Medical system equipped with medical imaging device having light source and means for moving sensor on basis of detection of light by sensor

Abstract

To provide a system, a device, and a method for positioning a medical device at a target treatment site using a medical system including a target identification logic.SOLUTION: There is disclosed a medical system (100) including a medical device (110) having an imaging device configured so that the position of a target site is determined on the basis of an image by the acquisition of the image of the target site. The medical device includes a light source configured so that light is oriented to the position of the target site. The medical system includes a processor (104) and a non-temporary computer readable medium for storing an instruction to move a sensor of medical equipment (140) toward the position of the target site on the basis of the detection of light at the target site by the sensor, when executed by the processor.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a medical device tracking system, device, and related methods. More particularly, the present invention relates to a system, device, and related method for identifying the location of one or more target sites within a patient during an endoscopic procedure to facilitate positioning of a medical device.

Background Art

[0002] Technological advancements have enabled users of medical systems, devices, and methods to perform increasingly complex procedures on patients. Among other surgical procedures, one challenge in the field of minimally invasive surgery, such as endoscopy, is associated with the intubation of target sites (such as the dilated portion opening into the common bile duct) within the patient's body. Accurately positioning a medical device at a target site within a patient is made difficult by the lack of visualization of the target site and the lack of control over the positioning of the medical device relative to the target site. The drawbacks of medical devices in providing stability to the positioning of an endoscope at a patient's target treatment site can prolong the procedure, limit its effectiveness, or cause injury to the patient due to device misalignment or instability. There is a need for devices and methods to address one or more of these difficulties or other related problems.

Summary of the Invention

[0003] The present invention relates to a system, device, and method for positioning a medical device at a target treatment site using a medical system that includes target identification logic. Each aspect disclosed herein may include one or more features described in relation to any of the other disclosed aspects.

[0004] According to one embodiment, a medical system includes a medical device having an imaging device configured to acquire an image of a target site. The position of the target site is determined based on the image. The medical device further includes a light source configured to direct light towards the position of the target site, a processor, and a non-transitory computer-readable medium that stores, when executed by the processor, instructions for the processor to move a sensor of a medical instrument towards the position of the target site based on detection of the light at the target site by the sensor.

[0005] Any of the medical systems described in this specification may have any one of the following features. The sensor is movable relative to the imaging device towards the position of the target site based on the detection of light at the target site by the sensor. The instructions stored in the non-transitory computer-readable medium cause the processor to detect a change in the position of the imaging device relative to the target site, determine the position of the target site relative to the imaging device, and redirect light to the position of the target site. The processor is configured to detect a change in the position of the imaging device relative to the target site based on the images periodically acquired by the imaging device. The processor is configured to determine the degree of change in position by comparing the position of the target site with the original position of the target site. The processor is configured to determine whether the degree of change in position exceeds a pre-programmed threshold value. The light source includes a source that generates a laser beam. The imaging device includes a camera. The medical system may include a medical instrument, and the sensor includes at least one of a photodetector, a photodiode, and a charge-coupled device (CCD). The sensor is configured to generate a photodiode signal in response to the detection of light at the target site. The intensity of the photodiode signal generated by the sensor includes a greater intensity when the sensor is located at a first distance from the light and a smaller intensity when the sensor is located at a second distance from the light. The first distance is smaller than the second distance. The medical device includes a mirror configured to reflect the light generated by the light source towards the position of the target site. The mirror is configured to move to redirect the light towards the position of the target site in response to the detection of a change in the position of the imaging device relative to the target site by the processor. The mirror includes a micro-mirror (MEMs mirror) configured to reflect light along two axes. The mirror is disposed adjacent to the light source of the medical device. The processor is configured to generate a visual identifier along the image acquired by the imaging device indicating the position of the target site.

[0006] According to another embodiment, a medical system includes a medical device that includes an imaging device configured to acquire an image of a target site and a light source configured to direct light toward the target site. The medical system includes a medical instrument movable relative to the medical device. The medical instrument includes a sensor configured to detect light at the target site. The medical instrument is movable toward the target site in response to detection of light at the target site by the sensor.

[0007] Any of the medical systems described herein may have any one of the following features. The medical system may include a processor configured to detect movement of the medical device relative to the target site based on an image acquired by the imaging device. The light source is configured to redirect light based on the detected movement of the medical device. The medical device is an endoscope or an enteroscope, and the medical instrument is a catheter.

