Resuming state of system after system restart

Abstract

A medical system includes a manipulator assembly for controlling movement of a medical instrument and a control system for the manipulator assembly. The control system performs a first session of the medical system for the process. Performing the first session involves completing one or more medical device operations for the medical device. The control system performs an in-process restart of the medical system after completing the one or more medical device operations, and performs a second session of the medical system for the process after performing the in-process restart of the medical system. Performing the second session involves skipping one or more medical device operations completed in the first session based on comparing one or more first parameters of the medical system associated with the first session with one or more second parameters of the medical system associated with the second session.

Description

[0001] Cross-reference to related applications

[0002] This application claims the benefit of priority to U.S. Provisional Patent Application Serial No. 63 / 542,012, filed October 2, 2023, pursuant to Section 119(e) of Title 35 of the United States Code, which is incorporated herein by reference in its entirety. Technical Field

[0003] The disclosed embodiments relate to improved robotic and / or medical (including surgical) devices, systems, and methods. 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. Such 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, diagnostic, therapeutic, and / or biopsy instruments) to reach target tissue locations. One such technique utilizes flexible and / or steerable elongated devices, such as flexible catheters or bronchoscopes, which can be inserted into the anatomical passage and navigated toward regions of interest within the patient's anatomy.

[0005] Healthcare systems can be complex and may require time-consuming operations during the execution of processes, including various setup steps. Occasionally, a restart of the healthcare system may be necessary or useful, which may result in the re-execution of operations previously completed before the restart. Summary of the Invention

[0006] The following is a simplified overview of the various examples described herein and is not intended to identify key or important elements or to depict the scope of the claims.

[0007] In some examples, embodiments of this disclosure relate to a medical system including: a manipulator assembly for controlling the movement of a medical device; and a control system coupled to the manipulator assembly, the control system being configured to: perform a first session of the medical system for a process, wherein performing the first session includes completing one or more medical device operations on the medical device; restart the process of performing the medical system after completing one or more medical device operations; and, after restarting the process of performing the medical system, perform a second session of the medical system for a process, wherein performing the second session includes: skipping one or more medical device operations completed in the first session based on comparing one or more first parameters of the medical system associated with the first session with one or more second parameters of the medical system associated with the second session.

[0008] In some examples, embodiments of this disclosure relate to a non-transitory machine-readable medium comprising a plurality of machine-readable instructions executable by one or more processors associated with a medical system, the plurality of machine-readable instructions causing the one or more processors to perform a method comprising: performing a first session of the medical system for a process, wherein performing the first session includes completing one or more medical device operations for a medical device; after completing one or more medical device operations, performing a restart in the process of restarting the medical system; and after restarting in the process of executing the medical system, performing a second session of the medical system for the process, wherein performing the second session includes: skipping one or more medical device operations completed in the first session based on comparing one or more first parameters of the medical system associated with the first session with one or more parameters of the medical system associated with the second session.

[0009] In some examples, embodiments of this disclosure relate to a method for operating a medical system, the method comprising: performing a first session of the medical system for a process, wherein performing the first session includes completing one or more medical device operations for a medical device; restarting the process of performing the medical system after completing one or more medical device operations; and performing a second session of the medical system for the process after restarting the process of performing the medical system, wherein performing the second session includes: skipping one or more medical device operations completed in the first session based on comparing one or more first parameters of the medical system associated with the first session with one or more parameters of the medical system associated with the second session.

[0010] It should be understood that both the foregoing general description and the following detailed description are illustrative and exemplary in nature and are intended to provide an understanding of this disclosure, without limiting its scope. In this regard, additional aspects, features, and advantages of this disclosure will become apparent to those skilled in the art from the following detailed description. Attached Figure Description

[0011] Figure 1 This is a simplified diagram of a medical system based on some implementation methods.

[0012] Figure 2A This is a simplified diagram of a medical device system according to some implementation methods.

[0013] Figure 2B This is a simplified diagram of a medical device including a medical tool within an elongation device, according to some embodiments.

[0014] Figure 3A and Figure 3B This is a simplified side view of a medical device mounted on an insertion assembly in patient coordinate space, according to some embodiments.

[0015] Figure 4 , Figure 5 and Figure 6 This is a flowchart of a method according to some implementation methods.

[0016] Figure 7A This is a diagram illustrating the joining operation according to some implementation methods.

[0017] Figure 7B It is a diagram of motion and torque associated with engagement testing according to some implementation methods.

[0018] The embodiments and advantages of this disclosure will 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, which are illustrated for the purpose of explaining embodiments of this disclosure and not for the purpose of limiting embodiments of this disclosure. Detailed Implementation

[0019] In the following description, specific details of some embodiments consistent with this disclosure are set forth. Numerous specific details are set forth to provide a thorough understanding of the embodiments. However, it will be apparent to those skilled in the art that some embodiments can be practiced without some or all of these specific details. The specific embodiments disclosed herein are intended to be illustrative and not restrictive. Those skilled in the art can implement other elements that, although not specifically described herein, are within the scope and spirit of this disclosure. Furthermore, to avoid unnecessary repetition, one or more features shown and described in association with one embodiment may be incorporated into other embodiments unless otherwise specifically described or if said one or more features would render the embodiment inoperable. In some cases, well-known methods, processes, components, and circuits have not been described in detail to avoid unnecessarily obscuring aspects of the embodiments.

[0020] This disclosure describes the various instruments and instrument parts according to their states in three-dimensional space. As used herein, the term "position" refers to the location 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 placement of an object or part of an object (e.g., one or more rotational degrees of freedom, such as roll, pitch, and yaw). As used herein, the term "pose" refers to the position of an object or part of an object in at least one translational degree of freedom and the orientation of that object or part of an object in at least one rotational degree of freedom (e.g., up to six total degrees of freedom). As used herein, the term "shape" refers to the set of poses, positions, and / or orientations measured along an object. As used herein, the term "distal" refers to a location closer to the process site, and the term "proximal" refers to a location farther from the process site. Therefore, when an instrument is used to perform a process as designed, the distal portion or distal end of the instrument is closer to the process site than the proximal portion or proximal end of the instrument.

[0021] Embodiments of this disclosure include medical systems and methods for operating such medical systems. Medical systems, such as those using flexible elongation devices (e.g., catheters, bronchoscopes, endoscopes, etc.) and other medical systems, may occasionally require restarting, for example, in the event of an unrecoverable failure, a reassertable recovery failure, or some other undesirable performance of the medical system.

[0022] A medical system can perform multiple medical device operations to perform medical procedures. As used herein, a medical device operation refers to an operation performed by a medical system involving a medical device within the system. Typically, these medical device operations, for a single process, are performed in a single session (e.g., without restarting the medical system, disconnecting the medical device from the medical system, etc.). Medical device operations can include: engagement operations in which a manipulator assembly controlling the movement of the medical device engages with the medical device (e.g., an actuator disk of the manipulator assembly engages an input disk of the medical device); sensor health operations in which data from one or more sensors are verified; motion testing operations in which the correct movement and control of the medical device are verified; registration operations in which sensor data from one or more sensors are correlated with a reference frame; and navigation operations in which the medical device is moved toward a target anatomical feature. Although some or all of these medical device operations may be time-consuming, they provide for the correct and safe operation of the medical system.

[0023] In cases where a medical system restarts during a medical procedure, it may be desirable to skip one or more medical device operations that were successfully completed in the pre-restart session in the post-restart session, thereby reducing the workload and / or time caused by the in-process restart of the medical system. For example, skipping medical device operations completed in the pre-restart session can be achieved using tests demonstrating the correspondence or equivalence of the state of the medical system in the pre-restart and post-restart sessions. These tests may be simpler for the operator (e.g., requiring less operator input or action), faster, less disruptive, safer (e.g., can be performed safely while the medical device remains within the patient's anatomy), less resource-intensive, or otherwise simplified relative to the medical device operation. In some implementations, skipping one or more medical device operations can be achieved by comparing one or more parameters of the medical system in the pre-restart first session with one or more parameters of the medical system in the post-restart second session. In one example, the comparison includes demonstrating the equivalence between one or more parameters of the medical system after and before the restart. Therefore, a post-restart second session may be significantly faster than a workflow in which all medical device operations are performed in each session for a single process. Depending on when and / or why the process is restarted during the procedure (e.g., how much of the medical device operation was successfully completed in the first session and verified not to need to be repeated in the second session), some or all of the medical device operations may be skipped in the second session.

[0024] The following provides a more detailed discussion, with reference to the accompanying drawings, of medical systems, medical device operation, and methods for skipping one or more medical device operations (including the benefits thereof).

