Systems and methods of continuous registration for image-guided surgery

Methods and systems of registering a model of one or more anatomic passageways of a patient to a patient space are provided herein. An exemplary method may include accessing a set of model points of the model of the passageways, the model points being associated with a model space, collecting measured points along a length of a catheter inserted into the passageways of the patient, the measured points determined by a shape of the catheter, and assigning points of the first set to a plurality of subsets. The exemplary method may further include registering each of the subsets with the model points to produce a plurality of registration candidates, comparing the candidates to identify an optimal subset associated with an optimal registration of the plurality of candidates that translates the set of model points and at least one set of the sets of measured points into a common space.

SYSTEMS AND METHODS FOR REGISTRATION OF A MEDICAL DEVICE USING A REDUCED SEARCH SPACE

A method comprises generating an image of a set of connected passageways of a patient anatomy and modeling the set of connected passageways of the patient anatomy as a structure of linked bounded-surface elements. The method also comprises receiving position information for a point on an instrument indicating a position of the point relative to the connected passageways and generating adjusted position information for the point including comparing the received position information to the structure of linked bounded-surface elements. The method also comprises creating an adjusted instrument image with the adjusted position information and generating a composite image including the image of the set of connected passageways and the adjusted instrument image. 119-. (canceled)20. A method comprising:generating an image of a set of connected passageways of a patient anatomy;modeling the set of connected passageways of the patient anatomy as a structure of linked bounded-surface elements;receiving position information for a point on an instrument indicating a position of the point relative to the connected passageways;generating adjusted position information for the point including comparing the received position information to the structure of linked bounded-surface elements;creating an adjusted instrument image with the adjusted position information; andgenerating a composite image including the image of the set of connected passageways and the adjusted instrument image.21. The method of wherein the step of generating an image of a set of connected passageways includes receiving preoperative medical images into a computer memory device.22. The method of wherein the step of receiving position information for the point on the instrument includes receiving position information locating the point on the instrument outside of one of the connected passageways of the patient anatomy.23. The method of wherein the step of receiving position information for the point on the ...

Systems and methods of registration for image-guided surgery

A method comprises segmenting first modality image data representing a model of one or more passageways within a patient; generating a first set of points based on the segmented image data; registering the first set of points to a second set of points obtained by a second modality by: determining a set of matches between the first and second sets of points, and discarding a first subset of the set of matches based on a heuristic to generate a modified set of matches by ignoring an associated set of matches between the first and second sets of points when computing a corrective motion for the second set of points—an ignored match is included in a second subset of the set of matches when computing a second corrective motion for the second set of points; and displaying a visual representation of the passageways based on the modified set of matches.

CATHETERS WITH CONTROL MODES FOR INTERCHANGEABLE PROBES

A medical system including a catheter containing a mechanical system that is remotely operable uses a sensor to at least partly measure a pose of the catheter and a control system coupled to the mechanical system. The control system has multiple operating modes including one or more holding modes in which the control system operates the mechanical system to maintain a working configuration of the catheter based on feedback from the sensor. 1. A medical system comprising:a catheter containing a mechanical system that is remotely operable to control a distal tip of the catheter;a sensor configured to at least partly measure a pose of the distal tip; anda control system coupled to the mechanical system, wherein the control system has a plurality of modes of operation including a holding mode in which the control system operates the mechanical system to actively maintain a working configuration of the distal tip based on feedback from the sensor.2. The system of claim 1 , wherein the plurality of operating modes of the control system further includes a mode in which the control system operates the mechanical system to steer the catheter in response to user input.3. The system of claim 1 , wherein the control system and the sensor form a closed-loop system for movement and sensing of the working configuration of the distal tip.4. The system of claim 1 , wherein the working configuration defines a position of the distal tip relative to a work site.5. The system of claim 1 , wherein the working configuration defines an orientation of the distal tip relative to a work site.6. The system of claim 1 , wherein maintaining the working configuration includes maintaining a combination of a position and an orientation of the distal tip such that the distal tip remains pointed at a target in a work site.7. The system of claim 6 , wherein the medical system further comprises a removable probe deployed in the catheter claim 6 , and wherein the probe includes a laser configured so ...

SYSTEMS AND METHODS FOR REGISTRATION OF A MEDICAL DEVICE USING A REDUCED SEARCH SPACE

A medical system comprises a flexible instrument including a sensor adapted to provide tracking data for a point on the instrument. The medical system further comprises a memory storing images of a patient anatomy and a processor. The processor is configured to identify connected anatomical structures in the stored images of the patient anatomy, generate an anatomical centerline model from the identified connected anatomical structures, select a set of points disposed on a set of anatomical centerlines of the anatomical centerline model, generate a first plurality of cylindrical linkage elements representing the connected anatomical structures, receive the tracking data corresponding to the point on the instrument when the instrument is positioned within at least one of the connected anatomical structures, and match the point on the instrument to one of the first plurality of cylindrical linkage elements. 19-. (canceled)10. A medical system comprising:a flexible instrument including a sensor adapted to provide tracking data for a point on the instrument;a memory storing images of a patient anatomy; and identify connected anatomical structures in the stored images of the patient anatomy;', 'generate an anatomical centerline model from the identified connected anatomical structures;', 'select a set of points disposed on a set of anatomical centerlines of the anatomical centerline model;', 'generate a first plurality of cylindrical linkage elements representing the connected anatomical structures;', 'receive the tracking data corresponding to the point on the instrument when the instrument is positioned within at least one of the connected anatomical structures; and', identifying a second plurality of cylindrical linkage elements of the first plurality of cylindrical linkage elements in a region of a point on the instrument; and', 'determining, for each cylindrical linkage element in the second plurality of cylindrical linkage elements of the first plurality of ...

Method and system to sense relative partial-pose information using a shape sensor

A shape-sensing segment traverses through at least a portion of a kinematic chain of a tele-operated slave surgical instrument in a tele-operated minimally-invasive surgical system. The shape-sensing segment includes a pre-set perturbation. Shape information from the pre-set perturbation allows determination of relative partial-pose information for at least one link in the kinematic chain.

Guide apparatus for delivery of a flexible instrument and methods of use

A guiding apparatus comprises a support assembly extending along a longitudinal axis and including a first plurality of linkages and a second plurality of linkages. The first plurality of linkages includes a first channel formation and the second plurality of linkages includes a second channel formation. The support assembly has a coupled configuration with a proximal end and a distal end in which the first plurality of linkages is coupled to the second plurality of linkages with the first and second channel formations arranged to form a continuous channel through the support assembly. The continuous channel has an opening sized to receive an elongated flexible instrument.

OFF-AXIS ELECTROMAGNETIC SENSOR

A sensing system includes an off-axis coil in which wire is wound in loops about a roll axis and at an angle to the roll axis. In particular, the loops define respective areas that have a normal direction at a non-zero angle relative to the roll axis. A field generator can generate a variable magnetic field through the coil, and sensor logic can be coupled to the coil and configured to determine a measurement of a roll angle of the coil about the first axis using an electrical signal induced in the coil. 1. A sensing system comprising:a first coil including wire that is wound in a plurality of loops around a first axis, whereineach of the loops defines an area that has a first normal direction at a non-zero, first angle relative to the first axis.2. The sensing system of claim 1 , wherein the first angle exceeds 5°.3. The sensing system of claim 1 , wherein each of the loops includes a first part in which the wire is directed at an angle down the first axis and a second part in which the wire is wound at an angle up the first axis.4. The sensing system of claim 1 , further comprising:a second coil including wire that is wound in a plurality of loops around the first axis, wherein the loops in the second coil define respective areas that have a second normal direction at a non-zero, second angle relative to the first normal direction.5. The sensing system of claim 4 , wherein the second angle is about 90°.6. The sensing system of claim 4 , wherein the first coil and the second coil are substantially identical claim 4 , and the second coil has a yaw orientation that is rotated by 180° from an orientation of the first coil.7. The sensing system of claim 1 , further comprising:a field generator configured to generate a varying magnetic field through the first coil; andsensor logic coupled to receive an induced signal from the first coil, wherein the sensor logic is configured to use the signal in determining a roll angle of the sensor about the first axis.8. A sensing ...

GUIDE APPARATUS FOR DELIVERY OF A FLEXIBLE INSTRUMENT AND METHODS OF USE

An apparatus for guiding a flexible instrument comprises an elongated support assembly having a longitudinal axis. The elongated support assembly is adapted to laterally receive into engagement and longitudinally support an elongated flexible instrument. 1. An apparatus for guiding a flexible instrument , the apparatus comprising:an elongated support assembly having a longitudinal axis, the elongated support assembly adapted to laterally receive into engagement and longitudinally support an elongated flexible instrument.2. The apparatus of wherein the elongated support assembly includes a guide channel configured to laterally receive the elongated flexible instrument.3. The apparatus of wherein the guide channel includes an undulated lateral opening.4. The apparatus of wherein the elongated support assembly includes a fastener configured to laterally receive a mating fastener component of the elongated flexible instrument.5. The apparatus of wherein the elongated support assembly includes a magnetic structure configured to couple with the elongated flexible instrument.6. The apparatus of wherein the elongated support assembly is adapted to longitudinally support the elongated flexible instrument as the elongated support assembly is moved along the longitudinal axis.7. The apparatus of wherein the elongated support assembly is adapted to maintain a length of the elongated flexible instrument in a fixed configuration relative to the elongated support assembly as the elongated support assembly is moved along the longitudinal axis.8. The apparatus of claim 1 , wherein the elongated support assembly is adapted such that advancement of a proximal end of the elongated support assembly along the longitudinal axis directs a portion of the elongated support assembly away from the longitudinal axis.9. The apparatus of wherein the elongated support assembly includes a first elongated support member and a second elongated support member interlocked along the longitudinal axis.10 ...

METHOD AND SYSTEM FOR OPERATING A TELEOPERATED SURGICAL INSTRUMENT AND A MANUAL INSTRUMENT

A system comprises a teleoperated manipulator, a manually operated instrument, and a position sensor coupled to the manually operated instrument. The position sensor is configured to generate pose information for the manually operated instrument. The system further comprises a controller configured to map a pose of the manipulator to a fixed world reference frame based on three-dimensional pose information for the manipulator known internally within the system. The controller is further configured to map a pose of the manually operated instrument to the fixed world reference frame based on the pose information for the manually operated instrument.

Graphical user interface for displaying guidance information during an image-guided procedure

A method for displaying guidance information during an image-guided medical procedure includes receiving, by one or more hardware processors, data from a tracking system associated with an elongate device comprising a flexible body, calculating a bend radius along a length of the flexible body, determining supplemental guidance information that includes an indication of whether the bend radius is less than a minimum allowable bend radius, augmenting images with the supplemental guidance information to produce augmented images by applying a scheme in which a portion of a graphical representation of the flexible body having a radius less than the minimum is augmented with a visual property, displaying the augmented images on a display device at a console, determining a direction to steer the flexible body to increase the bend radius, and displaying actuation information on the display device. The actuation information includes a directional indicator to display the direction.