[0008] According to another embodiment, a method of moving a medical instrument toward a target site includes acquiring an image of the target site using an imaging device. A first position of the target site is determined based on the image. The method includes transmitting light to the first position by a light source, detecting light incident at the first position by a sensor of the medical instrument, and moving the medical instrument toward the target site based on detection of the incident light at the first position by the sensor.

[0009] Any of the methods of using the medical systems described herein may have any one of the following steps and / or elements. The method includes acquiring an image of the target site using an imaging device to determine a second position of the target site in response to detection of movement of the medical device within the target site, redirecting light from the light source to the second position, and moving the medical instrument toward the target site based on detection of light at the second position by the sensor.

[0010] Both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the present disclosure and, together with the description, serve to explain the principles of the invention.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5A

Figure 5B

Figure 5C

Figure 6

Modes for Carrying Out the Invention

[0012] Embodiments of the present invention include systems, devices, and methods for identifying, tracking, and manipulating the position of one or more instruments or medical devices at a target site within the body. Here, reference will be made in detail to aspects of the present invention, examples of which are shown in the accompanying drawings. Whenever possible, the same or similar reference numerals are used throughout the plurality of drawings to refer to the same or similar parts. The term "distal" refers to the portion that is furthest from the user when introducing the device into the patient. In contrast, the term "proximal" refers to the portion that is closest to the user when placing the device within the patient. As used herein, the terms "comprising," "having," or other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device that comprises a list of elements does not necessarily include only those elements, but may include other elements not expressly listed or inherent to such process, method, article, or device. The term "exemplary" is used in the sense of "example" rather than "ideal." As used herein, the terms "about," "substantially," and "nearly" indicate a range of values within + / - 10% of the recited value.

[0013] Embodiments of the present invention can be used, for example, to identify the position of a target site using a medical system such as a medical system having target identification logic. For example, some embodiments combine an imaging device and a light source with a medical device to identify the position of the target site. The imaging device can acquire an image of the target site, and the light source can direct light towards the target site in response to the identification of the position of the target site based on the image. The target identification logic of the medical system can detect the movement of the medical device and, in response, determine an adjusted position of the target site relative to the medical device, thereby redirecting the light from the light source towards the position of the target site.

[0014] Embodiments of the present invention relate to devices and methods for performing various medical procedures and treating the large intestine (colon), small intestine, cecum, esophagus, any other part of the gastrointestinal tract, and / or any other suitable patient anatomical structure (collectively referred to herein as the "target treatment site"). The various embodiments described herein include single-use or disposable medical devices. Here, reference is made in detail to the embodiments of the present invention described above and illustrated in the accompanying drawings. As much as possible, the same reference numerals are used throughout the drawings to refer to the same or similar parts.

[0015] FIG. 1 shows a schematic diagram of an exemplary medical system 100 according to an embodiment of the present invention. The medical system 100 includes an image processing device 102, a medical device 110, and a medical instrument 140. The image processing device 102 can be communicably connected to the medical device 110 via a cable 118. In other embodiments, the image processing device 102 can communicate wirelessly with the medical device 110. In an embodiment, the image processing device 102 is a computer system incorporating a plurality of hardware components that enable it to receive and monitor data, accurately display images of one or more features (e.g., target sites), and / or process other information described herein. The hardware components of the image processing device 102 can include at least one processor 104 and at least one memory 106.

[0016] The processor 104 of the image processing device 102 can include any computing device capable of executing machine-readable instructions, which can be stored in a non-transitory computer-readable medium such as, for example, the memory 106 of the image processing device 102. By way of example, the processor 104 can include a controller, integrated circuit, microchip, computer, and / or any other computer processing unit operable to perform the calculations and logical operations necessary to execute a program. As will be described in more detail herein, the processor 104 is configured to perform one or more operations in accordance with instructions such as target identification logic 108 stored in the memory 106.

[0017] The memory 106 of the image processing apparatus 102 is, for example, a non-transitory computer-readable medium that stores machine-readable instructions such as the target identification logic 108 therein. As will be described in more detail below, the target identification logic 108 may include executable instructions that cause the medical device 110 to track the position of the target site that the medical instrument 140 should lock onto and proceed to in order to perform one or more procedures at or near the target site. Various programming algorithms and data that assist in the operation of the medical system 100 are wholly or partially present in the memory 106. The memory 106 may include any type of computer-readable medium suitable for storing data and algorithms, such as, for example, random access memory (RAM), read-only memory (ROM), flash memory, hard drives, and / or any device capable of storing machine-readable instructions. The memory 106 may include one or more data sets such as, but not limited to, image data 109 from one or more components of the medical system 100 (e.g., the medical device 110, the medical instrument 140, etc.).