[0025] Return to the attached image. Figure 1 This is a simplified diagram of a medical system 100 according to some embodiments. The medical system 100 can be adapted for, for example, surgical procedures, diagnostic (e.g., biopsy) procedures, or therapeutic (e.g., ablation, electroporation, etc.) procedures. While some embodiments of such procedures are provided herein, any references to medical devices or surgical instruments, and medical methods or surgical methods are non-limiting. The systems, devices, and methods described herein can be used with animals, human cadavers, animal carcasses, parts of human or animal anatomy, for non-surgical diagnostics, and for industrial systems, general-purpose or special-purpose robotic systems, general-purpose or special-purpose remote operating systems, or robotic medical systems.

[0026] like Figure 1As shown, the medical system 100 may include a manipulator assembly 102 that controls the operation of a medical device 104 during various procedures performed on a patient P. The medical device 104 may extend into an internal part of the patient P's body via an opening in the patient P's body. The manipulator assembly 102 may be a remotely operated, non-remotely operated, or hybrid remotely and non-remotely operated assembly, having one or more degrees of freedom of motion that can be motorized and / or one or more degrees of freedom of motion that can be non-motorized (e.g., manually operated). The manipulator assembly 102 may be mounted to and / or positioned near the patient table T. A master assembly 106 allows an operator O (e.g., a surgeon, clinician, internist, or other user) to control the manipulator assembly 102. In some examples, the master assembly 106 allows the operator O to view the procedure site or other graphical or information displays. In some examples, the manipulator assembly 102 may be excluded from the medical system 100, and the device 104 may be directly controlled by the operator O. In some examples, the manipulator assembly 102 may be manually controlled by the operator O. Direct operator control may include various handles and operator interfaces for handheld operation of instrument 104.

[0027] The main component 106 may be located at the surgeon's console, which is near the patient table T where the patient P is located (e.g., in the same room as the patient table T), such as on the side of the patient table T. In some examples, the main component 106 is located away from the patient table T, such as in a different room or a different building. The main component 106 may include 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, scroll wheels, direction pads, buttons, data gloves, trigger guns, manual controllers, voice recognition devices, motion or presence sensors, etc.

[0028] Manipulator assembly 102 supports medical device 104 and may include a kinematic structure of links providing a setting structure. Links may include one or more non-servo-controlled links (e.g., one or more links that can be manually positioned and locked in place) and / or one or more servo-controlled links (e.g., one or more links that can be controlled in response to commands, such as those from control system 112). Manipulator assembly 102 may include a plurality of actuators (e.g., motors) that drive inputs to medical device 104 in response to commands, such as those from control system 112. Actuators may include a drive system that moves medical device 104 in various ways when coupled to it. For example, one or more actuators may advance medical device 104 into a natural or surgically created anatomical opening. Actuators may control the articulation of medical device 104, for example, by moving the distal end (or any other part) of medical device 104 in multiple degrees of freedom. These degrees of freedom may include three degrees of linear motion (e.g., linear motion along the X, Y, and Z Cartesian axes) and three degrees of rotational motion (e.g., rotation about the X, Y, and Z Cartesian axes). One or more actuators may control the rotation of the medical device about its longitudinal axis. The actuators may also be used to move the articulated end effector of the medical device 104, for example, to grasp tissue in the jaws of a biopsy apparatus, or to move or otherwise control tools inserted into the medical device 104 (e.g., imaging tools, ablation tools, biopsy tools, electroporation tools, etc.).

[0029] The medical system 100 may include a sensor system 108 having one or more subsystems for receiving information about the manipulator assembly 102 and / or the medical device 104. Such subsystems may include: a position sensor system (e.g., using an electromagnetic (EM) sensor or other type of sensor for detecting position or location); a shape sensor system for determining the position, orientation, velocity, rate, pose, and / or shape of the distal end of the medical device 104 and / or along one or more segments of the flexible body of the medical device 104; a visualization system (e.g., using a color imaging device, infrared imaging device, ultrasound imaging device, X-ray imaging device, fluorescence microscope imaging device, computed tomography (CT) imaging device, magnetic resonance imaging (MRI) imaging device, or some other type of imaging device) for capturing images, for example, from the distal end of the medical device 104 or from some other location; and / or an actuator position sensor (e.g., a rotary transformer, encoder, potentiometer, etc.) describing the rotation and / or orientation of the actuator controlling the medical device 104.

[0030] The medical system 100 may include a display system 110 for displaying images or representations of the procedure site and the medical device 104. The display system 110 and the main component 106 may be configured so that a physician O can control the medical device 104 and the main component 106 with a sense of telepresence.

[0031] In some embodiments, medical device 104 may include a visualization system that includes an image capture component that records simultaneous or real-time images of the procedure site and provides the images to an operator O via one or more displays of display system 110. The image capture component may include various types of imaging devices. Simultaneous images may be, for example, two-dimensional or three-dimensional images captured by an endoscope positioned within the anatomical procedure site. In some examples, the visualization system may include an endoscopic component that may be integrated or removably coupled to medical device 104. Additionally or alternatively, a separate endoscope attached to a separate manipulator assembly may be used in conjunction with medical device 104 to image the procedure site. The visualization system may be implemented as hardware, firmware, software, or a combination thereof that interacts with or is otherwise executed by one or more computer processors (e.g., control system 112).

[0032] Display system 110 can also display images of the process site and medical device, which can be captured by a visualization system. In some examples, medical system 100 provides operator O with a remote sense of presence. For example, an image captured by an imaging device at the distal portion of medical device 104 can be presented by display system 110 to provide operator O with a perception of being at the distal portion of medical device 104. Input to main component 106 provided by operator O can move the distal portion of medical device 104 in a manner corresponding to the nature of the input (e.g., the distal tip rotates to the right when the trackball rolls to the right), and result in a corresponding change in the viewing angle of the image captured by the imaging device at the distal portion of medical device 104. Thus, operator O's remote sense of presence is maintained when medical device 104 is moved using main component 106. Operator O can manipulate the manual controls of medical device 104 and main component 106, simulating the experience of physically manipulating medical device 104 from within the patient's anatomy, as if viewing a workspace in a substantially real-world setting.

[0033] In some examples, the display system 110 may present a virtual image of the procedure site created using image data recorded preoperatively (e.g., before the procedure is performed by the medical device system 200) or intraoperatively (e.g., simultaneously with the procedure performed by the medical device system 200), such image data being, for example, image data created using computed tomography (CT), magnetic resonance imaging (MRI), positron emission tomography (PET), fluorescence microscopy, thermal imaging, ultrasound, optical coherence tomography (OCT), thermal imaging, impedance imaging, laser imaging, nanotube X-ray imaging, etc. The virtual image may include two-dimensional, three-dimensional, or higher-dimensional images (e.g., including information based on time or rate). In some examples, one or more models are created based on a preoperative or intraoperative image dataset, and the virtual image is generated using said one or more models.

[0034] In some examples, for the purpose of image-guided medical procedures, the display system 110 can display a virtual image generated based on the position of the tracking medical device 104. For example, the tracking position of the medical device 104 can be registered (e.g., a dynamic reference) with a model generated using preoperative or intraoperative images, where different portions of the model correspond to different locations of the patient's anatomy. As the medical device 104 moves through the patient's anatomy, registration is used to determine the portions of the model corresponding to the position and / or viewpoint of the medical device 104, and a virtual image is generated using the determined portions of the model. This can be accomplished to present to the operator O a virtual image of the internal procedure site of the medical device 104 according to the viewpoint of the medical device 104 corresponding to its tracking position.

[0035] The medical system 100 may further include a control system 112, which may include a processing circuitry system that implements some or all of the methods or functions discussed herein. The control system 112 may include at least one memory and at least one processor for controlling the operation of the manipulator assembly 102, medical device 104, main assembly 106, sensor system 108, and / or display system 110. The control system 112 may include instructions (e.g., a non-transitory machine-readable medium storing instructions) that, when executed by at least one processor, configure one or more processors to implement some or all of the methods or functions discussed herein. Although the control system 112... Figure 1While shown as a single box, control system 112 may include two or more separate data processing circuits, with some processing performed at manipulator component 102, others at main component 106, and so on. In some examples, control system 112 may include other types of processing circuitry systems, such as application-specific integrated circuits (ASICs) and / or field-programmable gate arrays (FPGAs). Control system 112 may be implemented using hardware, firmware, software, or a combination thereof.

[0036] In some examples, the control system 112 may receive feedback from the medical device 104, such as force and / or torque feedback. In response to the feedback, the control system 112 may send a signal to the main component 106. In some examples, the control system 112 may send a signal instructing one or more actuators of the manipulator component 102 to move the medical device 104. In some examples, the control system 112 may send information about the feedback to the display system 110 for presentation or to perform other types of actions based on the feedback.