SYSTEMS AND METHODS FOR REDUCING MEASUREMENT ERROR IN OPTICAL FIBER SHAPE SENSORS

A shape sensing apparatus comprises an instrument including an elongated shaft with a neutral axis. The shape sensor also includes a first shape sensor with an elongated optical fiber extending within the elongated shaft at a first radial distance from the neutral axis. The apparatus also includes a shape sensor compensation device extending within the elongated shaft and including a temperature sensor. The apparatus also comprises a tracking system for receiving shape data from the first shape sensor and compensating data from the shape sensor compensation device for use in calculating a bend measurement for the instrument. 126-. (canceled)27. A shape sensing apparatus comprising:an instrument including an elongated shaft with a neutral axis;a first shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from the neutral axis;a shape sensor compensation device extending within the elongated shaft, the shape sensor compensation device including a temperature sensor; anda tracking system adapted to receive shape data from the first shape sensor and compensating data from the shape sensor compensation device for calculating a bend measurement for the instrument.28. The apparatus of claim 27 , wherein the shape sensor compensation device is located at a second radial distance from the neutral axis.29. The apparatus of claim 27 , wherein the shape sensor compensation device is located between the neutral axis and the first radial distance.30. The apparatus of claim 27 , wherein the temperature sensor and the first shape sensor are enclosed in insulation.31. The apparatus of claim 27 , wherein the shape sensor compensation device includes a plurality of shape sensors that together with the first shape sensor claim 27 , are arranged at angular intervals about the neutral axis at the first radial distance.32. The apparatus of claim 27 , wherein the first shape sensor includes a plurality of optical cores claim 27 , ...

Method And System For Absolute Three-Dimensional Measurements Using A Twist-Insensitive Shape Sensor

An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame. 122-. (canceled)21. A surgical system comprising:a flexible surgical instrument having a distal portion and a proximal portion;a reference fixture positioned in a first reference frame;a shape sensor extending from the distal portion through the proximal portion, to the reference fixture, wherein the shape sensor provides shape information for the surgical instrument relative to the first reference frame; anda processor configured to perform a registration step to generate pose information of the first reference frame in a fixed world reference frame,wherein the registration step includes guiding the surgical instrument to a plurality of patient reference points, measuring positions of each of the reference points relative to the reference fixture, computing a pose of the first reference frame relative to the fixed world reference frame, and registering the shape information to the fixed world reference frame.22. The surgical system of wherein the registration step further includes registering a plurality of images in the fixed world reference frame.23. The surgical system of wherein the plurality of images includes an image of the patient taken during use of the surgical system.24. The surgical system of wherein the processor is further ...

Electromagnetic sensor with probe and guide sensing elements

A medical system comprises a probe comprising a coil and a terminal distal end. The medical system further comprises a guide instrument comprising a terminal distal end, a sensor, and a lumen sized to receive the probe. The probe is configured to be inserted through the lumen to reach a worksite. At the worksite, the terminal distal end of the probe is configured to reach at least the terminal distal end of the guide instrument. The medical system further comprises processing hardware configured to receive a first signal from the coil and to receive a second signal from the sensor.

Systems and methods for using tracking in image-guided medical procedure

A system includes a medical instrument, a teleoperation manipulator, an optical tracking sensor, and a control system. The medical instrument includes an elongated flexible body, a rigid proximal body comprising a reference portion, and a shape sensor having a reference point. The control system is configured to: track, with the optical tracking sensor, a first set of optical fiducials on a patient anatomy and a second set of optical fiducials on the reference portion; determine, using the second set of optical fiducials, a position of the reference point for a plurality of insertion measurements of a position measuring device; receive shape information from the shape sensor; and determine a pose of a portion of the elongated flexible body with respect to the patient anatomy using the first set of optical fiducials, the position of the reference point as indicated by the position measuring device, and the shape information.

Steerable Flexible Needle With Embedded Shape Sensing

A surgical system includes a flexible steerable needle and a shape sensor for measuring the shape of the needle. The surgical system can be manual (e.g., laparoscopic), robotic, or any combination of the two. By directly measuring the shape of the needle, complex and potentially inaccurate modeling of the needle to determine trajectory and insertion depth can be avoided in favor of much more robust direct measurement and modeling of needle shape and/or pose. 1. A flexible needle comprising:a shape sensor anda connector adapted for connecting the shape sensor to a processor for determining the shape of the flexible needle based on data from the shape sensor.2. The flexible needle of wherein the shape sensor comprises at least one of an optical fiber claim 1 , a fiber Bragg grating claim 1 , a nitinol wire claim 1 , and a piezoresistive element.3. The flexible needle of further comprising a wall defining an interior lumen claim 1 , wherein the shape sensor is removably insertable into the interior lumen.4. The flexible needle of further comprising a wall defining an interior lumen claim 1 , wherein the shape sensor is attached to the wall.5. The flexible needle of claim 4 , wherein the shape sensor is attached to an external surface of the wall.6. The flexible needle of claim 4 , wherein the shape sensor is attached to an internal surface of the wall.7. The flexible needle of claim 4 , wherein the wall comprises a groove claim 4 , and wherein the shape sensor is at least partially positioned within the groove.8. The flexible needle of claim 7 , wherein the groove comprises one or more positioning features mated with the shape sensor and wherein the one or more positioning features prevents movement of the shape sensor along the groove.9. The flexible needle of claim 8 , wherein the one or more positioning features comprises at least one of a slot claim 8 , a ridge claim 8 , and a threaded section.10. The flexible needle of further comprising a wall having an interior ...

Shape sensor systems for localizing movable targets

A method comprises receiving first shape data from a first elongated optical fiber section in a first shape sensor. The first elongated optical fiber section extends between a reference fixture and a first anatomic fixture coupled to a patient anatomy. The method further comprises determining a pose of the first anatomic fixture from the first shape data and tracking a pose change for the first anatomic fixture.

Systems and methods of steerable elongate device

Systems and methods for controlling an elongate device include an input control console. The console includes a first input control having an infinite length of travel in a first direction, a second input control having an infinite length of travel in more than one direction, one or more transceivers for coupling the console to a control unit for the elongate device, and interface circuits for coupling the first input control and the second input control to the one or more transceivers. The first input control provides a first command suitable for controlling an insertion depth of the elongate device. The second input control provides second commands suitable for controlling steering of a distal end of the elongate device. In some embodiments, the console includes raised rings or bezels within which the input controls are mounted. In some embodiments, pockets of a drape are anchored to the raised rings or bezels.

Display screen or portion thereof with graphical user interface

Systems and methods for using tracking in image-guided medical procedure

A method includes operating an optical tracking sensor to track configurations of first and second sets of optical fiducials, the first set on a patient and the second set on a reference portion of a medical instrument including an elongated flexible body and a rigid proximal body comprising a reference portion. A teleoperational manipulator is configured to move the rigid proximal body and second set along a fixed linear path. The method includes receiving shape information from a shape sensor and determining, using the second set, a position of a reference point of the shape sensor for a plurality of insertion measurements of a position measuring device. The method also includes determining a pose of a portion of the elongated flexible body with respect to a patient anatomy using the configuration of the first set of optical fiducials, the position of the reference point, and the shape information.

Systems and methods for registration of a medical device using a reduced search space

A method comprises generating an image of a set of connected passageways of a patient anatomy and modeling the set of connected passageways of the patient anatomy as a structure of linked bounded-surface elements. The method also comprises receiving position information for a point on an instrument indicating a position of the point relative to the connected passageways and generating adjusted position information for the point including comparing the received position information to the structure of linked bounded-surface elements. The method also comprises creating an adjusted instrument image with the adjusted position information and generating a composite image including the image of the set of connected passageways and the adjusted instrument image.

Systems and Methods Related to Registration for Image Guided Surgery

A system includes one or more processors configured to read instructions to cause the system to perform operations including accessing a set of model points of a model of an anatomic structure of a patient. The model points is associated with a model space. The operations further include collecting a set of measured points of the anatomic structure of the patient, the measured points being associated with a patient space, determining a set of matches between the set of model points and the set of measured points, determining a first plurality of weights for the set of matches, and registering the set of model points to the set of measured points based on the first plurality of weights to generate a first registration. 1. A system comprising:a non-transitory memory; accessing a set of model points of a model of an anatomic structure of a patient, the model points being associated with a model space;', 'collecting a set of measured points of the anatomic structure of the patient, the measured points being associated with a patient space;', 'determining a set of matches between the set of model points and the set of measured points;', 'determining a first plurality of weights for the set of matches based on a target anatomic location; and', 'registering the set of model points to the set of measured points based on the first plurality of weights to generate a first registration., 'one or more processors coupled to the non-transitory memory and configured to read instructions to cause the system to perform operations comprising2. The system of claim 1 , wherein the first plurality of weights for the set of matches is based on a proximity of each of the matches to an anatomic target claim 1 , wherein the anatomic target is associated with the model space.3. The system of claim 2 , further comprising determining a second plurality of weights for the set of model points or the set of measured points.4. The system of claim 3 , wherein registering the set of model points to ...

STEERABLE FLEXIBLE NEEDLE WITH EMBEDDED SHAPE SENSING

A surgical system includes a flexible steerable needle and a shape sensor for measuring the shape of the needle. The surgical system can be manual (e.g., laparoscopic), robotic, or any combination of the two. By directly measuring the shape of the needle, complex and potentially inaccurate modeling of the needle to determine trajectory and insertion depth can be avoided in favor of much more robust direct measurement and modeling of needle shape and/or pose. 1. A flexible needle comprising:a shape sensor anda connector adapted for connecting the shape sensor to a processor for determining the shape of the flexible needle based on data from the shape sensor.2. The flexible needle of wherein the shape sensor comprises at least one of an optical fiber claim 1 , a fiber Bragg grating claim 1 , a nitinol wire claim 1 , and a piezoresistive element.3. The flexible needle of further comprising a wall defining an interior lumen claim 1 , wherein the shape sensor is removably insertable into the interior lumen.4. The flexible needle of further comprising a wall defining an interior lumen claim 1 , wherein the shape sensor is attached to the wall.5. The flexible needle of claim 4 , wherein the shape sensor is attached to an external surface of the wall.6. The flexible needle of claim 4 , wherein the shape sensor is attached to an internal surface of the wall.7. The flexible needle of claim 4 , wherein the wall comprises a groove claim 4 , and wherein the shape sensor is at least partially positioned within the groove.8. The flexible needle of claim 7 , wherein the groove comprises one or more positioning features mated with the shape sensor and wherein the one or more positioning features prevents movement of the shape sensor along the groove.9. The flexible needle of claim 8 , wherein the one or more positioning features comprises at least one of a slot claim 8 , a ridge claim 8 , and a threaded section.10. The flexible needle of further comprising a wall having an interior ...