[0018] Continuing to refer to FIG. 1, the medical device 110 may be configured to facilitate the positioning of one or more components of the medical system 100 relative to a patient, such as, for example, the medical instrument 140. In an embodiment, the medical device 110 is an endoscope of any kind and may include a handle 112, a drive mechanism 114, at least one port 116, and a shaft 120. The handle 112 of the medical device 110 may have one or more lumens (not shown) that communicate with the lumens of one or more other components of the medical system 100. The handle 112 further includes at least one port 116 that opens into one or more of the lumens of the handle 112. As will be described in more detail herein, the at least one port 116 is sized and shaped to receive one or more instruments therethrough, such as, for example, the medical instrument 140 of the medical system 100.

[0019] The shaft 120 of the medical device 110 can include a sufficiently elastic tube that selectively bends, rotates, or twists when inserted into and / or through a tortuous body structure of a patient to a target treatment site. The shaft 120 can have one or more lumens (not shown) that extend through the shaft 120, including, for example, a working lumen for receiving an instrument (e.g., medical instrument 140). In other embodiments, the shaft 120 includes a control wire lumen for receiving one or more control wires for driving one or more distal portions / instruments (e.g., including articulating joints and drivers), a fluid lumen for delivering fluid, a lighting lumen for receiving at least a portion of a lighting assembly (not shown), and / or an imaging lumen for receiving at least a portion of an imaging assembly (not shown), and the like.

[0020] Continuing to refer to FIG. 1, the medical device 110 can further include a tip 122 at the distal end of the shaft 120. In some embodiments, the tip 122 can be attached to the distal end of the shaft 120, while in other embodiments, the tip 122 can be integral with the shaft 120. For example, the tip 122 can include a cap configured to receive the distal end of the shaft 120 therein. The tip 122 can include one or more openings that communicate with one or more lumens of the shaft 120. For example, the tip 122 can include a working opening 124 through which a medical instrument 140 can exit the working lumen of the shaft 120. In other embodiments, the tip 122 of the shaft 120 can include additional openings and / or fewer openings therein, such as, for example, a fluid opening or nozzle through which fluid can be discharged from the fluid lumen of the shaft 120, a lighting opening / window through which light can be emitted, and / or an imaging opening / window for receiving light used by an imaging device to generate an image.

[0021] The drive mechanism 114 of the medical device 110 is disposed on the handle 112 and may include one or more knobs, buttons, levers, switches, and / or other suitable actuators. The drive mechanism 114 is configured to control at least one of the deflection of the shaft 120 (e.g., by driving a control wire), the delivery of fluid, the emission of illumination, and / or various imaging functions. As described in more detail herein, in some embodiments, the medical device 110 includes one or more control wires for driving the actuator 126 of the medical device 110 at the distal end 122 (see FIGS. 2-3). Thus, the user of the medical device 110 operates the drive mechanism 114 to apply at least one of a pulling force and a pushing force to one or more control wires to control the posture of the actuator 126 and control the posture of the instrument adjacent to the actuator 126 (e.g., the medical instrument 140).

[0022] Continuing to refer to FIG. 1, the medical instrument 140 of the medical system 100 includes a catheter having a long body 142 between a proximal end and a distal end 144. A handle 141 is at the proximal end of the long body 142. The long body 142 of the medical instrument is flexible so that it can bend, rotate, or twist when the medical instrument 140 is inserted into the working lumen of the medical device 110. The handle 141 of the medical instrument 140 can be configured to move, rotate, and bend the long body 142. Further, the handle 141 can define one or more ports (not shown) sized to receive one or more instruments through the long body 142 of the medical instrument 140. The medical device 110 is configured to receive the medical instrument 140 through at least one port 116, through the shaft 120, and through the working lumen to the working opening 124 of the distal end 122. In this case, as will be described in more detail below, the medical instrument 140 can extend distally from the working opening 124 into the environment around the distal end 122 (e.g., the target treatment site of the patient, etc.). The distal end 144 of the medical instrument 140 can extend distally from the working opening 124 in response to the long body 142 translating through the working lumen of the shaft 120. In other embodiments, the medical instrument 140 can include, but is not limited to, at least any one of a guide wire, dissection or grasping forceps, biopsy device, snare loop, injection needle, dissection blade, scissors, retractable basket, retrieval device, ablation catheter and / or electrophysiology catheter, stent delivery device, surgical suturing device, balloon catheter, laser emitting device, imaging device, and / or any other suitable instrument, and can include various other devices other than those shown and described herein.

