area and when the target is not present in the second detection area, wherein the detected insertion flag is generated by combining the indications from the first reader and the second reader in an event sequence.

[0201] Example 23: According to the method of Example 22, wherein the first event in the event sequence indicates the absence of the target in the first detection area and the absence of the target in the second detection area, and the second event in the event sequence indicates the presence of the target in the first detection area and the absence of the target in the second detection area.

[0202] Example 24: According to the method of Example 22, wherein the first event of the event sequence indicates the absence of the target in the first detection area and the absence of the target in the second detection area, the second event of the event sequence indicates the absence of the target in the first detection area and the presence of the target in the second detection area, and the third event of the event sequence indicates the presence of the target in the first detection area and the absence of the target in the second detection area.

[0203] Example 25: According to the method of Example 22, wherein the first event of the event sequence indicates the absence of the target in the first detection area and the absence of the target in the second detection area, the second event of the event sequence indicates the absence of the target in the first detection area and the presence of the target in the second detection area, the third event of the event sequence indicates the presence of the target in the first detection area and the absence of the target in the second detection area, and the fourth event of the event sequence indicates the absence of the target in the first detection area and the absence of the target in the second detection area.

[0204] Example 26: The method according to Example 22, wherein the target includes an elongated target, and wherein a first event of the event sequence indicates the absence of the target in the first detection area and the absence of the target in the second detection area, a second event of the event sequence indicates the absence of the target in the first detection area and the presence of the target in the second detection area, a third event of the event sequence indicates the presence of the target in the first detection area and the presence of the target in the second detection area, and a fourth event of the event sequence indicates the presence of the target in the first detection area and the absence of the target in the second detection area.

[0205] Example 27. The method according to Example 22, wherein the target includes an elongated target, and wherein a first event of the event sequence indicates the absence of the target in the first detection area and the absence of the target in the second detection area, a second event of the event sequence indicates the absence of the target in the first detection area and the presence of the target in the second detection area, a third event of the event sequence indicates the presence of the target in the first detection area and the presence of the target in the second detection area, a fourth event of the event sequence indicates the presence of the target in the first detection area and the absence of the target in the second detection area, and a fifth event of the event sequence indicates the absence of the target in the first detection area and the absence of the target in the second detection area.

[0206] Example 28, the method according to Example 22, wherein the tool further includes a second target spaced apart from the target, and wherein, when executed by the processor, the computer-readable instructions further cause the system to indicate, via sensor data from the first reader, when the second target is in the first detection area and when the second target is not present in the first detection area; and via sensor data from the second reader, to indicate when the second target is in the second detection area and when the second target is not present in the second detection area, wherein the detected insertion flag combines the indications from the first reader and the second reader in an event sequence.

[0207] Example 29. According to the method of Example 28, wherein the first event of the event sequence indicates the absence of the target in the first detection area, the absence of the target in the second detection area, the absence of the second target in the first detection area, and the absence of the second target in the second detection area; the second event of the event sequence indicates the absence of the target in the first detection area, the absence of the target in the second detection area, the absence of the second target in the first detection area, and the presence of the second target in the second detection area; the third event of the event sequence indicates the absence of the target in the first detection area, the absence of the target in the second detection area, the presence of the second target in the first detection area, and the presence of the second target in the second detection area; the fourth event of the event sequence indicates the absence of the target in the first detection area, the absence of the second target in the second detection area, and the presence of the second target in the second detection area; The event sequence includes the absence of the target in the detection area, the presence of the second target in the first detection area, and the absence of the second target in the second detection area; the fifth event of the event sequence indicates the absence of the target in the first detection area, the presence of the target in the second detection area, the absence of the second target in the first detection area, and the absence of the second target in the second detection area; the sixth event of the event sequence indicates the presence of the target in the first detection area, the presence of the target in the second detection area, the absence of the second target in the first detection area, and the absence of the second target in the second detection area; and the seventh event of the event sequence indicates the absence of the target in the first detection area, the absence of the target in the second detection area, the absence of the second target in the first detection area, and the absence of the second target in the second detection area.

Claims

1. A method for detecting an instrument being received in a medical system, the method comprising: The tool having a first target is received in a tool identification component having a first reader with a first detection area; Data from the first sensor is collected from the first reader for the first detection area; When the first sensor data detects an indication of the absence of the first target within a first predetermined threshold range, the absence indication is recorded; When the first sensor data is within a second predetermined threshold range, the presence indication of the first target is detected, and the presence indication is recorded; An insertion flag associated with the tool being received in the tool identification component is generated by combining the absence indication and the presence indication from the first reader in chronological order. Compare the insertion flag with a predetermined set of model insertion flags; as well as The characteristics of the tool being received in the tool identification component are determined based on the comparison.

2. The method of claim 1, wherein the characteristics of the tool include the absence or presence of the tool in the tool identification component, the orientation of the tool in the tool identification component, whether the tool is fully installed in the tool identification component, the classification of the tool, whether the tool is a counterfeit tool, whether the tool is a competitor's tool, or a combination thereof.

3. The method of claim 2, wherein the classification of the tools includes the type of the tool, or the unique identifier of the tool, or a combination thereof.

4. The method of claim 3, wherein the unique identifier includes an identification of the tool manufacturer.

5. The method of claim 4, further comprising: Data from the second sensor is acquired from a second reader with a second detection area; When the second sensor data is within a third predetermined threshold range, the absence indication of the first target is detected, and the absence indication is recorded; When the second sensor data is within a fourth predetermined threshold range, the presence indication of the first target is detected, and the presence indication is recorded; as well as The insertion flag is generated by combining the absence indication and the presence indication from the first reader and the second reader in the stated time sequence.

6. The method of claim 5, wherein the characteristic includes the type of the tool being installed in the tool identification component, and the control mode is changed based on the type of the tool.

7. The method of claim 6, wherein the change of control mode includes changing the insertion speed of the tool, changing the error threshold of the operating parameters, changing the time constant for allowing catheter relaxation, changing the torque limit of the cable motor, temporarily relaxing the catheter, changing the function associated with the user interface button, changing the speed at which the catheter is adjusted, or a combination thereof.

8. The method of claim 5, wherein the characteristic is the orientation of the tool in the tool identification component, and the orientation is indicated by at least one of the presence indications from either the first reader or the second reader, and wherein image collection of the tool for detecting longitudinal markings in the catheter is stopped.

9. A system comprising: A tool recognition component, the tool recognition component including a first reader with a first detection area; processor; as well as The memory includes computer-readable instructions stored thereon, which, when executed by the processor, cause the system to: Data from the first sensor is collected from the first reader for the first detection area; When the first sensor data detects an indication of the absence of the first target within a first predetermined threshold range, the absence indication is recorded; When the first sensor data is within a second predetermined threshold range, the presence indication of the first target is detected, and the presence indication is recorded; An insertion flag associated with a tool including the first target being received in the tool identification component is generated by combining the absence indication and the presence indication from the first reader in chronological order. Compare the insertion flag with a predetermined set of model insertion flags; as well as The characteristics of the tool being received in the tool identification component are determined based on the comparison.

10. The system of claim 9, wherein the characteristics of the tool include the absence or presence of the tool in the tool identification component, the orientation of the tool in the tool identification component, whether the tool is fully installed in the tool identification component, the classification of the tool, whether the tool is a counterfeit tool, whether the tool is a competitor's tool, or a combination thereof.

Images