[0037] Control system 112 may include a virtual visualization system to provide navigation assistance to operator O when controlling medical device 104 during image-guided medical procedures. Virtual navigation using the virtual visualization system may be based on a preoperative or intraoperative dataset of the acquired anatomical pathways of patient P. Control system 112 or a separate computing device may, in conjunction with operator input or alone, use programmed instructions to convert recorded images into a model of the patient's anatomy. The model may include a segmented two-dimensional or three-dimensional synthetic representation of a portion or entire anatomical organ or region. The image dataset may be associated with the synthetic representation. The virtual visualization system may obtain sensor data from sensor system 108 for calculating the (e.g., approximate) position of medical device 104 relative to the anatomical structures of patient P. Sensor system 108 may be used to register and display medical device 104 with and together with images recorded preoperatively or intraoperatively. For example, an example system is disclosed in PCT disclosure WO 2016 / 191298 (published December 1, 2016, entitled "Systems and Methods of Registration for Image Guided Surgery"), the entire contents of which are incorporated herein by reference.

[0038] During the virtual navigation process, sensor system 108 can be used to calculate the (e.g., approximate) position of medical device 104 relative to the anatomical structure of patient P. This position can be used to generate both a macroscopic (e.g., external) tracking image of the anatomical structure of patient P and a virtual internal image of the anatomical structure of patient P. The system may include one or more electromagnetic (EM) sensors, fiber optic sensors, and / or other sensors for registering and displaying the medical device with pre-recorded medical images. For example, an example system is disclosed in U.S. Patent No. 8,900,131 (filed May 13, 2011, entitled “Medical System Providing Dynamic Registration of a Model of an Anatomic Structure for Image-Guided Surgery”), the entire contents of which are incorporated herein by reference.

[0039] The medical system 100 may also include operating and support systems (not shown), such as lighting systems, steering control systems, flushing systems, and / or suction systems. In some embodiments, the medical system 100 may include more than one manipulator assembly and / or more than one master assembly. The exact number of manipulator assemblies may depend on the medical procedure and space constraints within the operating room, as well as other factors. Multiple master assemblies may be located in the same location, or they may be positioned in different locations. Multiple master assemblies may allow more than one operator to control one or more manipulator assemblies in various combinations.

[0040] Figure 2A This is a simplified diagram of a medical device system 200 according to some embodiments. The medical device system 200 includes a flexible elongation device 202 (also referred to as an elongation device 202), a drive unit 204, and a medical tool 226, which together serve as an example of the medical device 104 of the medical system 100. See also... Figure 1 As described, the medical system 100 can be a remote operating system, a non-remote operating system, or a hybrid of remote and non-remote operating systems. Figure 2A The diagram also shows a visualization system 231, a tracking system 230, and a navigation system 232, which are example components of the control system 112 of the medical system 100. In some examples, the medical device system 200 can be used in non-remotely operated exploration procedures or in procedures involving conventionally manually operated medical devices (e.g., endoscopy). The medical device system 200 can be used to collect (e.g., measure) a set of data points corresponding to positions within the anatomical passage of a patient (e.g., patient P).

[0041] The elongation device 202 is coupled to the drive unit 204. The elongation device 202 includes a channel 221 through which a medical instrument 226 can be inserted. The elongation device 202 navigates within the patient's anatomy to deliver the medical instrument 226 to the procedure site. The elongation device 202 includes a flexible body 216 having a proximal end 217 and a distal end 218. In some examples, the flexible body 216 may have an outer diameter of approximately 3 mm. Other flexible bodies may have larger or smaller outer diameters.

[0042] Medical device system 200 may include a tracking system 230 for determining the position, orientation, velocity, rate, pose, and / or shape of flexible body 216 at distal end 218 and / or along one or more segments 224 of flexible body 216, as will be described in further detail below. Tracking system 230 may include one or more sensors and / or imaging devices. Flexible body 216 (e.g., the length between distal end 218 and proximal end 217) may include multiple segments 224. Tracking system 230 may be implemented using hardware, firmware, software, or a combination thereof. In some examples, tracking system 230 is... Figure 1 Part of the control system 112 shown.

[0043] Tracking system 230 can use shape sensor 222 to track the distal end 218 and / or one or more segments 224 of flexible body 216. Shape sensor 222 may include an optical fiber aligned with flexible body 216 (e.g., disposed within an internal channel of flexible body 216 or mounted externally along flexible body 216). In some examples, the optical fiber may have a diameter of about 200 μm. In other examples, the diameter may be larger or smaller. The optical fiber of shape sensor 222 can form an optical fiber bending sensor for determining the shape of flexible body 216. Optical fibers including fiber Bragg gratings (FBGs) can be 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, applicable to various embodiments, are described in U.S. Patent Application Publication No. 2006 / 0013523 (filed July 13, 2005, entitled "Fiber optic position and shape sensing device and method relating thereto"); U.S. Patent No. 7,772,541 (filed March 12, 2008, entitled "Fiber Optic Position and / or Shape Sensing Based on Rayleigh Scatter"); and U.S. Patent No. 8,773,650 (filed September 2, 2010, entitled "Optical Position and / or Shape Sensing"). The entire contents of these U.S. patents are incorporated herein by reference. In some embodiments, the sensor may employ other suitable strain sensing techniques, such as Rayleigh scattering, Raman scattering, Brillouin scattering, and fluorescence scattering.

[0044] In some examples, other techniques may be used to determine the shape of the flexible body 216. For example, the shape of the flexible body 216 may be reconstructed over time intervals (e.g., as the flexible body 216 advances or retracts within a patient's anatomy) using the history of the position and / or pose of the distal end 218 of the flexible body 216. In some examples, the tracking system 230 may alternatively and / or additionally use a position sensor system 220 to track the distal end 218 of the flexible body 216. The position sensor system 220 may be a component of an EM sensor system, wherein the position sensor system 220 includes one or more position sensors. Although the position sensor system 220 is shown proximate to the distal end 218 of the flexible body 216 to track the distal end 218, the number and position of the position sensors in the position sensor system 220 may vary to track different regions along the flexible body 216. In one example, the position sensors include conductive coils that can withstand externally generated electromagnetic fields. Each coil of the position sensor system 220 may generate an induced electrical signal having characteristics that depend on the position and orientation of the coil in relation to the externally generated electromagnetic field. Position sensor system 220 can measure one or more position coordinates and / or one or more orientation angles associated with one or more portions of flexible body 216. In some examples, position sensor system 220 can be configured and positioned to measure six degrees of freedom, such as three position coordinates X, Y, Z and three orientation angles indicating pitch, yaw, and roll of a reference point. In some examples, position sensor system 220 can be configured and positioned to measure five degrees of freedom, such as three position coordinates X, Y, Z and two orientation angles indicating pitch and yaw of a reference point. Further description of position sensor systems applicable to some embodiments is provided in U.S. Patent No. 6,380,732 (filed August 11, 1999, entitled "Six-Degree of Freedom Tracking System Having a PassiveTransponder on the Object Being Tracked"), the entire contents of which are incorporated herein by reference.

[0045] In some implementations, the tracking system 230 may alternatively and / or additionally rely on a set of pose, position, and / or orientation data stored at points for the elongation device 202 and / or medical instrument 226, captured during one or more cycles of alternating movement (e.g., breathing). This stored data can be used to develop shape information about the flexible body 216. In some examples, a series of position sensors (not shown) (e.g., EM sensors such as those in position sensor 220 or some other type of position sensor) may be positioned along the flexible body 216 and used for shape sensing. In some examples, data history acquired during the procedure from one or more of these position sensors can be used to represent the shape of the elongation device 202, particularly where the anatomical passage is typically static.

[0046] Figure 2B This is a simplified diagram of a medical instrument 226 within an elongation device 202 according to some embodiments. The flexible body 216 of the elongation device 202 may include a channel 221 sized and shaped to accommodate the medical instrument 226. In some embodiments, the medical instrument 226 may be used for procedures such as diagnostics, imaging, surgery, biopsy, ablation, illumination, irrigation, aspiration, electroporation, etc. The medical instrument 226 may be deployed through the channel 221 of the flexible body 216 and operate at the procedure site within an anatomical structure. The medical instrument 226 may be, for example, an image capture probe, a biopsy tool (e.g., a needle, gripper, brush, etc.), an ablation tool (e.g., a laser ablation tool, a radiofrequency (RF) ablation tool, a cryoablation tool, a thermal ablation tool, a heated liquid ablation tool, etc.), an electroporation tool, and / or another surgical, diagnostic, or therapeutic tool. In some examples, the medical instrument 226 may include an end effector with a single working member, such as a scalpel, a blunt blade, an optical fiber, an electrode, etc. Other end effector types can include, for example, forceps, grippers, scissors, sutures, clamps, etc. Other end effectors can also include electrically activated end effectors, such as electrosurgical electrodes, transducers, sensors, etc.