[0023] Referring now to FIG. 2, the medical instrument 140 is omitted from the working opening 124, and the tip 122 of the shaft 120 is depicted. The tip 122 includes a driver 126 that is disposed adjacent to the working opening 124 and is partially disposed within the working lumen of the shaft 120. The driver 126 is illustrated and described herein in a non-driven position, and upon driving of the drive mechanism 114 of the handle 112, the driver 126 can be extended to a driven position (see FIG. 3). As will be described in further detail below, the driver 126 is configured to position an instrument (e.g., the medical instrument 140) received through the working lumen of the shaft 120 outwardly from the working opening 124 when in the driven position.

[0024] The tip 122 of the medical device 110 further includes a light source 128, an imaging device 130, and a laser 132 disposed adjacent to the working opening 124 of the shaft 120. In an embodiment, the light source 128 of the medical device 110 is configured and operable to direct light outwardly from the tip 122 of the shaft 120, thereby irradiating the environment surrounding the tip 122, such as, for example, a target treatment site of a patient at which the medical device 110 may be located (see FIGS. 5A-5C). The light source 128 may include a light emitter such as, for example, a light emitting diode (LED) or the like. The imaging device 130 of the medical device 110 is configured and operable to acquire an image of the environment surrounding the tip 122 (e.g., a target treatment site of a patient, etc.) (see FIGS. 5A-5C). In some embodiments, the imaging device 130 may include a camera capable of high-resolution imaging. In other embodiments, the medical device 110 may completely omit the imaging device 130 on the tip 122 such that a separate imaging device is received by the medical device 110 through the shaft 120.

[0025] Continuing to refer to FIG. 2, the laser 132 of the medical device 110 is configured and operable to generate a light / laser beam outwardly from the distal end 122 of the shaft 120. In some embodiments, the laser 132 is further configured to selectively direct the light / laser beam to a predetermined position, thereby marking a predetermined position with the light / laser beam. The light / laser beam generated by the laser 132 may be controllable independently of the light emitted by at least one of the light source 128 and any other component of the medical system 100. As will be further described below, a target site within a patient's body may be marked with a light / laser beam from the laser 132 to track the position of the target site during use of the medical system 100 in a procedure (see FIGS. 5A - 5C).

[0026] In some embodiments, the medical device 110 may further include a mirror disposed at least one of along and adjacent to the distal end 122 of the shaft 120. The mirror of the medical device 110 may be disposed adjacent to the laser 132 to form an integral structure such that the mirror coincides with the beam of light emitted by the laser 132. In an embodiment, the mirror of the medical device 110 selectively reflects the light / laser beam generated by the laser 132 toward a predetermined position of the target site. The mirror of the medical device 110 moves, pivots, translates, or rotates relative to at least one of the laser 132 and the distal end 122 of the shaft 120, thereby redirecting the light / laser beam to a predetermined position of the target site. In an embodiment, the mirror includes a micromirror (MEMS mirror) configured to reflect the light / laser beam along at least one of two axes (e.g., the x - y directions of the coordinate axes) and within an optical scanning angle ranging up to about 32 degrees. As will be described in further detail below, the predetermined position of the target site may be determined based on an image (e.g., image data 109) acquired by the imaging device 128 of the medical device 110.

[0027] As shown in FIG. 3, the medical instrument 140 is depicted as extending outwardly from the distal end 122 of the shaft 120 with the screwdriver 126 engaged with the elongate body 142 of the medical instrument 140. When the screwdriver 126 is in the driving position, the front face of the screwdriver 126 engages the elongate body 142 of the medical instrument 140, whereby the distal end 144 is deflected laterally outwardly from the working opening 124. In some embodiments, the front face of the screwdriver 126 has a curvature that facilitates both or either the deflection and bending of the elongate body 142 of the medical instrument 140. The screwdriver 126 can include various shapes, sizes, and / or configurations other than those illustrated and described herein without departing from the scope of the present invention.