Systems And Methods For Reducing Measurement Error Using Optical Fiber Shape Sensors

An apparatus comprises an instrument including an elongated shaft. The apparatus also comprises a first shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from the neutral axis. The apparatus also comprises a twist resistant feature configured to reduce twisting of the elongated optical fiber relative to the elongated shaft while permitting axial translation of the elongated optical fiber within the elongated shaft. 1. An apparatus comprising:an instrument including an elongated shaft;a first shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from the neutral axis; anda twist resistant feature configured to reduce twisting of the elongated optical fiber relative to the elongated shaft while permitting axial translation of the elongated optical fiber within the elongated shaft.2. The apparatus of claim 1 , further comprising a tracking system adapted to receive shape data from the first shape sensor for calculating a bend measurement for the instrument.3. The apparatus of claim 1 , wherein the twist resistant feature is coupled to the elongated shaft.4. The apparatus of claim 3 , wherein the twist resistant feature comprises a coating formed on at least a portion of a luminal wall of a fiber lumen extending within the elongated shaft claim 3 , wherein the fiber lumen is configured to slidably receive the first shape sensor.5. The apparatus of claim 3 , wherein the twist resistant feature comprises a coating surrounding at least a portion of the elongated optical fiber claim 3 , and the at least a portion of the elongated optical fiber is configured to be received within a fiber lumen extending within the elongated shaft.6. The apparatus of claim 1 , wherein the twist resistant feature is coupled to at least a portion of the elongated optical fiber.7. The apparatus of claim 6 , wherein the twist resistant feature comprises a twist resistant ...

Systems and methods for using registered fluoroscopic images in image-guided surgery

A method performed by a computing system comprises receiving a fluoroscopic image of a patient anatomy while a portion of a medical instrument is positioned within the patient anatomy. The fluoroscopic image has a fluoroscopic frame of reference. The portion has a sensed position and sensed orientation in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position and an extracted orientation of the portion in the fluoroscopic frame of reference using the identified portion in the fluoroscopic image. The method further comprises registering the fluoroscopic frame of reference to the anatomic model frame of reference based on the sensed position of the portion, the extracted position of the portion, the sensed orientation of the portion, and the extracted orientation of the portion.

SYSTEMS AND METHODS OF REGISTRATION FOR IMAGE-GUIDED SURGERY

A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageway's. The method may further include determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality and discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches. The second set of points may then be moved relative to the first set of points based on the modified set of matches and displayed on a display.

SYSTEMS AND METHODS FOR REGISTERING ELONGATE DEVICES TO THREE DIMENSIONAL IMAGES IN IMAGE-GUIDED PROCEDURES

Methods for using registered real-time images and prior-time anatomic images during an image-guided procedure are provided herein. An exemplary method includes obtaining a three-dimensional image of a patient anatomy and a portion of a medical instrument disposed therein. The three-dimensional image includes image information characterizing a shape of the portion of the medical instrument. A processing device segments the portion of the medical instrument from the three-dimensional image. Shape data is obtained from the portion of the medical instrument while the portion is positioned within the patient anatomy, and the processing device registers the segmented shape of the portion of the medical instrument with the shape data from the portion of the medical instrument. 1. A method performed by a computing system , the method comprising:obtaining a three-dimensional image of a patient anatomy and a portion of a medical instrument disposed therein, the three-dimensional image including image information characterizing a shape of the portion of the medical instrument;segmenting, by a processing device, the portion of the medical instrument from the three-dimensional image;obtaining shape data from the portion of the medical instrument while the portion is positioned within the patient anatomy; andregistering, by the processing device, the segmented portion of the medical instrument from the three-dimensional image with the shape data from the portion of the medical instrument.26.-. (canceled)7. The method of claim 1 , wherein obtaining the shape data from the portion of the medical instrument is performed prior to segmenting the portion of the medical instrument from the three-dimensional image claim 1 , and further comprising:identifying a region of the three-dimensional image to segment using the shape data; andsegmenting the portion of the medical instrument from the region of the three-dimensional image.8. The method of claim 1 , further comprising:displaying the ...

Steerable flexible needle with embedded shape sensing

A minimally invasive system comprises an elongate medical instrument including a flexible body. The flexible body includes a wall including a channel, and the channel includes a groove. The flexible body further includes a lumen defined by an interior surface of the wall and a curved distal tip portion. The elongate medical instrument further includes a shape sensor coupled to the flexible body. The shape sensor is at least partially positioned within the groove, and the shape sensor is configured to detect shape characteristics of at least a portion of the flexible body. The system further includes an actuator for manipulating the elongate medical instrument.

SYSTEMS AND METHODS FOR REGISTERING ELONGATE DEVICES TO THREE-DIMENSIONAL IMAGES IN IMAGE-GUIDED PROCEDURES

A medical system comprises an instrument comprising a position sensor and a radiopaque fiducial. The system further comprises a tracking system to receive position data from the sensor, and a processor coupled to the instrument and the tracking system. The position data is in an instrument reference frame. The processor is configured to: receive external image data of a patient anatomy with the instrument disposed therein—the external image data is in an image reference frame; based on the position data, determine a first orientation of the instrument in the instrument reference frame; identify the radiopaque fiducial in the external image data; based on the identified radiopaque fiducial, determine a second orientation of the instrument in the image reference frame; and register the instrument reference frame to the image reference frame by comparing the first orientation in the instrument reference frame to the second orientation in the image reference frame.

Steerable flexible needle with embedded shape sensing

A minimally invasive system comprises an elongate medical instrument including a lumen; an elongate, flexible stylet removably receivable within the lumen; a sensor system coupled to the stylet, the sensor system configured to detect characteristics of at least a portion of the elongate medical instrument; and a processor. The processor comprises an error detection module configured to receive the detected characteristics from the sensor system; compare the detected characteristics with expected characteristics of at least the portion of the elongate medical instrument; and notify a user of a deviation between the detected characteristics and the expected characteristics. The processor further comprises a path planning module configured to intraoperatively generate, based on a shape of at least the portion of the elongate medical instrument detected by the sensor system, a target trajectory for continuing advancement of the elongate medical instrument within a patient anatomy.

METHOD AND SYSTEM FOR DETERMINING A SHAPE OF A LUMEN IN AN ANATOMICAL STRUCTURE

A medical system provides navigation assistance to a surgeon so that the surgeon may navigate a flexible medical device through linked passages of an anatomical structure to a target in or adjacent to the anatomical structure. As the medical device moves through the linked passages, images are captured by an image capturing element at its distal end and pose and shape information for the medical device are received from sensors disposed in the medical device. A 4-D computer model of the anatomical structure is registered to the medical device using one or both of 4-D shape registration and virtual camera registration so that the captured image and a virtual image generated from the perspective of a virtual camera are registered to each other and displayed while providing an indication of a navigational path to the target. 136-. (canceled)37. A method for determining a shape of a lumen in an anatomical structure , the method comprising:positioning a medical device in the lumen, wherein the medical device has a flexible body that conforms to the shape of the lumen when the flexible body is positioned in the lumen, and wherein the medical device has a plurality of sensors disposed along a length of the flexible body;concurrently reading information from the plurality of sensors; andusing a processor to computationally determine the shape of the lumen by using the information concurrently read from the plurality of sensors.38. The method of claim 37 , wherein the medical device has a fiber optic cable extending along the length of the flexible body claim 37 , and wherein the plurality of sensors comprise a plurality of strain sensors configured on the fiber optic cable.39. The method of claim 38 , wherein the plurality of strain sensors employ Rayleigh scattering.40. The method of claim 38 , wherein the plurality of strain sensors comprise a plurality of Fiber Bragg Gratings.41. The method of claim 37 , wherein the medical device has a steerable tip which is ...

ELECTROMAGNETIC SENSOR WITH PROBE AND GUIDE SENSING ELEMENTS

A sensing system includes an off-axis coil in which wire is wound in loops about a roll axis and at an angle to the roll axis. In particular, the loops define respective areas that have a normal direction at a non-zero angle relative to the roll axis. A field generator can generate a variable magnetic field through the coil, and sensor logic can be coupled to the coil and configured to determine a measurement of a roll angle of the coil about the first axis using an electrical signal induced in the coil. 112-. (canceled)13. A medical system comprising:a probe;a first coil in the probe, the first coil including wire that is wound in a plurality of loops collectively defining a first core extending in a lengthwise direction of the probe, wherein each of the loops defines a first normal direction at a non-zero, first angle relative to the lengthwise direction;a guide;a sensing element in the guide and providing an indication of a pointing direction of the guide; andsensor logic coupled to receive an induced signal from the first coil, wherein the sensor logic is configured to determine a roll angle of the instrument probe from the induced signal and the indication of the pointing direction from the sensing element.14. The system of claim 13 , wherein each of the loops in the first coil includes a first part in which the wire wraps at a first angle with the lengthwise direction and a second part in which the wire wraps at a second angle with the lengthwise direction claim 13 , the second angle being a negative of the first angle.15. The system of claim 13 , wherein the sensing element comprises a second coil.16. The system of claim 15 , further comprising a field generator configured to generate a varying magnetic field through the first coil and the second coil.17. The system of claim 15 , wherein the second coil includes a plurality of loops claim 15 , each of which defines a second normal direction that is along the lengthwise direction of the guide.18. The system of ...

Graphical user interface for monitoring an image-guided procedure

A system and method of monitoring a procedure includes a medical device. The medical device includes an elongate device including a flexible body, a tracking system disposed along at least a portion of the flexible body, and one or more processors communicatively coupled to the tracking system. The one or more processors are configured to receive a route to a target location in an anatomy, determine one or more features of the route based on a first anatomical representation, generate a reduced anatomical representation based on the one or more features of the route, receive real-time position information from the tracking system, associate the real-time position information to the reduced anatomical representation, and dynamically display the reduced anatomical representation with the associated real-time position information.