[0047] Medical tool 226 may be a biopsy tool for removing sample tissue or cell samples from a target anatomical location. In some examples, the biopsy tool is a flexible needle. The biopsy tool may also include a sheath that can surround the flexible needle to protect the needle and the inner surface of the channel 221 when the biopsy tool is within the channel 221. Medical tool 226 may be an image capture probe including a distal portion having a stereo or single-field-of-view camera that can be positioned at or near the distal end 218 of the flexible body 216 for capturing images (e.g., still images or video images). The captured images may be processed by visualization system 231 for display and / or provided to tracking system 230 to support tracking of one or more segments of the distal end 218 of the flexible body 216 and / or segments 224 of the flexible body 216. The image capture probe may include a cable for transmitting captured image data coupled to an imaging device at the distal portion of the image capture probe. In some examples, the image capture probe may include a bundle of optical fibers, such as a fiber optic endoscope, coupled to an imaging device more proximal to the visualization system 231. The image capture probe may be monospectral or multispectral, capturing image data from one or more of the visible, near-infrared, infrared, and / or ultraviolet spectra. The image capture probe may also include one or more light emitters that provide illumination to facilitate image capture. In some examples, the image capture probe may use ultrasound, X-ray, fluorescein microscopy, CT, MRI, or other types of imaging techniques.

[0048] In some examples, an image capture probe is inserted into the flexible body 216 of the elongation device 202 to facilitate visual navigation of the elongation device 202 to the procedure site, and then the image capture probe is replaced within the flexible body 216 with another type of medical instrument 226 for performing the procedure. In some examples, the image capture probe may be located within the flexible body 216 of the elongation device 202 along with another type of medical instrument 226 to facilitate simultaneous image capture and tissue intervention, for example, within the same channel 221 or in separate channels. The medical instrument 226 may be advanced from an opening in the channel 221 to perform the procedure (or some other function) and then retracted into the channel 221 when the procedure is complete. The medical instrument 226 may be removed from the proximal end 217 of the flexible body 216 or along the flexible body 216 from another optional instrument port (not shown).

[0049] In some examples, the extension device 202 may include integrated imaging capabilities instead of utilizing a removable image capture probe. For example, the imaging device (or fiber bundle) and light emitter may be located at the distal end 218 of the extension device 202. The flexible body 215 may include one or more dedicated channels carrying cables and / or optical fibers between the distal end 218 and the visualization system 231. Here, the medical device system 200 can perform simultaneous imaging and tool manipulation.

[0050] In some examples, the medical tool 226 is capable of controlled articulation. The medical tool 226 may house a cable (which may also be referred to as a traction cable), linkage, or other actuation controls (not shown), extending between its proximal and distal ends to controllably bend the distal end of the medical tool 226, such as those discussed herein with respect to the flexible extension device 202. The medical tool 226 may be coupled to the drive unit 204 and the manipulator assembly 102. In these examples, the extension device 202 may be excluded from the medical device system 200, or may be a flexible device without controlled articulation. Steering maneuvers or instruments suitable for some embodiments are described in further detail in U.S. Patent No. 7,316,681 (filed October 4, 2005, entitled "Articulated Surgical Instrument for Performing Minimally Invasive Surgery with Enhanced Dexterity and Sensitivity") and U.S. Patent No. 9,259,274 (filed September 30, 2008, entitled "Passive Preload and Capstan Drive for Surgical Instruments"), the entire contents of which are incorporated herein by reference.

[0051] The flexible body 216 of the elongation device 202 may also, or alternatively, be accommodated between the drive unit 204 and the distal end 218 to controllably bend the distal end 218 (e.g., by means of...). Figure 2A The distal end 218 (shown as shown by the dashed line in Figure 219) is connected to cables, linkages, or other control mechanisms (not shown). In some examples, at least four cables are used to provide independent up-and-down steering control to control the pitch of the distal end 218 and left-and-right steering control to control the yaw of the distal end 218. In these examples, the flexible elongation device 202 may be a steerable controllable conduit. Examples of steerable controllable conduits suitable for some embodiments are described in detail in PCT Publication WO 2019 / 018736 (published January 24, 2019, entitled "Flexible Elongate Device Systems and Methods"), the entire contents of which are incorporated herein by reference.

[0052] In embodiments where the elongation device 202 and / or medical tool 226 is actuated by a remotely operated component (e.g., manipulator component 102), the drive unit 204 may include a drive input removably coupled to and receiving power from a drive element (e.g., actuator) of the remotely operated component. In some examples, the elongation device 202 and / or medical tool 226 may include a gripping feature, a manual actuator, or other components for manually controlling the movement of the elongation device 202 and / or medical tool 226. The elongation device 202 may be steerable, or alternatively, it may be non-steerable, without an integrated mechanism for operator control of bending of the distal end 218. In some examples, one or more channels 221 (which may also be referred to as lumens) may be defined by the inner wall of the flexible body 216 of the elongation device 202, through which the medical tool 226 may be deployed and used at a target anatomical location.

[0053] In some examples, medical device system 200 (e.g., extension device 202 or medical tool 226) may include flexible bronchial instruments, such as bronchoscopes or bronchial tubes, for the examination, diagnosis, biopsy, and / or treatment of the lungs. Medical device system 200 may also be adapted to navigate and treat other tissues via naturally or surgically created access channels in any of a variety of anatomical systems, including the colon, intestine, kidneys and renal calyces, brain, heart, and the circulatory system, including the vascular system.

[0054] Information from tracking system 230 can be sent to navigation system 232, where it can be combined with information from visualization system 231 and / or a preoperatively acquired model to provide real-time location information to physicians, clinicians, surgeons, or other operators. In some examples, the real-time location information can be displayed on display system 110 for controlling medical device system 200. In some examples, navigation system 232 can utilize the location information as feedback for locating medical device system 200. Various systems for registering and displaying surgical instruments and surgical images using fiber optic sensors, applicable to some embodiments, are provided in U.S. Patent No. 8,900,131 (filed May 13, 2011, entitled “Medical System Providing Dynamic Registration of a Model of an Anatomic Structure for Image-Guided Surgery”), the entire contents of which are incorporated herein by reference.

[0055] Figure 3A and Figure 3BThis is a simplified side view of a medical device mounted on an insertion assembly, according to some embodiments, in patient coordinate space. Figure 3A and Figure 3B As shown, the surgical environment 300 may include a patient P positioned on a patient table T. Patient P may be stationary within the surgical environment 300 because the patient's overall movement is restricted by sedation, restraint, and / or other means. Periodic anatomical movements of patient P (including respiratory and cardiac movements) may continue. Within the surgical environment 300, a medical device 304 is used to perform medical procedures, which may include, for example, surgery, biopsy, ablation, illumination, irrigation, aspiration, or electroporation. The medical device 304 may also be used to perform other types of procedures, such as a registration process for associating position, orientation, and / or pose data captured by the sensor system 108 with a desired (e.g., anatomical or systemic) reference frame. The medical device 304 may be, for example, medical device 104. In some examples, the medical device 304 may include an elongation device 310 (e.g., a catheter) coupled to an instrument body 312. The elongation device 310 includes channels sized and shaped to accommodate one or more medical instruments.

[0056] The elongation device 310 may also include one or more sensors (e.g., components of sensor system 108). In some examples, a shape sensor 314 may be fixed at a proximal point 316 on the instrument body 312. The proximal point 316 of the shape sensor 314 may move with the instrument body 312, and the position of the proximal point 316 relative to a desired reference frame may be known (e.g., via a tracking sensor or other tracking device). The shape sensor 314 may measure the shape from the proximal point 316 to another point (e.g., the distal end 318 of the elongation device 310). The shape sensor 314 may be aligned with the elongation device 310 (e.g., disposed within an internal channel or mounted externally). In some examples, the shape sensor 314 may be an optical fiber used to generate shape information of the elongation device 310.

[0057] In some examples, position sensors (e.g., EM sensors) may be incorporated into medical device 304. A series of position sensors may be positioned along the flexible elongation device 310 and used for shape sensing. The position sensors may be used as an alternative to shape sensor 314, or in conjunction with shape sensor 314, for example, to improve the accuracy of shape sensing or to verify shape information.

[0058] The extension device 310 may accommodate cables, linkages, or other steering control mechanisms that extend between the instrument body 312 and the distal end 318 to controllably bend the distal end 318. In some examples, at least four cables are used to provide independent up-and-down steering control to control the pitch of the distal end 318 and left-and-right steering control to control the yaw of the distal end 318. The instrument body 312 may include a drive input that is removably coupled to and receives power from a drive element (e.g., an actuator) of the manipulator assembly.

[0059] The instrument body 312 may be coupled to the instrument holder 306. The instrument holder 306 may be mounted to an insertion stage 308 fixed within the surgical environment 300. Alternatively, the insertion stage 308 may be movable but has a known position within the surgical environment 300 (e.g., 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 medical device 304 to control movement of the distal end 318 of the extension device 310 in multiple directions (e.g., yaw, pitch, and / or roll) and / or insertion movement (e.g., movement along the insertion axis A). The instrument holder 306 or the insertion stage 308 may include actuators, such as servo motors, for controlling movement of the instrument holder 306 along the insertion stage 308.