[0028] The medical instrument 140 further includes a sensor 146 disposed along the elongate body 142 adjacent to the distal end 144. In an embodiment, the sensor 146 can be installed on both or either the distal-facing surface and the most distal surface of the medical instrument 140. The sensor 146 of the medical instrument 140 is configured to detect one or more objects, properties, characteristics, and / or features that are present at or proximate to the distal end 144 of the medical instrument 140. By way of example, in some embodiments, the sensor 146 can be configured to detect light such as the light generated by the light source 128 of the medical device 110. In other embodiments, the sensor 146 can be configured to detect a light / laser beam generated by the laser 132 of the medical device 110, e.g., a point on the target site where the light / laser beam 132 is incident. The sensor 146 can include at least one of a photodetector, a photodiode, a charge-coupled device (CCD), and various other suitable detectors.

[0029] In an embodiment, sensor 146 includes a four-segment photodiode configured to convert light into an electric current. As will be described in more detail herein, in an embodiment, sensor 146 identifies a predetermined position of a target site in response to detection of a light / laser beam directed to the target site by laser 132 (see FIGS. 5A-5C). In some embodiments, sensor 146 may be disposed along the proximal end of elongate body 142 adjacent to handle 141 of medical instrument 140 with a fiber communicatively coupled to sensor 146 disposed adjacent distal end 144. In this case, distal end 144 of medical instrument 140 may have a relatively small outer profile. In another embodiment, medical instrument 140 may completely omit sensor 146 on distal end 144 such that a separate sensing device is received by medical instrument 140 through elongate body 142, for example, via one or more guidewires.

[0030] Referring now to FIGS. 4-5C in conjunction with the flowchart of FIG. 6, an exemplary method 200 of using medical system 100 to identify and access a target site is schematically depicted. The depiction of FIGS. 4-6 and the accompanying description below are not intended to limit the subject matter described herein to a particular method.

[0031] In Project 202, as shown in FIG. 4, the medical device 110 of the medical system 100 is inserted into the patient's body 10. The shaft 120 of the medical device 100 is guided through the patient's digestive tract by inserting the distal end 122 into the patient's nose or mouth (or other suitable natural body opening) of the patient's body 10. In an embodiment, the medical device 110 is inserted through the patient's gastrointestinal tract until it reaches the target treatment site, including within the esophagus 12, stomach 16, and small intestine 18. The length of the shaft 120 can be sufficient such that when the distal end 122 of the medical instrument 110 is inside the patient's body 10, the proximal end (including the handle 112) of the medical device 110 is outside the patient's body 10. Although the present invention relates to the use of the medical system 100 in the digestive tract within the patient's body 10, the features of the present invention can be used in various other sites within the patient's body 10 (e.g., other organs, tissues, etc.).

[0032] The shaft 120 of the medical device 110 can extend into the patient's body 10 until it reaches a position where instruments disposed within the medical device 110, such as the medical instrument 140 of the medical system 100, can access the target treatment site. In an example of using the medical device 110 to access and visualize elements of the biliary and pancreatic systems, this position can be, for example, the duodenum of the small intestine 18. In such an example, the target site can be the Vater ampulla / papilla 22 located in a part of the duodenum of the small intestine 18. The Vater ampulla / papilla 22 forms the opening where the pancreatic duct and the common bile duct 20 pour into the duodenum of the small intestine 18, and the hepatic duct and the gallbladder pour into the common bile duct 20.

[0033] Continuing to refer to FIG. 4, when the distal end 122 of the shaft 120 is disposed proximate to the target site (e.g., the fundus enlargement 22), the medical instrument 140 of the medical system 100 can be slidably received within the medical device 110 to position the distal end 144 proximate to the target site. Advancement through the port 106 of the medical instrument 140 and through the shaft 120 to the distal end 122 can be performed in response to actuation of the handle 142. In another embodiment, the medical instrument 140 can be received through the medical device 110 prior to inserting the shaft 120 into the patient's body 10 in step 202.

[0034] In some embodiments, rotation of the distal end 122 near the target site may be desirable to facilitate positioning of the working opening 124 toward the position of the target site. For example, it may be desirable to reach the fundus enlargement / papilla 22 when the distal end 144 of the medical instrument 140 is deflected outwardly from the working opening 124 by the screwdriver 126 (FIG. 3). In this case, the distal end 122 of the shaft 120 is rotated until the working opening 124 of the medical instrument 140, through which the medical instrument 140 can exit the medical device 110, faces the fundus enlargement / papilla 22. Rotation of at least one of the distal end 122 and the shaft 120 is performed in response to driving the drive mechanism 114 of the handle 112 and / or by rotating the entire handle 112, and specification of at least one of the relative orientation and position of the distal end 122 is performed in response to driving the imaging device 130 on the distal end 122.