CATHETERS WITH CONTROL MODES FOR INTERCHANGEABLE PROBES

A medical system including a catheter containing a mechanical system that is remotely operable uses a sensor to at least partly measure a pose of the catheter and a control system coupled to the mechanical system. The control system has multiple operating modes including one or more holding modes in which the control system operates the mechanical system to maintain a working configuration of the catheter based on feedback from the sensor. 123-. (canceled)24. A medical system comprising:a catheter comprising a lumen, a distal steerable segment, and a distal tip;a sheath disposed within the lumen of the catheter, wherein the sheath is extendable from the distal tip of the catheter; and a memory operable to store desired position coordinates; and', 'a plurality of modes including a stiffening mode in which the control system actively maintains the distal tip at the desired position coordinates., 'a control system coupled to the catheter, wherein the control system includes25. The medical system of claim 24 , further comprising at least one sensor operable to determine measured position coordinates of the distal tip.26. The medical system of wherein the at least one sensor includes at least one electromagnetic sensor.27. The medical system of claim 25 , wherein during operation in the stiffening mode claim 25 , the control system is configured to:receive the measured position coordinates of the distal tip;determine a difference between the measured position coordinates and the desired position coordinates; andmove the distal steerable segment to minimize a difference between the measured and desired position coordinates.28. The medical system of claim 27 , wherein during operation in the stiffening mode claim 27 , the control system constrains three degrees of freedom of the distal tip.29. The medical system of claim 27 , wherein during operation in the stiffening mode claim 27 , the control system constrains at least four degrees of freedom of the distal tip.30. The ...

Arm with a combined shape and force sensor

A robotic surgical system includes a surgical instrument and a processor. The surgical instrument includes an elongate hollow shaft having a flexible section, a sensor apparatus configured to generate sensor data about the flexible section, and a force transmission mechanism coupled to the proximal end of the shaft. The processor is communicatively coupled to the sensor apparatus. The processor is configured to receive the sensor data about the flexible section from the sensor apparatus and to combine the sensor data received from the sensor apparatus with known information regarding mechanical and material property data for the surgical instrument to derive at least one of an internal actuation force applied by the force transmission mechanism or external force information for the surgical instrument.

METHOD AND SYSTEM FOR OPERATING A TELEOPERATED SURGICAL INSTRUMENT AND A MANUAL INSTRUMENT

An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame. 122-. (canceled)23. A system comprising:a teleoperated manipulator;a manually operated surgical instrument coupled to the teleoperated manipulator;a teleoperated surgical instrument coupled to the teleoperated manipulator; anda shape sensor comprising a first portion and a second portion;wherein the first portion of the shape sensor is coupled to a proximal end of a cannula;wherein the second portion of the shape sensor is coupled to the manually operated surgical instrument;wherein the shape sensor is configured to provide a sensor input to a controller; andwherein the sensor input comprises information representing an insertion depth of the manually operated surgical instrument into the cannula.24. The system of claim 23 , wherein:the manually operated surgical instrument is coupled to the teleoperated manipulator by a tether.25. The system of claim 23 , wherein:the system comprises the controller;the controller is configured to receive one of position data, orientation data, or both position data and orientation data from the second portion of the shape sensor;the position data represents a position of the manually operated surgical instrument; andthe orientation data represents an orientation of the manually operated surgical instrument.26 ...

Systems and methods for configuring components in a minimally invasive instrument

A catheter system comprises an elongate flexible catheter and a support structure mounted on the catheter. The support structure comprises a first alignment feature and a second alignment feature. The first alignment feature is configured to mate with a first sensor component and the second alignment feature configured to mate with a second sensor component. When the system further comprises a first sensor component mated with the first alignment feature and a second sensor component mated with the second alignment feature, the first sensor component is fixed relative to the second sensor component in at least one degree of freedom at the support structure by the first and second alignment features.

SYSTEMS AND METHODS FOR DEFORMATION COMPENSATION USING SHAPE SENSING

A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device.

Medical System With Multiple Operating Modes for Steering a Medical Instrument Through Linked Body Passages

A controller operates in different operating modes to control movement of a distal tip of a medical instrument when inserting and retracting the medical instrument through linked body passages. When inserting the medical instrument, the controller normally operates in an automatic navigation mode unless manually overridden to operate in a manual mode. When retracting the medical instrument, the controller normally operates in a zero-force mode to allow the distal tip to freely move so that it may comply with the shape of the passages as the medical instrument is being retracted through the linked body unless manually overridden to operate in a manual mode.

Catheter Sensor Systems

A medical system comprises a catheter having a first section, a second section and a main lumen extending through the first and second sections. The system also includes an imaging probe sized to extend through the main lumen of the catheter. The system also includes a first electromagnetic sensor extending along a longitudinal sensor axis at a proximal end of the first section and a second electromagnetic sensor extending along the longitudinal sensor axis at a distal end of the first section. The first section between the proximal and distal ends flexibly couples the first and second electromagnetic sensors so that the first electromagnetic sensor is movable with respect to the second electromagnetic sensor. The system also includes a third electromagnetic sensor positioned on the imaging probe and a fiber shape sensor system that extends through the first section between the proximal and distal ends and along the first electromagnetic sensor and the second electromagnetic sensor. 120-. (canceled)21. A medical system comprising:a catheter having a first section, a second section and a main lumen extending through the first and second sections, the second section adjacent to the first section, wherein the catheter defines a longitudinal catheter axis;an imaging probe sized to extend through the main lumen of the catheter;a first electromagnetic sensor extending along a longitudinal sensor axis in parallel with the longitudinal catheter axis at a proximal end of the first section, anda second electromagnetic sensor extending along the longitudinal sensor axis in parallel with the longitudinal catheter axis at a distal end of the first section, the distal end of the first section being adjacent to the second section,wherein the first section between the proximal and distal ends flexibly couples the first and second electromagnetic sensors so that the first electromagnetic sensor is movable with respect to the second electromagnetic sensor, wherein the first ...

Systems and methods of registration for image-guided surgery

A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. The method may further include determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality and discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches. The second set of points may then be moved relative to the first set of points based on the modified set of matches.

Systems and methods of registration for image guided surgery

A method performed by a computing system comprises receiving a collected set of spatial information for a distal portion of an instrument at a plurality of locations within a set of anatomic passageways and receiving a set of position information for a reference portion of the instrument when the distal portion of the instrument is at each of the plurality of locations. The method also comprises determining a reference set of spatial information for the distal portion of the instrument based on the collected set of spatial information and the set of position information for the reference portion of the instrument and registering the reference set of spatial information with a set of anatomical model information.

Method And System For Absolute Three-Dimensional Measurements Using A Twist-Insensitive Shape Sensor

An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.

CATHETER WITH REMOVABLE VISION PROBE

A robotic system comprises an instrument including a proximal section and a distal section. The distal section comprises a steerable segment and a distal tip. The instrument also includes a main lumen and a pull wire. The system also comprises a sensor to detect a position of the distal tip of the instrument and a computing device that causes the system to determine, based on a sensor signal, a movement of the distal tip of the instrument in response to insertion of a probe into the main lumen and to generate a control signal based on the determined movement. The system also comprises a drive interface connected to the pull wire at the proximal section of the instrument. The drive interface adjusts a tensioning of the pull wire based on the control signal. The tensioning returns the distal tip of the instrument towards a working configuration before the movement occurred. 120-. (canceled)21. A robotic system , comprising: a proximal section,', 'a distal section, the distal section comprising a steerable segment and a distal tip,', 'a main lumen extending through the instrument, and', 'at least one pull wire;, 'an instrument, comprisingat least one sensor configured to detect a position of the distal tip of the instrument;computer readable media having stored thereon executable instructions; determine, based on a sensor signal from the at least one sensor, a movement of the distal tip of the instrument in response to insertion of a probe into the main lumen of the instrument; and', 'generate at least one control signal based on the determined movement; and, 'a computing device in communication with the computer readable media and configured to execute the instructions to cause the system to at leasta drive interface connected to the at least one pull wire at the proximal section of the instrument, the drive interface configured to adjust a tensioning of the at least one pull wire based on the at least one control signal, wherein the adjusted tensioning facilitates ...

Systems and methods for reducing measurement error using optical fiber shape sensors

An apparatus comprises an instrument including an elongated shaft. The apparatus also comprises a first shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from the neutral axis. The apparatus also comprises a twist resistant feature configured to reduce twisting of the elongated optical fiber relative to the elongated shaft while permitting axial translation of the elongated optical fiber within the elongated shaft.

Display screen or portion thereof with graphical user interface

SYSTEMS AND METHODS FOR FLEXIBLE COMPUTER-ASSISTED INSTRUMENT CONTROL

A computer-assisted medical system comprises a flexible elongate instrument. The flexible elongate instrument comprises a plurality of wires extending from a proximal end of the flexible elongate instrument to a distal end of the flexible elongate instrument. Each wire of the plurality of wires may be used to steer the distal end. The system also comprises a control system coupled to the flexible elongate instrument. The control system is configured to monitor movement of the flexible elongate instrument along a longitudinal central axis and determine an extent of motion of the flexible elongate instrument in a first direction along the longitudinal central axis based on the monitoring. The control system is also configured to alter a rigidity of the flexible elongate instrument based on a rigidity profile relative to the extent of motion by adjusting one or more forces applied by the plurality of wires to the distal end of the flexible elongate instrument. 1. A computer-assisted medical system comprising:a flexible elongate instrument comprising a plurality of wires extending from a proximal end of the flexible elongate instrument to a distal end of the flexible elongate instrument, each wire of the plurality of wires useable to steer the distal end; and monitor movement of the flexible elongate instrument along a longitudinal central axis;', 'determine an extent of motion of the flexible elongate instrument in a first direction along the longitudinal central axis based on the monitoring; and', 'alter a rigidity of the flexible elongate instrument based on a rigidity profile relative to the extent of motion by adjusting one or more forces applied by the plurality of wires to the distal end of the flexible elongate instrument., 'a control system coupled to the flexible elongate instrument and configured to27-. (canceled)8. The computer-assisted medical system of claim 1 , wherein the control system is further configured to determine the extent of motion based on an ...

ARM WITH A COMBINED SHAPE AND FORCE SENSOR

A bend sensor is used to determine force applied to a robotic arm. The force may be an external force applied to the arm, an internal actuation force, or both. In some aspects, a stiffening element is used to restore the arm to a minimum kinematic energy state. In other aspects, the stiffening element is eliminated, and the arm is fully actuated. 119-. (canceled)20. A robotic surgical system comprising: an elongate, hollow shaft having a proximal end, a distal end, and a flexible section;', 'a sensor apparatus configured to generate sensor data about the flexible section; and', 'a force transmission mechanism coupled to the proximal end of the shaft; and, 'a surgical instrument, wherein the surgical instrument includesa processor communicatively coupled to at least the sensor apparatus, wherein the processor is configured to receive the sensor data about the flexible section from the sensor apparatus and to use the sensor data with information regarding mechanical and material property data for the surgical instrument to determine at least one of an internal actuation force applied by the force transmission mechanism or external force information for the surgical instrument.21. The robotic surgical system of wherein the processor is further configured to receive three-dimensional imaging data for tracking the surgical instrument.22. The robotic surgical system of wherein the external force information includes information about at least one of a magnitude or a direction of an external force applied to the surgical instrument.23. The robotic surgical system of wherein the sensor apparatus comprises an optical fiber shape sensor.24. The robotic surgical system of wherein the sensor apparatus comprises a piezo sensor.25. The robotic surgical system of wherein the surgical instrument further includes a passive stiffening element coupled to the distal end of the shaft.26. The robotic surgical system of wherein the passive stiffening element includes an internal spring.27 ...