[0060] Sensor device 320 (which may be a component of sensor system 108) can provide information about the position of instrument body 312 as it moves along insertion axis A relative to insertion stage 308. Sensor device 320 may include one or more rotary transformers, encoders, potentiometers, and / or other sensors that measure the rotation and / or orientation of actuators controlling the movement of instrument carriage 306, thereby indicating the movement of instrument body 312. In some embodiments, insertion stage 308 has, for example, […]. Figure 3A and Figure 3B The linear track is shown. In some embodiments, the insertion stage 308 may have a curved track or a combination of curved track segments and linear track segments.

[0061] Figure 3A The instrument body 312 and instrument holder 306 are shown in the retracted position along the insertion stage 308. In this retracted position, the proximal point 316 is located at position L0 on the insertion axis A. The position of the proximal point 316 can be set to zero and / or other reference values ​​to provide a basic reference (e.g., corresponding to the origin of the desired reference system) to describe the position of the instrument holder 306 along the insertion stage 308. In the retracted position, the distal end 318 of the extension device 310 can be positioned precisely within the access port of the patient P. Also in the retracted position, the data captured by the sensor device 320 can be set to zero and / or other reference values ​​(e.g., I=0). Figure 3BIn this position, 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 elongation device 310 has been advanced into the patient P. In this advanced position, the proximal point 316 is at position L1 on the insertion axis A. In some examples, the rotation and / or orientation of the actuator measured by the sensor device 320 indicating the movement of the instrument holder 306 along the insertion stage 308 and / or one or more position sensors associated with the instrument holder 306 and / or the insertion stage 308 can be used to determine the position L1 of the proximal point 316 relative to position L0. In some examples, position L1 can also serve as an indicator of the distance or insertion depth of the distal end 318 of the elongation device 310 inserted into the channel of the anatomical structure of the patient P.

[0062] Figure 4 , Figure 5 and Figure 6 A flowchart illustrating a method for restoring the state of a system after a system restart, according to an embodiment of this disclosure, is shown. The method can be implemented using instructions stored on a non-transient medium, which can be executed by a computing system (e.g., computing system 120).

[0063] Although Figure 4 , Figure 5 and Figure 6 The individual boxes in the table are presented and described sequentially, but some or all of the boxes in a table can be executed in a different order, can be combined or omitted, and some or all of the boxes in a table can be executed in parallel. In addition, boxes can be executed actively or passively.

[0064] Go to Figure 4 In box 410, according to some implementations, a first session of the medical system is performed. The first session occurs before a restart and may include one or more medical device operations of a procedure. The procedure may include medical device operations performed in preparation for a medical procedure (e.g., a biopsy). The procedure may also include medical operations. Some other examples of medical operations may include ablation, electroporation, surgical procedures, etc. See below. Figure 5 Provide a description of the first session, including medical device operations that can be performed during the first session.

[0065] In one or more embodiments, event 498 occurs during or after the operation of block 410. Based on the occurrence of event 498, the process was not completed in the first session (e.g., the medical operation was not performed immediately after block 410). Event 498 can be any event that makes a restart of the medical system necessary or desirable. Event 498 can be, for example, a failed execution of the medical device operation of block 410, any type of irreversible error, a recoverable error, the operator's decision to restart the medical system, or any other reason.

[0066] In box 420, according to an embodiment of this disclosure, a process restart of the medical system is performed. A process restart may involve a power-cycling of the medical system, a portion of the medical system, or alternatively, clearing parameters, resetting the state, restarting the operating system, or similar applications. A process restart may be initiated by a user of the medical system, for example, by pressing a physical button, a virtual button on a touchscreen interface, or using any other input. In another example, a process restart may be performed automatically. In some embodiments, a process restart involves obtaining input from the user determining whether a previous process performed during a first session after the process restart should continue or alternatively, a different process should be performed. Depending on the selection, a patient plan and / or other parameterizations used for the previous process, or a different patient plan and / or other parameterizations, will be loaded for the process to be performed after the process restart. The user can provide user input via a user interface.

[0067] In block 430, according to an embodiment of this disclosure, a second session of the medical system is performed. The second session is performed after a restart and may skip one or more medical device operations completed in the first session. Performing medical device operations in block 410 can be time-consuming and / or tedious. By skipping one or more medical device operations in block 430, the operation in block 430 can be completed much faster than the operation in block 410. Therefore, the medical system can be ready to perform medical operations within a limited time after a restart during the process in block 420. (Refer to below...) Figure 6 A detailed description of the operations in box 430 is provided, including skipping one or more medical device operations and the operations performed to achieve the skipping of one or more medical device operations. After completing the medical device operations, the medical system can perform medical operations in a second session.

[0068] Despite Figure 4 Two sessions are shown, but a process may include one or more sessions. For a process, medical device operations performed in any previous session can be skipped in the current session to facilitate more efficient execution of the process. Furthermore, without departing from this disclosure, multiple process restarts can be performed as necessary or beneficial, based on the described operations.

[0069] Go to Figure 5 This shows the operations that can be performed during the process (other than medical procedures). These operations can be performed during the first session of the medical system. Depending on the occurrence time of event 498, not all such operations are permitted. Figure 5The operations shown will all be executed in the first session. For example, suppose the second test operation depends on the result of the first test operation; if event 498 prevents the completion of the first test operation, the second test operation may not be executed.

[0070] In box 510, the medical system is powered on. Powering on can be initiated by the user of the medical system. Powering on can initialize the medical system, preparing it for the execution of the medical device operations described later. Powering on can involve, for example, a boot operation of a computing system associated with the medical system.

[0071] In box 520, a medical device operation is performed. Many different medical device operations are then described. This disclosure is not limited to these medical device operations. For example, one or more of the medical device operations as described may not be performed, other medical device operations may be performed, and so on.

[0072] In block 522, an engagement operation is performed. In one or more embodiments, the medical device engages with a manipulator assembly to enable the manipulator assembly to control the movement of the medical device, as previously referenced. Figure 1 , Figure 2A , Figure 2B , Figure 3A and Figure 3B The discussion focuses on mechanical energy (e.g., in the form of force or torque) transferred from the drive unit to the medical device via a coupling interface between the drive unit and the medical device. The coupling interface may include an input disk of the medical device and a corresponding actuator disk of the manipulator assembly. Other mechanical techniques may also be used to engage the medical device and the manipulator assembly to allow movement of the manipulator assembly to cause movement of the medical device. After the medical device is mechanically mounted on the manipulator assembly, engagement of the actuator disk and the input disk can be performed. Once engaged, the actuator disk and the input disk can transfer mechanical energy from the drive unit to the medical device. In some embodiments, a mechanism for detecting engagement via capacitive coupling may be present. Upon successful engagement, the capacitor can be charged. When the medical device is removed or disengaged, the capacitor can be discharged. Alternatively, a magnetic latching mechanism may be used for engagement / disengagement detection. See below for further details. Figure 7A Examples are provided of engagement of the actuator disk and the input disk, and the operations performed to achieve engagement. In some embodiments, the medical device includes an elongation device, and engagement involves engagement of the elongation device (e.g., a catheter) to enable the elongation device to be controllably articulated via the drive unit, as previously described.

[0073] In box 524, perform sensor health operations. (Refer to previous instructions.) Figure 1 , Figure 2A , Figure 2B , Figure 3A and Figure 3B The medical system may include one or more sensors, such as shape sensors, for measuring the movement of medical devices. Sensor health operations may be based on sensor health data received from the sensors. Sensor health data may include, for example, calibration data, signal-to-noise ratio (SNR) levels, connection reflection strength, and redundancy core comparisons. Sensor health operations may include verifying the acceptability of the sensor health data, such as verifying that the sensor health data has acceptable values ​​and / or is within an acceptable value range. In one or more embodiments, if the medical system completes a sensor health operation, the acquired sensor health data is stored for further use during a second session of the medical system. In some embodiments, a fingerprint may be generated for the sensor health data. A fingerprint may be generated and stored (e.g., instead of the sensor health data itself) in response to the successful completion of the sensor health operation. The fingerprint provides a representation of the sensor health data, is smaller in size than the sensor health data, and may be stored across multiple sessions in the medical system's non-volatile memory or some other type of data storage device that can be accessed across different sessions. Different sensor health data may produce different fingerprints. Various types of digital fingerprinting techniques may be used, such as SHA-256 or some other type of hash function.

[0074] In box 526, a motion test operation is performed. The motion test operation can be performed to confirm that the medical device moves as expected in response to movement of the actuator of the drive unit. The motion test operation may include comparing the movement of the medical device measured by sensors with a predicted movement of the medical device generated based on the measured movement of the actuator. More specifically, the movement of the medical device may be measured, for example, by a shape sensor and / or other sensors, and the movement of the actuator may be measured, for example, by an encoder. The movement of the medical device may be predicted based on the measurements from the encoder using a model that can take into account the kinematics and / or dynamics of the medical system. A comparison of the predicted movement and the measured movement of the medical device can then be performed. If the expected movement and the measured movement of the medical device are consistent (e.g., the difference in the comparison is below a specified threshold), the motion test operation is considered successful. In an example of a medical device including a flexible elongation device, the movement of the medical device may include a hinge change of the flexible elongation device. In one example, the flexible elongation device is driven during the motion test operation to perform small movements on two vertical axes.