[0035] In step 204, when the working opening 124 of the distal end 122 is directed at the target site, the environment around the target site can be illuminated in response to driving the light source 128. In another embodiment, the light source 128 is already driven to direct light outwardly from the distal end 122, for example, at least one of before and when the medical device 110 is inserted into the patient's body 10 in step 202.

[0036] In step 206, when the target site is irradiated by the light source 128, the processor 104 of the image processing device 102 executes the target identification logic 108 to drive the imaging device 130 of the medical device 110. Accordingly, the imaging device 130 acquires an image of the target site. When the imaging device 130 is directed at the target site (e.g., the diverticulum 22), an image of the position of the target site is acquired by the medical device 110 and can be communicated to the image processing device 102 for storage in the memory 106 as image data 109.

[0037] In step 208, referring to FIG. 5A, when the image data 109 is received from the medical device 110 and stored in the memory 106, the processor 104 of the image processing device 102 executes the target identification logic 108 to determine a first position 52A of the target site (e.g., the diverticulum 22 within the small intestine 18) with respect to the imaging device 130 on the distal end 122. The processor 104 analyzes the image data 109 acquired by the imaging device 130 in accordance with executing the machine-readable instructions of the target identification logic 108 to determine the coordinate position of the target site with respect to the distal end 122. Alternatively, in another embodiment, a user of the medical system 100 can manually identify the first position 52A of the target site based on the image data 109 via, for example, a touch screen user interface display (not shown) communicatively connected to the image processing device 102.

[0038] In some embodiments, when executing the target identification logic 108, the processor 104 may generate a visual identifier (e.g., a highlight, a geometric shape, an arrow, and the like) at the first position 52A of the target site, thereby visibly displaying the first position 52A of the target site for reference. As shown in FIG. 5A, the visual identifier of the first position 52A may include at least one of a box and an "X" that is superimposed on the image of the target site to visibly display the target site in the image data 109. The visual identifier of the first position 52A may be displayed on a user interface display (not shown) communicatively connected to the image processing device 102. Alternatively, in another embodiment, a user of the medical system 100 may manually mark the first position 52A of the target site with a visual identifier based on the image data 109, for example, via a touch screen user interface display (not shown) communicatively connected to the image processing device 102. In this case, the processor 104 may analyze the image data 109 to determine the first position 52A of the target site according to at least one of the manual mark and the identifier by the user of the medical system 100 for continuous tracking in subsequent images of the target site.

[0039] In step 210, referring to FIG. 5B, when the first position 52A of the target site is determined with respect to the tip 122, the processor 104 of the image processing device 102 executes the target identification logic 108 to mark the first position 52A of the target site with the light / laser beam 134 by driving the laser 132 of the medical device 110. The processor 104, in accordance with executing the machine-readable instructions of the target identification logic 108, drives the mirror of the medical device 110 to reflect the light / laser beam 134 generated by the laser 132 and redirects the light / laser beam 132 toward the first position 52A of the target site.

[0040] In operation 212, continuing to refer to FIG. 5B, when the light / laser beam 134 of the laser 132 is directed (e.g., by a mirror) to a first position 52A of the target site (e.g., the dilated portion 22 of the bile duct), the medical device 140 can move toward the target site in response to detection of the light / laser beam 132 by the sensor 146. The handle 141 of the medical device 140 drives the elongate body 142 to automatically translate through the working lumen of the shaft 120 to position the distal end 144 adjacent to the target site. Thus, the medical device 110 tracks the first position 52A of the target site, locks on to the first position 52A of the medical device 140 using the sensor 146, and autonomously maneuvers the distal end 144 toward the target site, enabling one or more procedures to be performed at the target site, such as inserting a catheter into the dilated duct opening 22 of the common bile duct 20, for example.

[0041] When the sensor 146 is disposed along the distal end 144, the sensor 146 is configured to provide feedback in response to detection of the incidence of the light / laser beam 132 on the target site relative to the distal end 144. In some embodiments, the sensor 146 includes a photodiode configured to convert the light / laser beam 134 into an electric current such that the feedback by the sensor 146 includes a photodiode signal transmitted to a user of the medical device 140. The strength of the photodiode signal generated by the sensor 146 can indicate the spatial (e.g., three-dimensional) proximity of the sensor 146 to the point of incidence of the light / laser beam 134. Thus, when the light / laser beam 134 is directed to the first position 52A of the target site, the sensor 146 detects the relatively closely proximate light / laser beam 132, and the strength of the photodiode signal generated by the sensor 146 can increase as the distance between the distal end 144 of the medical device 140 and the target site decreases.