Systems and Methods of Registration Compensation in Image Guided Surgery

A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.

Systems and methods for registration of a medical device using a reduced search space

A method comprises identifying connected anatomical structures in stored images of a patient anatomy and generating a first three-dimensional model of anatomic passageways including a set of anatomical centerlines of the anatomic passageways, and generating a second three-dimensional model of the anatomic passageways including a plurality of linkage elements each including two base points defining a linkage element centerline spanning a shortest distance between the two base points. The method also comprises receiving tracking data corresponding to a point on an instrument positioned within the connected anatomical structures, matching the point on the instrument to one of the plurality of linkage elements representing one of the connected anatomical structures to locate the instrument relative to the connected anatomical structures in the stored images of the patient anatomy, and updating the matching of the point on the instrument to one of the plurality of linkage elements.

Arm with a combined shape and force sensor

A system comprises an arm including a bendable section and a force transmission mechanism. The system also comprises an actuation mechanism coupled to the force transmission mechanism to bend the bendable section. The system also comprises an electronic data processor configured to receive sensor data about the bendable section and determine external force information about at least one of a magnitude or a direction of an external force applied to the arm from the sensor data. the processor is also configured to determine a pose of the bendable section from the sensor data and generate control information for the actuation mechanism to maintain the pose of the bendable section in a stationary configuration as the external force is applied to or withdrawn from the arm.

Systems and methods for reducing measurement error using optical fiber shape sensors

An apparatus may include an instrument including an elongated shaft and a shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from a neutral axis. The apparatus may also comprise a reference sensor disposed within the elongated shaft. The shape sensor may be fixed in a known first position relative to the reference sensor. The apparatus may also comprise a twist resistant feature disposed within the elongated shaft. The twist resistant feature may be coupled to the shape sensor to reduce twisting of the elongated optical fiber relative to the elongated shaft while permitting axial translation of the elongated optical fiber within the elongated shaft. The shape sensor may be coupled to the twist resistant feature at a known second position relative to the reference sensor.

Systems and methods for registration of a medical device using a reduced search space

A medical system comprises a flexible instrument including a sensor adapted to provide tracking data for a point on the instrument. The medical system further comprises a memory storing images of a patient anatomy and a processor. The processor is configured to identify connected anatomical structures in the stored images of the patient anatomy, generate an anatomical centerline model from the identified connected anatomical structures, select a set of points disposed on a set of anatomical centerlines of the anatomical centerline model, generate a first plurality of cylindrical linkage elements representing the connected anatomical structures, receive the tracking data corresponding to the point on the instrument when the instrument is positioned within at least one of the connected anatomical structures, and match the point on the instrument to one of the first plurality of cylindrical linkage elements.

SYSTEMS AND METHODS FOR PLANNING MULTIPLE INTERVENTIONAL PROCEDURES

A method of deploying an interventional instrument comprises identifying a target structure in an anatomic frame of reference. The method further comprises determining a target region in the anatomic frame of reference with respect to a current position of the interventional instrument and recording a first engagement location of the interventional instrument within the target region.

Systems and methods for navigation based on ordered sensor records

A method of tracking a medical instrument comprises receiving a model of an anatomical passageway formation and receiving a set of ordered sensor records for the medical instrument. The set of ordered sensor records provide a path history of the medical instrument. The method further comprises registering the medical instrument with the model of the anatomical passageway formation based on the path history.

STEERABLE FLEXIBLE NEEDLE WITH EMBEDDED SHAPE SENSING

A minimally invasive system comprises an elongate medical instrument including a flexible body. The flexible body includes a wall including a channel, and the channel includes a groove. The flexible body further includes a lumen defined by an interior surface of the wall and a curved distal tip portion. The elongate medical instrument further includes a shape sensor coupled to the flexible body. The shape sensor is at least partially positioned within the groove, and the shape sensor is configured to detect shape characteristics of at least a portion of the flexible body. The system further includes an actuator for manipulating the elongate medical instrument.

ELECTROMAGNETIC SENSOR WITH PROBE AND GUIDE SENSING ELEMENTS

A medical system comprises a probe comprising a coil and a terminal distal end. The medical system further comprises a guide instrument comprising a terminal distal end, a sensor, and a lumen sized to receive the probe. The probe is configured to be inserted through the lumen to reach a worksite. At the worksite, the terminal distal end of the probe is configured to reach at least the terminal distal end of the guide instrument. The medical system further comprises processing hardware configured to receive a first signal from the coil and to receive a second signal from the sensor.

Shape sensor systems with redundant sensing

A method of operating a shape sensing apparatus comprises receiving first shape data from a first shape sensor section including a first elongated optical fiber section extending between a first location coupled to a reference fixture and a second location coupled to a first target fixture. The method further comprises receiving second shape data from a second shape sensor section including a second elongated optical fiber section extending between a third location coupled to the reference fixture and a fourth location coupled to the first target fixture. The first and third locations are maintained in a first known kinematic relationship, and the second and fourth locations are maintained in a second known kinematic relationship. The method further comprises determining a position of an end portion of the first shape sensor section using the second shape data and using the first and second known kinematic relationships.

SYSTEMS AND METHODS FOR NON-RIGID DEFORMATION OF TISSUE FOR VIRTUAL NAVIGATION OF INTERVENTIONAL TOOLS

A processing system may comprise a central processing unit, a graphics processing unit, and a memory having computer readable instructions. The computer readable instructions may cause the processing system to obtain a reference tree of nodes and linkages based on a reference 3D volumetric representation of a branched anatomical formation in a reference state and obtain, by the central processing unit, a reference 3D geometric model based on the reference tree. The instructions may also cause the processing system to receive, by the graphics processing unit, a non-rigid transform for the nodes of the reference tree and determine, by the graphics processing unit, a rigid transform for the reference tree nodes based on the non-rigid transform. The instructions may also cause the processing system to transform each node into a deformed node, create a 3D deformation field, and create a deformed 3D geometric model of the branched anatomical formation. 120-. (canceled)21. A processing system comprising:a central processing unit;a graphics processing unit; and obtain a reference tree of nodes and linkages based on a reference three-dimensional volumetric representation of a branched anatomical formation in a reference state;', 'obtain, by the central processing unit, a reference three-dimensional geometric model based on the reference tree;', 'receive, by the graphics processing unit, a non-rigid transform for one or more of the nodes of the reference tree;', 'determine, by the graphics processing unit, a rigid transform for the one or more nodes of the reference tree based on the non-rigid transform;', 'transform each node of the one or more nodes into a deformed node;', 'create a three-dimensional deformation field based on the transformed nodes; and', 'create a deformed three-dimensional geometric model of the branched anatomical formation in a deformed state based on the transformed nodes., 'a memory having computer readable instructions stored thereon, the computer ...

Systems and methods for cleaning endoscopic instruments

A method for controlling fluid delivery to a medical instrument comprises releasing, from a reservoir of a known size and having fluid at a volume and a first fluid pressure, a released fluid volume of the fluid to the medical instrument. The method also comprises measuring a vented fluid volume and determining a discharged fluid volume through the medical instrument based on the released fluid volume and the vented fluid volume.

Method and system for determining information of extrema during expansion and contraction cycles of an object

A medical system provides navigation assistance to a surgeon for navigating a flexible medical device through linked passages of an anatomical structure to a target area. For tracking, navigation, and other purposes, information of extrema is determined during expansion and contraction cycles of an object by receiving time sampled information from sensors distributed along a length of a flexible device so as to indicate the shape of the device over time while the device extends through a lumen of the object so as to conform to and resemble the shape of the lumen, displacements over time of a selected point at a selected insertion length of the flexible device into the lumen of the object relative to a reference point are determined, extrema time points are determined by identifying sign changes of the slope of the determined displacements over time, and extrema types are determined using extrema type characteristics.

Systems and Methods of Registration for Image Guided Surgery

A method performed by a computing system comprises receiving a collected set of spatial information for a distal portion of an instrument at a plurality of locations within a set of anatomic passageways and receiving a set of position information for a reference portion of the instrument when the distal portion of the instrument is at each of the plurality of locations. The method also comprises determining a reference set of spatial information for the distal portion of the instrument based on the collected set of spatial information and the set of position information for the reference portion of the instrument and registering the reference set of spatial information with a set of anatomical model information. 1. A method performed by a computing system comprising:receiving a collected set of spatial information for a distal portion of an instrument at a plurality of locations within a set of anatomic passageways;receiving a set of position information for a reference portion of the instrument when the distal portion of the instrument is at each of the plurality of locations;determining a reference set of spatial information for the distal portion of the instrument based on the collected set of spatial information and the set of position information for the reference portion of the instrument; andregistering the reference set of spatial information with a set of anatomical model information.2. The method of wherein the collected set of spatial information is received from a fiber optic shape sensor extending between the distal portion of the instrument and the reference portion of the instrument.3. The method of wherein the fiber optic shape sensor is fixed at the reference portion of the instrument.4. The method of further comprising receiving commands from a control device to move the instrument through the plurality of locations within the set of anatomic passageways.5. The method of wherein receiving the set of position information further includes receiving ...

Systems and Methods of Registration for Image-Guided Surgery

A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. The method may further include determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality and discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches. The second set of points may then be moved relative to the first set of points based on the modified set of matches. 1. A method comprising:segmenting a set of first modality image data representing a model of one or more passageways within a patient;generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways;determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality;discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches; anddisplaying a visual representation of the one or more passageways based on the modified set of matches in a user interface provided by a display.2. The method of claim 1 , wherein the second set of points is a set of measured points obtained from the patient during a medical procedure.3. The method of claim 1 , wherein discarding the subset of the set of matches comprises ignoring an associated set of matched points of the second set of points when computing a corrective motion to be applied to the second set of points.4. The method of claim 3 , wherein moving the second set of points relative to the first set of points comprises applying the ...