[0075] In some embodiments, a controller configuration is used by a medical system to control a medical device for motion testing and subsequent operation of the medical device (e.g., if the motion test is successfully completed). The controller configuration may include parameters read by the medical system from the medical device's memory. If the medical system successfully completes the motion test operation, the controller configuration may be stored for further use during a second session of the medical system. The controller configuration may include controller parameters, such as PID parameters, gain, threshold, current limit, etc., for controlling actuators. Any other type of parameters of the medical system may be included without departing from this disclosure. In some embodiments, a fingerprint may be generated for the controller configuration. The fingerprint may be generated and stored (e.g., instead of the controller configuration itself) in response to the successful completion of the motion test operation. The fingerprint provides a representation of the controller configuration, which is smaller in size than the controller configuration and may be stored across multiple sessions in the medical system's non-volatile memory or some other type of data storage device accessible across different sessions. Different controller configurations may generate different fingerprints. Various types of digital fingerprinting techniques may be used, such as SHA-256 or some other type of hash function.

[0076] In box 528, a registration operation is performed. The registration operation is performed to correlate sensor data about the medical device with a reference frame (e.g., an anatomical reference frame). For example, raw sensor data captured by the sensor resides in a sensor reference frame, and the registration operation correlates the sensor reference frame with the anatomical reference frame. In the case of an anatomical reference frame, the reference frame can be defined relative to a model of the anatomical structure generated using preoperative or intraoperative images (e.g., based on CT images). After the registration operation is completed, the measured pose or otherwise determined pose of the medical device relative to the anatomical structure represented by the model is known. The registration operation may include driving the medical device through multiple channels of the patient's anatomy to capture points in space representing the shape of the anatomy, and then correlating the captured points in space with the shape represented by the model. The correlation between the sensor data and the reference frame created in the registration operation can be stored, for example, in non-volatile memory of the medical system or some other type of data storage device that can be accessed across different sessions. In some embodiments, the registration data is stored, for example, in the form of a transformation matrix in a file on a hard disk drive.

[0077] In box 530, a navigation operation is performed. The navigation operation moves the medical device toward a target anatomical feature to perform a medical procedure. As the medical device moves past the patient's anatomy, sensor data is captured, and registration is used in conjunction with the sensor data to determine the position of the medical device within the anatomy.

[0078] After completing the operations in box 530, the medical device can have a known pose relative to the anatomical structure, and the medical device can be positioned at the target anatomical feature, ready to perform the medical procedure. However, as previously discussed, events may prevent... Figure 5 The completion of some or all of the medical device operations in the method of box 520. Therefore, the execution of the operations associated with boxes 522 to 530 may be interrupted at any stage.

[0079] Go to Figure 6 This illustrates the processes performed during the execution of a second session of a medical system for a procedure. One or more medical device operations completed in the first session (before restart) can be skipped in the second session (after restart).

[0080] In block 610, one or more first parameters of the medical system associated with the first session can be compared with one or more second parameters of the medical system associated with the second session. In some embodiments, comparing one or more first parameters with one or more second parameters includes determining that one or more first parameters are equivalent to one or more second parameters. Therefore, medical device operations that have successfully established equivalence do not need to be repeated in the second session. Furthermore, medical device operations that have not yet been completed in the first session can be performed in the second session to prepare the medical system for performing medical operations.

[0081] In box 612, an engagement test is performed to confirm engagement of the medical device with the manipulator assembly and / or maintenance of engagement between the first and second sessions. In the engagement test, comparing one or more first parameters with one or more second parameters may include determining whether a correlation between the motion of the input disc and actuator disc caused by engagement in the first session remains in engagement in the second session. This correlation may occur when the input disc and actuator disc engaged in the first session remain engaged in the second session (including during process restarts).

[0082] In some implementations, engagement testing includes ensuring that the actuator discs of the manipulator assembly can apply movement to the input discs of the medical device without performing a full engagement operation. For example, each input disc of the medical device independently engages each actuator disc of the manipulator assembly. When an input disc is separated from an actuator disc (e.g., possibly due to removal of the device from the manipulator assembly), the input disc can rotate freely and independently. This can lead to misalignment between the aperture / hole in the input disc and the protrusion in the actuator disc when the device is reattached to the manipulator assembly, requiring an engagement operation to ensure all input discs engage with their corresponding actuator discs. Therefore, even when reattaching the medical device to the manipulator assembly, some or all input discs and actuator discs may remain detached until an engagement operation is performed (e.g., as...). Figure 5 (as described in box 522). Therefore, disengagement of the medical device from the manipulator assembly causes the correlation between the movements of the input disc and the actuator disc resulting from the engagement operation to not be maintained in the second session, and thus such disengagement can be detected by performing an engagement test. Refer below to Figure 7B Describe the execution of the bonding test.

[0083] In some implementations, when a mechanism for detecting engagement via capacitive coupling is present, engagement testing may involve measuring the voltage across a capacitor. If a voltage is present, it can be assumed that the medical device remains engaged throughout the restart process. Similar tests can be performed using other mechanisms, such as latching magnetic mechanisms.

[0084] If the join test is successfully performed, the join operation can be skipped in the second session, and Figure 6 The execution of the method can proceed to the next box. Engagement testing can take less time than engagement operations and can articulate the medical device to a lesser extent compared to engagement operations, which can be beneficial when the medical device remains within the anatomical structure during engagement testing. For example, when performed with the medical device inside the anatomical structure, the lower torque and / or smaller disk rotation amplitude (and the corresponding medical device articulation) used in engagement testing may be safe. Engagement operations are typically performed outside the anatomical structure, where the higher torque and / or larger disk rotation amplitude used in engagement operations when performed with the medical device inside the anatomical structure can pose potential safety hazards.

[0085] In box 614, a sensor health test is performed to confirm that the medical device's sensors are functioning. In the sensor health test, comparing one or more first parameters with one or more second parameters includes comparing first sensor health data used and stored during a first session with second sensor health data received from the sensors during a second session. The sensor health test is considered successful if the second sensor health data matches or is otherwise sufficiently similar to the first sensor health data.

[0086] In some implementations, the second sensor health data received from the sensor in the second session includes, for example, SNR level, connectivity reflection strength, redundant core comparison, etc.

[0087] A second fingerprint can be generated based on second sensor health data received from the sensor in a second session, and comparing the second sensor health data received from the sensor in the second session with the first sensor health data received from the sensor in the first session can involve comparing a first fingerprint representing the first sensor health data received from the sensor in the first session with a second fingerprint representing the second sensor health data received from the sensor in the second session. The same technique can be used to generate fingerprints in different sessions to provide a consistent comparison basis.

[0088] If the sensor health operation is successfully performed, it can be skipped in the second session, and Figure 6 The execution of the method can continue to the next box. For example, if the sensor health data in the second session corresponds to the sensor health data that was successfully verified in the first session, it is not necessary to verify that the sensor health data in the second session has an acceptable value and / or is within an acceptable range.

[0089] In box 616, the controller configuration of the medical system is verified. In the second session, the second controller configuration can be loaded in the same manner as the first controller configuration in the first session. To verify the second controller configuration, comparing one or more first parameters with one or more second parameters includes comparing the first controller configuration used to control the medical device in the first session with the second controller configuration used to control the medical device in the second session. If the second controller configuration matches the first controller configuration or is otherwise sufficiently similar to the first controller configuration, the verification of the controller configuration is considered successful.

[0090] The comparison can be performed by comparing a first fingerprint representing the first controller configuration with a second fingerprint representing the second controller configuration. The second fingerprint can be generated based on the second controller configuration, for example, during or before execution block 616, or at any time after the second controller configuration is loaded.

[0091] If the controller configuration confirmation is successfully executed, then Figure 6 The execution of the method can continue to the next box.

[0092] In some implementations, based on the successful completion of sensor health operations and successful confirmation of controller configuration, motion testing operations can be skipped during the second session (e.g., as...). Figure 5 (as described in frame 526).

[0093] In box 618, registration verification can be performed. Registration verification can be achieved using a registration test. In one example of a registration test, the user can check the current registration, and if the registration appears correct, it can be verified. The user can rely on visual input from the medical device to verify the registration. The visual input can be provided by, for example, a camera device of the medical device or a vision probe temporarily inserted into the medical device. In one example, a camera device view generated by an image sensor (e.g., a vision probe or a sensor integrated with a flexible elongation device) can be compared with a virtual camera device view generated based on registration, an anatomical model, and sensor data. The virtual camera device view includes a virtual image of the anatomical model from the perspective of the medical device at the registration location. If the camera device view and the virtual camera device view correspond (e.g., for multiple frames captured while driving the medical device within an anatomical structure), the registration can be verified. Registration verification can be provided by the user (e.g., using a graphical user interface that presents both the camera device view and the virtual camera device view) or programmatically using image processing techniques to compare the camera device view and the virtual camera device view. Alternatively, if the user disagrees with the registration or the registration is otherwise deemed invalid, a new registration operation can be performed in the second session (e.g., as in...). Figure 5 (As described in box 528). Registration can also be performed if it cannot be obtained from the first session.