[0042] Since sensor 146 detects the relatively distant light / laser beam 132, as the distance between the distal end 144 of the medical instrument 140 and the target site increases, the strength (e.g., intensity change) of the photodiode signal generated by sensor 146 can decrease. The sensor 146 of the embodiments described herein includes a photodiode or a CCD configured to provide feedback in response to detection of the light / laser beam 132 in the form of a photodiode signal, although at least any one of various other suitable sensors and feedback forms can be generated by the sensor of the medical instrument 140 without departing from the scope of the present invention.

[0043] In some embodiments, the medical instrument 140 may include a processor and a memory similar to the processor 104 and the memory 106 of the image processing device 102 illustrated and described above. In this case, when the processor of the medical instrument 140 executes the target identification logic stored in the memory of the medical instrument 140, it can perform autonomous maneuvering of the medical instrument 140 with respect to the first position 52A of the target site by tracking the light / laser beam 134 with the sensor 146. In another embodiment, the medical instrument 140 can be manually guided to the first position 52A of the target site by a user of the medical system 100 by visually tracking the position of the distal end 144 with respect to the first position 52A via a user interface display (not shown). In this case, the user can visually guide the distal end 144 of the medical instrument 140 toward the visual identifier generated by the light / laser beam 132. As a merely exemplary example, the distal end 144 of the medical instrument 140 can be displayed on the user interface display by a visual identifier such as a crosshair superimposed on the user interface display indicating the position of the distal end 144, for example. Further, the feedback generated by the sensor 146 can be used to manually maneuver the medical instrument 140 toward the first position 52A of the target site additionally and / or alternatively on the user interface display.

[0044] In some cases, the medical device 110 of the medical system 100 can move intentionally and / or accidentally with respect to the target site during the procedure when the medical instrument 140 is moving towards the target site in step 212. Such movement can occur due to the difficulty of maintaining the medical device 110 stable during the procedure. In this case, the position of the target site (e.g., the farta balloon 22) with respect to at least one of the distal end 122 of the shaft 120 and the distal end 144 of the medical instrument 140 can be changed or altered with respect to the initial corresponding position between the target site and the medical device 110. Therefore, the image data 109 initially acquired by the medical system 100 in step 206 can include either or both inaccuracies and drawbacks in providing the current position of the target site (e.g., the farta balloon 22). As a result, continuously moving the distal end 144 of the medical instrument 140 towards the first position 52A as initially determined by the processor of the imaging processing device 102 in step 208 may prevent the user of the medical system 100 from accessing the target site appropriately.

[0045] In step 214, referring to FIG. 5C, in response to the detection of the movement of the medical device 110 with respect to the target site (e.g., the farta balloon 22) by the processor 104 of the imaging processing device 102, the processor 104 can execute the target identification logic 108 to drive the imaging device 130 to acquire updated image data 109 of the target site. In some embodiments, the processor 104 of the imaging processing device 102, when executing the target identification logic 108, can periodically acquire images using the imaging device 130 for comparison with the image data 109 stored in the memory 106 in step 206 to determine whether the medical device 110 has moved with respect to the target site. Therefore, the movement of the medical device 110 with respect to the target site is based on the determination that the degree of change in position between the first position 52A and the detected position of the target site is equal to or greater than a pre-programmed threshold value (e.g., millimeters, micrometers, nanometers, etc.).

[0046] In this case, if it is determined that the recorded position of the first position 52A has changed with respect to the position of the target site detected via the periodically acquired image, the processor 104 of the image processing system 102 repeats the steps 206, 208, 210, and 212 of the method 200. The processor 104 executes the target identification logic 108 to obtain an image of the target site (e.g., image data 109) in step 206, determine the second position 52B of the target site (e.g., the diverticulum 22) in step 208, and mark the second position 52B with the light / laser beam 134 in step 210. The method 200 performs these steps substantially the same as those illustrated and described above to facilitate the localization of the target site using the medical system 100 according to the new second position 52B of the target site.

[0047] In another embodiment, the image processing device 102 of the medical system 100 can be communicably connected to a remote station (not shown) to dynamically update the target identification logic 108 stored in the memory 106. As an exemplary embodiment, the image processing device 102 is operable to receive neural network data from a remote station (e.g., a computer server) via, for example, at least one of a wired connection and a wireless connection. The neural network data received by the imaging processing device 102 can include supplementary image data 109 recorded from a plurality of previous procedures, devices, systems, etc., similar to the image data 109 illustrated and described above. Such image data is from a plurality of different patients, acquired over a long period of time, and of the same or similar patient's biological structure. The supplementary image data 109 is stored in the memory 106 and is utilized by the processor 104 of the image processing device 102 to artificially determine or identify at least one of the common physical properties and characteristics of one or more target sites, such as the diverticulum 22 in the small intestine 18, the diverticular duct opening 22 of the common bile duct 20, etc.