SHAPE SENSOR SYSTEMS WITH REDUNDANT SENSING

A method of operating a shape sensing apparatus comprising receiving first shape data from a first shape sensor section including a first elongated optical fiber extending between a first location and a second location. The method further comprises receiving second shape data front a second shape sensor section including a second elongated optical fiber extending between a third location and a fourth location. The method further comprises determining a position of an end portion of the first shape sensor section using the second shape data from the second shape sensor section. 1. A method of operating , a shape sensing apparatus , the method comprising:receiving first shape data from a first shape sensor section including a first elongated optical fiber section extending between a first location and a second location;receiving second shape data from a second shape sensor section including a second elongated optical fiber section extending between a third location and a fourth location; anddetermining a position of an end portion of the first shape sensor section using the second shape data from the second shape sensor section.2. The method of wherein the first elongated optical fiber section is coupled to a reference fixture at the first location and the second elongated optical fiber section is coupled to the reference fixture at the third location and wherein determining a position of the end portion of the first shape sensor section includes adjusting the second shape data based upon a distance between the first and third locations.3. The method of further comprisingreceiving third shape data from a third shape sensor section including a third elongated optical fiber section coupled lo the reference fixture at a fifth location; andtracking movement of the third shape sensor section relative to the end portion of the first shape sensor section.4. The method of wherein the first elongated optical fiber section is coupled to a first target at the second location and ...

Medical system with multiple operating modes for steering a medical instrument through linked body passages

A medical system includes a medical instrument, at least one actuator, and a controller. The medical instrument defines a central axis and includes a steerable tip. The controller is configured to command the at least one actuator to cause active steering control of the medical instrument according to an insertion control mode after movement of the medical instrument is detected and exceeds a first threshold value in an insertion direction and to deactivate the at least one actuator to cause the steerable tip of the medical instrument to move freely, without the active steering control, in reaction to forces exerted against the medical instrument by a wall of the anatomic passageway after axial movement of the medical instrument is detected by the medical system and exceeds a second threshold value in a retraction direction. At least one of the first or second threshold values comprises a velocity threshold value.

Method and system for absolute three-dimensional measurements using a twist-insensitive shape sensor

A surgical system comprises a surgical instrument having distal and proximal portions. The surgical system also comprises a reference fixture positioned in a first reference frame and a shape sensor extending from the distal portion through the proximal portion to the reference fixture. The surgical system also comprises a processor configured to perform a registration step to register the first reference frame to a fixed world reference frame. The registration step includes receiving a set of shape information of the shape sensor with a distal point of the surgical instrument located at a patient reference point. A first portion of the shape sensor is in a known geometrical shape at a fixed location along a length of the shape sensor. The registration step also includes computing a location of the patient reference point and computing a pose of the first reference frame relative to the fixed world reference frame.

ARM WITH A COMBINED SHAPE AND FORCE SENSOR

A robotic surgical system comprising a surgical instrument. The surgical instrument includes an elongate, hollow shaft having a proximal end, a distal end, and a flexible section. The surgical instrument also includes a sensor apparatus comprising an electromagnetic sensor. The robotic surgical system also includes a force transmission mechanism coupled to the proximal end of the shaft and a processor communicatively coupled to at least the sensor apparatus. The processor is configured to receive sensor data from the sensor apparatus and to use the sensor data with video information, mechanical property data for the surgical instrument, and material property data for the surgical instrument to determine position and orientation information for the surgical instrument.

Systems and methods for non-rigid deformation of tissue for virtual navigation of interventional tools

A processing system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to receive a reference three-dimensional volumetric representation of a branched anatomical formation in a reference state and obtain a reference tree of nodes and linkages based on the reference three-dimensional volumetric representation. The computer readable instructions also cause the system to obtain a reference three-dimensional geometric model based on the reference tree and detect deformation of the branched anatomical formation due to anatomical motion based on measurements from a shape sensor. The computer readable instructions also cause the system to obtain a deformed tree of nodes and linkages based on the detected deformation, create a three-dimensional deformation field that represent the detected deformation of branched anatomical, and apply the three-dimensional deformation field ...

ANNULAR VISION SYSTEM

A vision system that may be used in a catheter or similar guiding instrument includes receptors distributed in an annular area. Each of the receptors has a field of view covering only a portion of an object environment, and the field of view of each of the receptors overlaps with at least one of the fields of view of the other receptors. A processing system can receive image data from the receptors and combine image data from the receptors to construct a visual representation of the entirety of the object environment. 1. A system comprising:a plurality of receptors distributed in an annular area, wherein each of the receptors has a field of view covering only a portion of an object environment, and wherein the field of view of each of the receptors overlaps with at least one of the fields of view of the other receptors; anda processing system coupled to receive image data from the receptors, wherein the processing is configured to combine image data from the receptors to construct a representation of the object environment.2. The system of claim 1 , wherein each of the receptors comprises a lens and a distal end of an optical fiber.3. The system of claim 2 , further comprising:an image sensor; anda tube having a distal end and a proximal end, wherein the receptors are distributed on the distal end of the tube, and the optical fibers extend from the distal end to the proximal end of the tube where the optical fibers are positioned to project light onto the image sensor.4. The system of claim 2 , further comprising illumination fibers that positioned to project light into the object environment.5. The system of claim 1 , wherein each of the receptors comprises a lens and a distal end of a bundle containing a plurality of optical fibers.6. The system of claim 1 , wherein each of the receptors comprises an image sensor chip.7. The system of claim 6 , wherein each of the receptors further comprise an optical system having an optical axis that is offset from a center of ...

Guide apparatus for delivery of a flexible instrument and methods of use

An apparatus for guiding a flexible instrument comprises an elongated support assembly having a longitudinal axis. The elongated support assembly is adapted to laterally receive into engagement and longitudinally support an elongated flexible instrument.

GRAPHICAL USER INTERFACE FOR MONITORING AN IMAGE-GUIDED PROCEDURE

A system and method of monitoring a procedure includes a medical device. The medical device includes an elongate device including a flexible body, a tracking system disposed along at least a portion of the flexible body, and one or more processors communicatively coupled to the tracking system. The one or more processors are configured to receive a route to a target location in an anatomy, determine one or more features of the route based on a first anatomical representation, generate a reduced anatomical representation based on the one or more features of the route, receive real-time position information from the tracking system, associate the real-time position information to the reduced anatomical representation, and dynamically display the reduced anatomical representation with the associated real-time position information.

SYSTEMS AND METHODS FOR CLEANING ENDOSCOPIC INSTRUMENTS

A method for controlling fluid delivery to a catheter comprises charging a reservoir, of a known size, with a fluid to a volume at an initial fluid pressure and releasing a released fluid volume of the fluid from the reservoir to the catheter. The method also comprises measuring a vented fluid volume and determining a discharged fluid volume through the catheter based on the released fluid volume and the vented fluid volume. 122-. (canceled)23. A method for controlling fluid delivery to a medical instrument , the method comprising:releasing, from a reservoir of a known size and having fluid at a volume and a first fluid pressure, a released fluid volume of the fluid to the medical instrument;measuring a vented fluid volume; anddetermining a discharged fluid volume through the medical instrument based on the released fluid volume and the vented fluid volume.24. The method of wherein the discharged fluid volume is at atmospheric pressure.25. The method of wherein releasing the released fluid volume of the fluid from the reservoir to the medical instrument includes activating a valve for a duration of time calibrated to correspond with an expected discharge volume.26. The method of wherein releasing the released fluid volume of the fluid from the reservoir to the medical instrument includes activating a valve through which passes the released fluid volume.27. The method of wherein the vented fluid volume passes through the valve.28. The method of wherein releasing the released fluid volume of the fluid from the reservoir to the medical instrument includes passing the fluid through a flow restrictor.29. The method of further comprising:determining the released fluid volume from the reservoir based on the first fluid pressure and a second fluid pressure in the reservoir after the released fluid volume is released.30. The method of further comprising:determining if the discharged fluid volume exceeds a threshold.31. The method of further comprising:based on determining ...

SYSTEMS AND METHODS FOR NAVIGATION BASED ON ORDERED SENSOR RECORDS

A method performed by a computing system comprises receiving a first set of spatial information from an instrument positioned within an anatomic passageway. The first set of spatial information includes a plurality of spatial data records including position information for a distal end of the instrument at a plurality of time periods. The method further comprises ordering the plurality of spatial data records in a time-gathered order. The method further comprises evaluating a spatial relationship between first and second consecutive spatial data records of the plurality of spatial data records. The method further comprises filtering the first set of spatial information based upon the evaluated spatial relationship.

SYSTEMS AND METHODS OF REGISTRATION FOR IMAGE GUIDED SURGERY

A method performed by a computing system comprises receiving a collected set of spatial information for a distal portion of an instrument at a plurality of locations within a set of anatomic passageways and receiving a set of position into for a reference portion of the instrument when the distal portion of the instrument is at each of the plurality of locations. The method also comprises determining a reference set of spatial information for the distal portion of the instrument based on the collected set of spatial information and the set of position information for the reference portion of the instrument and registering the reference set of spatial information with a set of anatomical model information.

SYSTEMS AND METHODS OF STEERABLE ELONGATE DEVICE

A drape for an input control console of an elongate device may comprise a main drape section configured to fit over the input control console via a main opening at one end of the main drape section. The drape may also comprise a plurality of pockets. Each of the plurality of pockets may include a pocket opening that is attached to a respective secondary opening in the main drape section. Each of the plurality of pockets may be configured to be anchored, at the pocket opening, to a side surface of a respective raised ring or bezel on the input control console using a respective tightening element. 131-. (canceled)32. A drape for an input control console of an elongate device , the drape comprising:a main drape section configured to fit over the input control console via a main opening at one end of the main drape section; anda plurality of pockets; each of the plurality of pockets includes a pocket opening that is attached to a respective secondary opening in the main drape section; and', 'each of the plurality of pockets is configured to be anchored, at the pocket opening, to a side surface of a respective raised ring or bezel on the input control console using a respective tightening element., 'wherein33. The drape of claim 32 , wherein each of the plurality of pockets is sized to enable user interaction with an underlying infinite length of travel control input located within a boundary of the respective raised ring or bezel.34. The drape of claim 32 , wherein each of the plurality of pockets comprises excess drape material which is movable relative to the respective raised ring or bezel to which it is anchored.35. The drape of claim 32 , wherein each of the plurality of pockets is stretchable at its pocket opening between an expanded size and a collapsed size and wherein the collapsed size is smaller than a circumference of the respective raised ring or bezel to which the pocket is anchored.36. The drape of claim 32 , wherein a first material of the main drape ...

GRAPHICAL USER INTERFACE FOR DISPLAYING GUIDANCE INFORMATION DURING AN IMAGE-GUIDED PROCEDURE

A method for displaying guidance information during an image-guided surgical procedure comprises receiving, by one or more hardware processors, data from a tracking system associated with an elongate device comprising a flexible body and calculating, by the one or more hardware processors, at least one condition along a length of the flexible body based on the data. The method further comprises determining, by the one or more hardware processors, supplemental guidance information based on the at least one condition and augmenting, by the one or more hardware processors, one or more images with the supplemental guidance information to produce one or more augmented images. The method further comprises displaying the one or more augmented images on a display device at a surgeon console.