[0094] In some implementations, registration testing may include a streamlined registration operation that involves driving a medical device through multiple channels of a patient's anatomy to capture points in space representing the shape of the anatomy, and then associating the captured points in space with the shape represented by a model. However, the number of points captured and / or the amount driven in the registration test may be less than in the registration operation.

[0095] Within box 620, navigation operations can be performed (e.g., as in...). Figure 5 (As described in box 530). In some implementations, for example, when a restart occurs during navigation operations in the first session, the position of the medical device relative to the anatomical structure at the restart time can be used as a basis for resuming navigation operations in the second session. If the navigation operations have already been completed during the first session, the navigation operations may be unnecessary.

[0096] Complete as needed Figure 6 After processing using this method, the medical device is verified to be operating correctly, its pose relative to the anatomical structure is precisely known, it has been navigated to the target location, and can perform medical procedures as indicated by box 630. This completes the process as follows: Figure 5 The one or more medical device operations described herein are performed in accordance with the principle of... Figure 6 The comparison of one or more first parameters with one or more second parameters, as described in the document, takes more time. Therefore, when performing a restart of the medical system, compared to repeated... Figure 5 Compared to the method of execution Figure 6 This method can reduce time and workload.

[0097] Although Figure 6 Several processes that can be performed are described, but it is possible, for example, to skip some of these processes based on the type of error that caused the process to restart. In this case, if it is known that the medical device operation is not affected by the error, it may not be necessary to repeat or confirm the medical device operation in a second session. Therefore, it is also possible to skip one or more confirmation processes based on the type of error that caused the process to restart. Consider the following two examples. In the first example, if the error is caused by a problem with the medical device, it may be necessary to perform processes such as... Figure 6 The confirmation process described herein. However, in the second example, if the error is caused by other issues such as memory errors unrelated to the medical device, it can be skipped. Figure 6 At least some of these are part of the confirmation process. Furthermore, if the error causing the irreversible failure is due to a failure of the instrument and / or other recoverable items, the recovery of that item is selectively skipped, and the item is instead initialized using the nominal procedure. Other items unrelated to the error can be recovered. For example, if the system detects a broken catheter traction cord, it may issue an irreversible failure. After a system restart, the catheter will be unrecoverable (due to the broken traction cord), but all other aspects, such as catheter guidance installation, visual probe installation, registration, biopsy marking, etc., can be recovered.

[0098] Figure 7A This is a diagram illustrating the joining operation according to some implementation methods. Figure 7A The left panel shows the state before the engagement operation (unengaged), while Figure 7AThe right panel shows the state after the engagement operation (engaged). In the state before the engagement operation, there is an orientation misalignment between the actuator disk 702 of the manipulator assembly and the input disk 706 of the medical device. Therefore, the protrusion 704 of the actuator disk 702 is prevented from entering the hole / opening 708 of the input disk. During engagement, the actuator associated with the actuator disk 702 rotates the actuator disk. When the actuator disk 702 achieves orientation alignment with the input disk 706, the protrusion 704 enters the hole 708. In this state, engagement occurs, and mechanical energy can be transferred between the actuator disk 702 and the input disk 706. Although the example shows engagement between the hole and the protrusion, other engaging mechanical elements can be used without departing from the scope of this disclosure.

[0099] Figure 7B It is a diagram of motion and torque associated with engagement testing according to some implementation methods. Figure 7B The left panel shows the motion and torque associated with the engagement test when the actuator disk 702 and input disk 706 are not engaged, while Figure 7B The right panel shows the motion and torque associated with the engagement test when actuator disk 702 engages with input disk 706. The axes corresponding to the drawings in the left and right panels are scaled to the same extent. When performing the engagement test, a small movement of the input disk is initially performed to determine whether actuator disk 702 and input disk 706 are engaged.

[0100] As shown in the left panel, when the actuator disk 702 and the input disk 706 are not engaged, the actuator driving the actuator disk 702 can cover a wide range of angles without any significant increase in torque, because the actuator disk 702 rotates freely relative to the input disk 706.

[0101] As shown in the right panel, when the actuator disk 702 and the input disk 706 are engaged, even a small movement of the actuator disk can cause a significant increase in torque to the actuator driving the actuator disk 702, because the actuator disk 702 is transferring mechanical energy to the input disk 706, thereby driving the medical device (e.g., hinged to the medical device).

[0102] Therefore, engagement of actuator disk 702 and input disk 706 can be detected based on the almost immediate presence of torque in response to even small movements of actuator disk 702. In contrast, non-engagement of actuator disk 702 and input disk 706 can be detected based on the absence of significant torque in response to even large movements of actuator disk 702.

[0103] In some implementations, during engagement testing, the input disk rotates with a reduced torque compared to rotation of the input disk performed with more torque applied for engagement operation. Therefore, engagement testing can be performed when the medical device is within the patient's anatomy, while engagement operation may not be performed when the medical device is within the patient's anatomy. Furthermore, engagement testing may result in very limited articulation of the medical device, making it suitable for performance when the medical device is within the patient's anatomy, whereas engagement operation may result in significant articulation of the medical device (potentially reaching the maximum possible articulation, i.e., hard stop).

[0104] Implementations of this disclosure offer various advantages. Some implementations utilize tests performed prior to reboot to provide user-transparent, automated behind-the-scenes testing after a medical system reboot. Reinstallation of medical devices may be unnecessary, removal of the medical device from the anatomical structure may not be required, and repeated testing of the medical device may be unnecessary. Some implementations allow the user to continue with previously performed registrations after user confirmation, without requiring re-registration. Some implementations allow the user to continue from the vicinity of the target after a reboot, rather than requiring the user to repeatedly navigate to the target.

[0105] One or more components of the embodiments discussed in this disclosure (e.g., control system 112) may be implemented in software to execute on one or more processors of a computer system. The software may include code that, when executed by one or more processors, configures the processors to perform the various functions discussed herein. The code may be stored in a non-transitory computer-readable storage medium (e.g., memory, magnetic storage device, optical storage device, solid-state storage device, etc.). The computer-readable storage medium may be, for example, electronic circuitry, a semiconductor device, a semiconductor memory device, a read-only memory (ROM), flash memory, an erasable programmable read-only memory (EPROM); a floppy disk, CD-ROM, optical disk, hard disk, or other computer-readable storage device. The code may be downloaded via a computer network such as the Internet, an intranet, etc., to be stored on the computer-readable storage medium. The code may be executed by any of a variety of centralized or distributed data processing architectures. The programming instructions for the code may be implemented as multiple separate programs or subroutines, or they may be integrated into multiple other aspects of the system described herein. Components of the computing system discussed herein may be connected using wired and / or wireless connections. In some examples, wireless connectivity can use wireless communication protocols such as Bluetooth, Near Field Communication (NFC), Infrared Data Association (IrDA), Home RF, IEEE 802.11, Digital Enhanced Cordless Communication (DECT), and Wireless Medical Telemetry Service (WMTS).

[0106] Various general-purpose computer systems can be used to perform one or more of the processes, methods, or functions described herein. Alternatively or additionally, various special-purpose computer systems can be used to perform one or more of the processes, methods, or functions described herein. Furthermore, various programming languages ​​can be used to implement one or more of the processes, methods, or functions described herein.

[0107] While certain embodiments and examples have been described above and shown in the accompanying drawings, it should be understood that these embodiments and examples are merely illustrative and are not limited to the specific constructions and arrangements shown and described, as those skilled in the art will understand various other alternatives, modifications and equivalents.

Claims

1. A medical system comprising: Manipulator components for controlling the movement of medical devices, and A control system coupled to the manipulator assembly, the control system being configured to: The process executes a first session of the medical system, wherein executing the first session includes completing one or more medical device operations for the medical device. After completing one or more medical device operations, the medical system is restarted during the execution of the procedure, and After a restart during the execution of the medical system, a second session of the medical system is executed for the process, wherein executing the second session includes: The one or more medical device operations performed in the first session are skipped based on comparing one or more first parameters of the medical system associated with the first session with one or more second parameters of the medical system associated with the second session.

2. The medical system according to claim 1, wherein, Completing one or more medical device operations takes more time than comparing one or more first parameters with one or more second parameters.

3. The medical system according to claim 1, wherein, Comparing the one or more first parameters with the one or more second parameters includes determining that the one or more first parameters are equivalent to the one or more second parameters.

4. The medical system according to claim 1, wherein, The one or more medical device operations include an engagement operation for engaging the medical device with the manipulator assembly to enable the manipulator assembly to control the movement of the medical device.