[0048] In an embodiment, when the processor 104 of the image processing device 102 executes the machine-readable instructions of the target identification logic 108, it may refer to the supplementary image data 109 when analyzing the image data 109 acquired by the imaging device 130 of the medical device 110 to determine a first position 52A of a target site (e.g., the fatter dilated portion 22 in the small intestine 18). Accordingly, by providing the supplementary image data 109 to the image processing device 102 with additional data for artificial learning of the size, shape, and / or configuration of a similar target site, it may facilitate the determination of the coordinate position of the target site with respect to the medical device 110 during the procedure.

[0049] Each of the above devices, assemblies, and methods may be used to detect, mark, and track the position of a target site. By providing a medical assembly, the user can accurately interact with the patient's tissue using artificial intelligence software within the image processing device during the procedure, so that the user can shorten the overall procedure time, increase the efficiency of the procedure, and avoid unnecessary harm to the patient's body resulting from a lack of control over the movement and positioning of the medical device when accessing the patient's target tissue.

[0050] It will be apparent to those skilled in the art that various modifications and changes can be made to the disclosed devices and methods without departing from the scope of the invention. The disclosed devices may incorporate a plurality of hardware components that cause the device to perform one or more operations during the procedure according to those described herein, such as a processor and a non-transitory computer-readable medium, and may include various suitable computer systems and computing units or computer systems or computing units. Other aspects of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the features disclosed herein. The specification and examples are intended to be considered as exemplary only.

Claims

1. An imaging device that acquires an image of a target site, wherein the position of the target site is determined based on the image, the imaging device, A light source configured to direct light toward the position of the target site, A medical device comprising: A processor and a non-transitory computer-readable medium that, when executed by the processor, stores instructions for the processor to move the sensor toward the position of the target site based on detection of the light at the target site by a sensor of a medical instrument, A medical system comprising.

2. Based on detection of the light at the target site by the sensor, the sensor is movable relative to the imaging device toward the position of the target site, the medical system according to claim 1.

3. The instructions stored in the non-transitory computer-readable medium are To the processor, Detecting a change in the position of the imaging device relative to the target site, Determining the position of the target site relative to the imaging device, Re-directing the light to the position of the target site, The medical system according to claim 1 or 2, which causes the above to be performed.

4. The processor is configured to detect a change in the position of the imaging device relative to the target site based on an image periodically acquired by the imaging device, The processor is configured to determine a degree of change in position by comparing the position of the target site with the original position of the target site, The medical system according to claim 3.

5. The processor is configured to determine whether the degree of change in position exceeds a pre-programmed threshold value, the medical system according to claim 4.

6. The light source includes a source that generates a laser beam, the medical system according to any one of claims 1 to 5.

7. The imaging device includes a camera, the medical system according to any one of claims 1 to 6.

8. Further comprising a medical instrument, wherein the sensor includes at least one of a photodetector, a photodiode, and a charge-coupled device (CCD), the medical system according to any one of claims 1 to 7.

9. The medical system according to any one of claims 1 to 8, wherein the sensor is configured to generate a photodiode signal in response to detection of the light at the target site.

10. The intensity of the photodiode signal generated by the sensor includes a greater intensity when the sensor is located at a first distance from the light and a smaller intensity when the sensor is located at a second distance from the light, The medical system according to claim 9, wherein the first distance is smaller than the second distance.

11. The medical system according to any one of claims 1 to 10, wherein the medical device includes a mirror configured to reflect the light generated by the light source toward the position of the target site.

12. The medical system according to claim 11, wherein the mirror is configured to move to redirect the light toward the position of the target site in response to detection by the processor of a change in position of the imaging device relative to the target site.

13. The medical system according to claim 11 or 12, wherein the mirror includes a micromirror (MEMS mirror) configured to reflect the light along two axes.

14. The medical system according to any one of claims 11 to 13, wherein the mirror is disposed adjacent to the light source of the medical device.

15. The medical system according to any one of claims 1 to 14, wherein the processor is configured to generate a visual identifier along an image acquired by the imaging device indicating the position of the target site.

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