SYSTEMS AND METHODS FOR MONITORING PATIENT MOTION DURING A MEDICAL PROCEDURE

Methods of monitoring a medical instrument are provided. The methods may include receiving state information from a control system in communication with the medical instrument; detecting motion of at least a portion of the medical instrument and comparing the motion of the portion of the medical instrument with a threshold motion value that is based on the state information received from the control system. The methods may further include generating a communication message for presentation to an operator of the medical instrument based on the comparison of the motion with the threshold motion value. Corresponding systems are also provided. 1. A method of monitoring a medical instrument during a medical procedure involving motion of the medical instrument , the method comprising:receiving state information from a control system in communication with the medical instrument;detecting, by the control system, motion of at least a portion of the medical instrument; andcomparing the detected motion of the portion of the medical instrument with a threshold motion value that is based on the state information received from the control system; andproviding a system response based on the comparison of the detected motion with the threshold motion value.24-. (canceled)5. The method of claim 1 , further comprising:comparing the detected motion of the portion of the medical instrument with a threshold control value, wherein the threshold control value is higher than the threshold motion value;generating, when the detected motion is higher than the threshold motion value, a message for presentation in a display system; anddisregarding, when the detected motion is higher than the threshold control value, motion commands received from a master assembly.6. The method of claim 1 , wherein the system response includes disregarding commands received from an operator via a master assembly in communication with the control system based on the comparison of the detected motion with the ...

Method and system for operating a teleoperated surgical instrument and a manual instrument

A system comprises a first cannula comprising a proximal end and a cannula opening at the proximal end. The system further comprises a teleoperated surgical instrument, and a manually operated surgical instrument configured to be inserted into the cannula opening. The system further comprises a teleoperated manipulator, a controller, and a first position sensor coupled to the teleoperated surgical instrument, the first position sensor configured to provide a first sensor input to the controller. The system further comprises a second position sensor coupled to the manually operated surgical instrument, the second position sensor configured to provide a second sensor input to the controller, the second sensor input comprising an insertion depth of the manually operated surgical instrument into the first cannula. The system further comprises a reference fixture coupled to the first and second position sensors and to the teleoperated manipulator, the reference fixture being movable with the ...

Method And System For Absolute Three-Dimensional Measurements Using A Twist-Insensitive Shape Sensor

An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame. 1. An apparatus comprising:a reference fixture including a joint;a surgical instrument;a tether connected between the joint and the surgical instrument; and wherein the shape sensor is substantially free of twist in the tether, and', 'wherein information from the shape sensor is used in generating absolute three-dimensional information relative to a fixed world reference frame., 'a shape sensor extending from the reference fixture through the joint, through the tether, and into the surgical instrument,'}2. The apparatus of claim 1 , wherein the reference fixture further comprises:a joint tracker wherein the joint tracker tracks motion of the joint and wherein information from the joint tracker in combination with the information from the shape sensor is used in the generating the absolute three-dimensional information relative to the fixed world reference frame.3. The apparatus of claim 1 , wherein the joint has only one degree of freedom.4. The apparatus of claim 3 , wherein the joint comprises a roll joint and the one degree of freedom is roll.5. The apparatus of claim 1 , wherein the joint has no degrees of freedom.6. The apparatus of claim 1 , wherein the shape sensor includes a known feature upon entering the surgical instrument.7. The ...

SYSTEMS AND METHODS FOR REGISTRATION OF PATIENT ANATOMY

A system may comprise a medical instrument, a tracking subsystem configured to receive position data from the medical instrument, and a control system communicatively coupled to the medical instrument and the tracking subsystem. The control system may be configured to perform operations including accessing a model of an anatomic structure of a patient and receiving an indication that the medical instrument has been delivered to a known anatomical landmark. The operations may also include collecting a plurality of measurement points of the anatomic structure along a measurement path extending from a measurement initiation position proximate the known anatomical landmark within the anatomic structure of the patient as the medical instrument moves along the measurement path. The operations may also include determining a location of the medical instrument relative to the anatomic structure and registering the collected plurality of measurement points to the model of the anatomic structure. 1. A system comprising:a medical instrument;a tracking subsystem configured to receive position data from the medical instrument; and accessing a model of an anatomic structure of a patient;', 'receiving an indication that the medical instrument has been delivered to a known anatomical landmark within the anatomic structure of the patient;', 'collecting a plurality of measurement points of the anatomic structure of the patient along a measurement path extending from a measurement initiation position proximate the known anatomical landmark within the anatomic structure of the patient as the medical instrument moves along the measurement path;', 'determining a location of the medical instrument relative to the anatomic structure of the patient; and', 'registering the collected plurality of measurement points to the model of the anatomic structure of the patient., 'a control system communicatively coupled to the medical instrument and the tracking subsystem, the control system configured ...

Method and system for absolute three-dimensional measurements using a twist-insensitive shape sensor

An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.

SYSTEMS AND METHODS FOR CONFIGURING COMPONENTS IN A MINIMALLY INVASIVE INSTRUMENT

A catheter system comprises an elongate flexible catheter and a support structure mounted on the catheter. The support structure comprises a first alignment feature and a second alignment feature. The first alignment feature is configured to mate with a first sensor component and the second alignment feature configured to mate with a second sensor component. When the system further comprises a first sensor component mated with the first alignment feature and a second sensor component mated with the second alignment feature, the first sensor component is fixed relative to the second sensor component in at least one degree of freedom at the support structure by the first and second alignment features. 142-. (canceled)43. A robotic system , comprising:a manipulator assembly including at least one actuator;a control system including at least one processor configured to control the manipulator assembly;an elongate flexible catheter configured to be manipulated by the at least one actuator; and a first alignment feature configured to mate with a first sensor such that the first sensor is maintained parallel to a longitudinal axis of the support structure; and', 'a second alignment feature configured to mate with a second sensor such that the second sensor is maintained parallel to the longitudinal axis of the support structure and such that the second sensor is fixed relative to the first sensor in at least one degree of freedom., 'a support structure mounted on a proximal portion of the elongate flexible catheter, the support structure including44. The robotic system of claim 43 , wherein a cross section shape of the second sensor is configured to mate with a matching shape in the second alignment feature to fix the second sensor relative to the first sensor in the at least one degree of freedom.45. The robotic system of claim 43 , wherein the second alignment feature includes a groove formed in an interior wall of the support structure claim 43 , the groove sized to ...

Systems and methods for using registered fluoroscopic images in image-guided surgery

A medical system includes an instrument, a display system, and a processing unit. The instrument includes an instrument shape sensor. The processing unit includes one or more processors. The processing unit is configured to, receive an anatomic model of a patient anatomy, receive shape sensor data from the instrument shape sensor while the instrument is positioned within the patient anatomy and registered to the anatomic model, determine a preferred fluoroscopic image plane for display on the display system based on the received shape sensor data and the area of interest, and provide an indication on the display system to guide positioning of a fluoroscopy system to obtain a fluoroscopic image in the preferred fluoroscopic image plane. An area of interest is identified in the anatomic model.

Graphical user interface for catheter positioning and insertion

A method comprises identifying a target location within a patient anatomy, receiving a position for a tip portion of an interventional instrument at a first location within the patient anatomy, and determining a three-dimensional distance between the first location and the target location. The method further comprises displaying on a display system an image that includes a symbol representing the target location and a symbol representing the tip portion of the instrument and displaying on the display system a rotational assist symbol indicating a rotational orientation of the tip portion. As the tip portion is actuated, the image is displayed so that the symbol representing the tip portion is a frame of reference for the image and the symbol representing the target location moves with respect to the symbol representing the tip portion to represent a new location of the tip portion relative to the target location.

Method And System For Providing Visual Guidance To An Operator For Steering A Tip Of An Endoscopic Device Towards One Or More Landmarks In A Patient

Landmark directional guidance is provided to an operator of an endoscopic device by displaying graphical representations of vectors adjacent a current image captured by an image capturing device disposed at a tip of the endoscopic device and being displayed at the time on a display screen, wherein the graphical representations of the vectors point in directions that the endoscope tip is to be steered in order to move towards associated landmarks such as anatomic structures in a patient. 1. A computer implemented method for providing guidance to steer an endoscopic device towards one or more landmarks in a patient , the method comprising:determining a current position of a reference point on the endoscopic device relative to a reference frame;determining a first vector from the current position of the reference point to a position of a first landmark relative to the reference frame;transforming the first vector from the reference frame to an image reference frame that corresponds to the perspective of an image capturing device disposed at a tip of the endoscopic device; anddisplaying a graphical representation of the transformed first vector along with a current image captured by the image capturing device on a display screen so as to indicate a direction to steer the tip of the endoscopic device towards the first landmark.2. The method according to claim 1 , wherein one or more optical fibers configured with strain sensors extend through the endoscopic device to provide position and shape information of the endoscopic device.3. The method according to claim 1 , wherein the current image is a stereoscopic image claim 1 , the display screen is a three-dimensional display screen claim 1 , and the graphical representation of the transformed first vector is a three-dimensional arrow pointing towards the direction to steer the tip of the endoscopic device towards the first landmark.4. The method according to claim 1 , further comprising prior to determining the first ...

Systems and methods for fault reaction mechanisms for medical robotic systems

A medical robotic system includes a control system and a manipulator assembly including actuators to manipulate a flexible elongate body, including a rotation actuator to bend the flexible elongate body. The control system is configured to perform: determining an operational state of the system; detecting a fault in one or more components of the system; classifying the fault with one or more classifications of a plurality of classifications according to heuristics; and imposing a fault reaction state on the system based on the classifications to mitigate the fault. The control system is configured to impose a first fault reaction state for a motion actuation fault and impose a second fault reaction state for a non-motion actuation fault. The first fault reaction state includes controlling the rotation actuator to cause the elongate body to become compliant to external forces placed upon the elongate body by walls of an anatomical passageway.

SYSTEMS AND METHODS OF CONTINUOUS REGISTRATION FOR IMAGE-GUIDED SURGERY

Methods and systems of registering a model of one or more anatomic passageways of a patient to a patient space are provided herein. An exemplary method may include accessing a set of model points of the model of the passageways, the model points being associated with a model space, collecting measured points along a length of a catheter inserted into the passageways of the patient, the measured points determined by a shape of the catheter, and assigning points of the first set to a plurality of subsets. The exemplary method may further include registering each of the subsets with the model points to produce a plurality of registration candidates, comparing the candidates to identify an optimal subset associated with an optimal registration of the plurality of candidates that translates the set of model points and at least one set of the sets of measured points into a common space.