5. The medical system according to claim 4, wherein: The engagement operation engages the input disk of the medical device with the actuator disk of the manipulator assembly. and Comparing the one or more first parameters with the one or more second parameters includes determining the correlation between the motion of the input disk and the actuator disk caused by the engagement operation in the first session, which is maintained in the second session.

6. The medical system according to claim 5, wherein: Comparing the one or more first parameters with the one or more second parameters includes performing an engagement test; and The actuator disk applies more torque during the engagement operation than during the engagement test.

7. The medical system according to claim 1, further comprising: Sensors used to measure the movement of the medical device, and The one or more medical device operations include sensor health operations, which include verifying the acceptability of first sensor health data received from the sensor.

8. The medical system according to claim 7, wherein, Comparing the one or more first parameters with the one or more second parameters includes comparing the first sensor health data received from the sensor in the first session with the second sensor health data received from the sensor in the second session.

9. The medical system according to claim 7, wherein, Comparing the one or more first parameters with the one or more second parameters includes comparing a first fingerprint representing first sensor health data received from the sensor in the first session with a second fingerprint representing second sensor health data received from the sensor in the second session.

10. The medical system according to claim 7, wherein, The sensor includes a shape sensor.

11. The medical system according to claim 1, wherein, Comparing the one or more first parameters with the one or more second parameters includes comparing a first controller configuration of the medical system used to control the medical device in the first session with a second controller configuration of the medical system used to control the medical device in the second session.

12. The medical system according to claim 1, wherein, Comparing the one or more first parameters with the one or more second parameters includes comparing a first fingerprint representing a first controller configuration of the medical system for controlling the medical device in the first session with a second fingerprint representing a second controller configuration of the medical system for controlling the medical device in the second session.

13. The medical system according to claim 1, wherein, The one or more medical device operations include motion testing operations for the medical device.

14. The medical system according to claim 13, further comprising: An actuator for controlling the movement of the medical device; as well as Sensors used to measure the movement of the medical device, and The motion testing operation includes comparing the movement of the medical device measured by the sensor with the predicted movement of the medical device generated based on the measured movement of the actuator.

15. The medical system according to claim 14, wherein, The medical device includes a flexible elongation device, the sensor includes a shape sensor, and the movement of the medical device includes hinge changes of the flexible elongation device.

16. The medical system according to claim 1, wherein, The one or more medical device operations include a registration operation for associating sensor data about the medical device with a reference frame.

17. The medical system according to claim 1, wherein, The one or more medical device operations include navigation operations for moving the medical device toward a target anatomical feature.

18. The medical system according to claim 1, wherein: Executing the first session includes: in response to completing one or more medical device operations: Generate a first fingerprint representing the one or more first parameters. The first fingerprint is stored for retrieval after a restart during the execution of the medical system, and Comparing the one or more first parameters with the one or more second parameters includes comparing a second fingerprint representing the one or more second parameters with the first fingerprint.

19. The medical system according to claim 1, wherein, The operation of one or more medical devices includes: Engagement operation for engaging the medical device with the manipulator assembly Sensor health operation for sensors that measure the movement of the medical device, and Motion testing operation for the aforementioned medical device.

20. The medical system according to claim 1, wherein, Performing the second session includes: completing medical device operations that were not completed in the first session after skipping one or more medical device operations that were completed in the first session.

21. The medical system according to claim 1, in, Executing the first session also includes performing medical device operations unrelated to the type of error that caused the medical system to restart during the process, and Executing the second session further includes skipping medical device operations unrelated to the type of error without comparing the one or more first parameters of the medical system associated with the first session with the one or more parameters of the medical system associated with the second session.

22. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions executable by one or more processors associated with a medical system, the plurality of machine-readable instructions causing the one or more processors to perform a method comprising: The first session of the medical system is executed for the process, wherein executing the first session includes performing one or more medical device operations for the medical device; After completing one or more medical device operations, the system is restarted during the process of restarting the medical system; and After a restart during the execution of the medical system, a second session of the medical system is executed for the process, wherein executing the second session includes: The one or more medical device operations performed in the first session are skipped based on comparing one or more first parameters of the medical system associated with the first session with one or more parameters of the medical system associated with the second session.

23. The non-transitory machine-readable medium according to claim 22, wherein, Completing one or more medical device operations takes more time than comparing one or more first parameters with one or more second parameters.

24. The non-transitory machine-readable medium according to claim 22, wherein, Comparing the one or more first parameters with the one or more second parameters includes determining that the one or more first parameters are equivalent to the one or more second parameters.

25. The non-transitory machine-readable medium according to claim 22, wherein, The one or more medical device operations include engagement operations for engaging the medical device with a manipulator assembly of the medical system such that the manipulator assembly controls the movement of the medical device.

26. The non-transitory machine-readable medium according to claim 25, wherein: The engagement operation engages the input disk of the medical device with the actuator disk of the manipulator assembly. and Comparing the one or more first parameters with the one or more second parameters includes determining the correlation between the motion of the input disk and the actuator disk caused by the engagement operation in the first session, which is maintained in the second session.

27. The non-transitory machine-readable medium according to claim 26, wherein: Comparing the one or more first parameters with the one or more second parameters includes performing an engagement test, and The actuator disk applies more torque during the engagement operation than during the engagement test.

28. The non-transitory machine-readable medium according to claim 22, in, The medical system includes sensors for measuring the movement of the medical device, and The one or more medical device operations include sensor health operations, which include verifying the acceptability of first sensor health data received from the sensor.

29. The non-transitory machine-readable medium according to claim 28, wherein, Comparing the one or more first parameters with the one or more second parameters includes comparing the first sensor health data received from the sensor in the first session with the second sensor health data received from the sensor in the second session.

30. The non-transitory machine-readable medium according to claim 28, wherein, Comparing the one or more first parameters with the one or more second parameters includes comparing a first fingerprint representing first sensor health data received from the sensor in the first session with a second fingerprint representing second sensor health data received from the sensor in the second session.

31. The non-transitory machine-readable medium according to claim 22, wherein, Comparing the one or more first parameters with the one or more second parameters includes comparing a first controller configuration of the medical system used to control the medical device in the first session with a second controller configuration of the medical system used to control the medical device in the second session.

32. The non-transitory machine-readable medium according to claim 22, wherein, Comparing the one or more first parameters with the one or more second parameters includes comparing a first fingerprint representing a first controller configuration of the medical system for controlling the medical device in the first session with a second fingerprint representing a second controller configuration of the medical system for controlling the medical device in the second session.

33. The non-transitory machine-readable medium according to claim 22, wherein, The one or more medical device operations include motion testing operations for the medical device.

34. The non-transitory machine-readable medium according to claim 33, in, The medical system includes: An actuator for controlling the movement of the medical device, and Sensors used to measure the movement of the medical device, and The motion testing operation includes comparing the movement of the medical device measured by the sensor with the predicted movement of the medical device generated based on the measured movement of the actuator.

35. The non-transitory machine-readable medium according to claim 22, wherein, The one or more medical device operations include a registration operation for associating sensor data about the medical device with a reference frame.

36. The non-transitory machine-readable medium according to claim 22, wherein, The one or more medical device operations include navigation operations for moving the medical device toward a target anatomical feature.

37. The non-transitory machine-readable medium according to claim 22, wherein: Executing the first session includes: in response to completing one or more medical device operations: Generate a first fingerprint representing the one or more first parameters. The first fingerprint is stored for retrieval after a restart during the execution of the medical system, and Comparing the one or more first parameters with the one or more second parameters includes comparing a second fingerprint representing the one or more second parameters with the first fingerprint.

38. The non-transitory machine-readable medium according to claim 22, wherein, The operation of one or more medical devices includes: Engagement operation for engaging the medical device with the manipulator assembly of the medical system. Sensor health operation for sensors that measure the movement of the medical device, and Motion testing operation for the aforementioned medical device.

39. The non-transitory machine-readable medium according to claim 22, wherein, Performing the second session includes: completing medical device operations that were not completed in the first session after skipping one or more medical device operations that were completed in the first session.

40. The non-transitory machine-readable medium according to claim 22, in, Executing the first session also includes performing medical device operations unrelated to the type of error that caused the medical system to restart during the process, and Executing the second session further includes skipping medical device operations unrelated to the type of error without comparing the one or more first parameters of the medical system associated with the first session with the one or more parameters of the medical system associated with the second session.

41. A method for operating a medical system, comprising: The first session of the medical system is executed for the process, wherein executing the first session includes performing one or more medical device operations for the medical device; After completing one or more medical device operations, the medical system is restarted during execution; and After a restart during the execution of the medical system, a second session of the medical system is executed for the process, wherein executing the second session includes: The one or more medical device operations performed in the first session are skipped based on comparing one or more first parameters of the medical system associated with the first session with one or more parameters of the medical system associated with the second session.

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