Systems and methods for monitoring patient motion during a medical procedure

A method of controlling an elongate instrument during a medical procedure involving motion of the elongate instrument relative to a patient is provided. The method includes generating, by a control system, a first model of the elongate instrument, and generating, by the control system, a second model of the elongate instrument based on a reference pose of the elongate instrument. The method further includes comparing, by the control system, the first model with the second model and determining, by the control system, a state of a system configuration based on the comparison.

Display screen or portion thereof with graphical user interface

Systems and Methods for Configuring Components in a Minimally Invasive Instrument

A catheter system comprises an elongate flexible catheter and a support structure mounted on the catheter. The support structure comprises a first alignment feature and a second alignment feature. The system further comprises a first sensor component mated with the first alignment feature and a second sensor component mated with the second alignment feature. The first sensor component is fixed relative to the second sensor component in at least one degree of freedom at the support structure by the first alignment feature. 122-. (canceled)23. A catheter system comprising:an elongate flexible catheter, the elongate flexible catheter defining a central lumen having a first longitudinal axis;a support structure mounted on a proximal portion of the elongate flexible catheter such that a proximal surface of the support structure is coupled to a distal surface of the proximal portion of the elongate flexible catheter, wherein the support structure is more rigid than the elongate flexible catheter;a first alignment feature configured to mate with a first sensor component; anda second alignment feature configured to mate with a second sensor component, wherein the first alignment feature and the second alignment feature are offset from and extend parallel to a central longitudinal axis of the support structure and wherein the first alignment feature is configured to fix the first sensor component relative to the second alignment feature in at least one degree of freedom at the support structure.24. The catheter system of claim 23 , further comprising:the first sensor component mated with the first alignment feature; andthe second sensor component mated with the second alignment feature,wherein the first sensor component is fixed relative to the second sensor component in at least one degree of freedom at the support structure by the first alignment feature.25. The catheter system of claim 23 , wherein the support structure further comprises a wall defining a working lumen ...

Method and system for providing visual guidance to an operator for steering a tip of an endoscopic device toward one or more landmarks in a patient

Landmark directional guidance is provided to an operator of an endoscopic device by displaying graphical representations of vectors adjacent a current image captured by an image capturing device disposed at a tip of the endoscopic device and being displayed at the time on a display screen, wherein the graphical representations of the vectors point in directions that the endoscope tip is to be steered in order to move towards associated landmarks such as anatomic structures in a patient.

Systems and methods of continuous registration for image-guided surgery

A method of continuously registering a model of anatomic passageways to a patient space includes: collecting a set of measured points along a flexible catheter as the catheter is inserted into the passageways, the measured points based on a shape of the catheter; assigning each measured point to a respective subset of a plurality of subsets based upon a depth of each measured point within the passageways; comparing the plurality of subsets to identify a first optimal subset; registering the model to the patient space based on a set of model points and the first optimal subset; collecting additional measured points; updating the plurality of subsets by assigning each additional measured point to a respective subset; comparing, after the updating, the plurality of subsets to identify a second optimal subset; and registering the model to the patient space based on the set of model points and the second optimal subset.

GRAPHICAL USER INTERFACE FOR CATHETER POSITIONING AND INSERTION

A method comprises identifying a target location within a patient anatomy, receiving a position for a tip portion of an interventional instrument at a first location within the patient anatomy, and determining a three-dimensional distance between the first location and the target location. The method further comprises displaying on a display system an image that includes a symbol representing the target location and a symbol representing the tip portion of the instrument and displaying on the display system a rotational assist symbol indicating a rotational orientation of the tip portion. As the tip portion is actuated, the image is displayed so that the symbol representing the tip portion is a frame of reference for the image and the symbol representing the target location moves with respect to the symbol representing the tip portion to represent a new location of the tip portion relative to the target location.

Display screen or portion thereof with graphical user interface

SYSTEMS AND METHODS FOR NON-RIGID DEFORMATION OF TISSUE FOR VIRTUAL NAVIGATION OF INTERVENTIONAL TOOLS

A processing system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to receive a reference three-dimensional volumetric representation of a branched anatomical formation in a reference state and obtain a reference tree of nodes and linkages based on the reference three-dimensional volumetric representation. The computer readable instructions also cause the system to obtain a reference three-dimensional geometric model based on the reference tree and detect deformation of the branched anatomical formation due to anatomical motion based on measurements from a shape sensor. The computer readable instructions also cause the system to obtain a deformed tree of nodes and linkages based on the detected deformation, create a three-dimensional deformation field that represent the detected deformation of branched anatomical, and apply the three-dimensional deformation field to the reference three dimensional geometric model. 124-. (canceled)25. A processing system comprising:a processor; and receive a reference three dimensional volumetric representation of a branched anatomical formation in a reference state;', 'obtain a reference tree of nodes and linkages based on the reference three dimensional volumetric representation;', 'obtain a reference three dimensional geometric model based on the reference tree;', 'detect deformation of the branched anatomical formation due to anatomical motion based on measurements from a shape sensor;', 'obtain a deformed tree of nodes and linkages based on the detected deformation;', 'create a three dimensional deformation field that represent the detected deformation of branched anatomical; and', 'apply the three dimensional deformation field to the reference three dimensional geometric model to create a deformed three dimensional geometric model of the branched anatomical formation in a deformed state., 'a memory ...

METHOD AND SYSTEM FOR PROVIDING VISUAL GUIDANCE TO AN OPERATOR FOR STEERING A TIP OF AN ENDOSCOPIC DEVICE TOWARD ONE OR MORE LANDMARKS IN A PATIENT

Landmark directional guidance is provided to an operator of an endoscopic device by displaying graphical representations of vectors adjacent a current image captured by an image capturing device disposed at a tip of the endoscopic device and being displayed at the time on a display screen, wherein the graphical representations of the vectors point in directions that the endoscope tip is to be steered in order to move towards associated landmarks such as anatomic structures in a patient.

GRAPHICAL USER INTERFACE FOR DISPLAYING GUIDANCE INFORMATION DURING AN IMAGE-GUIDED PROCEDURE

A method for displaying guidance information during an image-guided surgical procedure comprises receiving, by one or more hardware processors, data from a tracking system associated with an elongate device comprising a flexible body and calculating, by the one or more hardware processors, at least one condition along a length of the flexible body based on the data. The method further comprises determining, by the one or more hardware processors, supplemental guidance information based on the at least one condition and augmenting, by the one or more hardware processors, one or more images with the supplemental guidance information to produce one or more augmented images. The method further comprises displaying the one or more augmented images on a display device at a surgeon console.

SYSTEMS AND METHODS FOR FAULT REACTION MECHANISMS FOR MEDICAL ROBOTIC SYSTEMS

Systems and methods for responding to faults in a robotic system are provided herein. In some embodiments, the system includes an elongate body having a proximal end and a distal end, a backend housing coupled to the proximal end of the elongate body, and a control system. The backend housing includes one or more actuators configured to manipulate the distal end of the elongate body. The control system is configured to control the robotic system by performing operations including: determining an operational state of the medical robotic system, detecting a fault in one or more components of the medical robotic system, classifying the fault according to one or more heuristics, and imposing a fault reaction state on the medical robotic system based on the one or more heuristics to mitigate the fault.

Systems and Methods of Registration for Image-Guided Surgery

A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. The method may further include determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality and discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches. The second set of points may then be moved relative to the first set of points based on the modified set of matches and displayed on a display. 1. A method comprising:accessing a set of model points of a model of one or more passageways of a patient;detecting a point collection condition in data obtained from a catheter;initiating collection of a set of measured points;performing a point set registration algorithm using the set of model points and the set of measured points to produce a registered set of model points; anddisplaying a visual representation of the registered set of model points in a user interface provided by a display.2. The method of claim 1 , wherein the point collection condition is detected in image data obtained from the catheter.3. The method of claim 2 , wherein the point collection condition is recognition by a control system of a main carina and the image data obtained from the catheter includes an image of the main carina.4. The method of claim 2 , wherein the point collection condition is recognition of a color of the one or more passageways and wherein the image data obtained from the catheter includes the color of the one or more passageways.5. The method of claim 4 , wherein the point collection condition further comprises recognition of a transition between an ...

SYSTEMS AND METHODS FOR REGISTRATION OF A MEDICAL DEVICE USING A REDUCED SEARCH SPACE

A medical system includes an elongate instrument, a tracking system, and one or more processors. The tracking system is disposed along at least a portion of the elongate instrument. The one or more processors are coupled to the tracking system and are configured to: receive a model of a set of connected passageways of a patient anatomy; receive shape information from the tracking system, the shape information indicating a shape of at least a portion the elongate instrument when the portion is disposed in the set of connected passageways; register the shape information to the model; and display a composite image including the model and an instrument image of the elongate instrument.

MEDICAL SYSTEM PROVIDING DYNAMIC REGISTRATION OF A MODEL OF AN ANATOMICAL STRUCTURE FOR IMAGE-GUIDED SURGERY

A medical system provides navigation assistance to a surgeon so that the surgeon may navigate a flexible medical device through linked passages of an anatomical structure to a target in or adjacent to the anatomical structure. As the medical device moves through the linked passages, images are captured by an image capturing element at its distal end and pose and shape information for the medical device are received from sensors disposed in the medical device. A 4-D computer model of the anatomical structure is registered to the medical device using one or both of 4-D shape registration and virtual camera registration so that the captured image and a virtual image generated from the perspective of a virtual camera are registered to each other and displayed while providing an indication of a navigational path to the target. 1. A medical system comprising:a memory storing information of a computer model of an anatomical structure;a medical device having a flexible body and a plurality of sensors distributed along the length of the flexible body; anda processor programmed to determine the pose and shape of the flexible body while disposed in a passage of the anatomical structure using information provided by the plurality of sensors at the same point in time and register the computer model to the medical device by matching at least the determined shape of the flexible body to a best fitting one of the shapes of one or more potential passages in the computer model of the anatomical structure.2. The medical system of claim 1 , wherein the memory stores information of a navigational path relative to the computer model to a target in the anatomical structure claim 1 , and wherein the processor is programmed to provide an indication of the navigational path as a steering direction for the medical device after registering the computer model to the medical device.3. The medical system of claim 2 , further comprising;a display;wherein the processor is programmed to generate a ...

Medical system with multiple operating modes for steering a medical instrument through linked body passages

A controller operates in different operating modes to control movement of a distal tip of a medical instrument when inserting and retracting the medical instrument through linked body passages. When inserting the medical instrument, the controller normally operates in an automatic navigation mode unless manually overridden to operate in a manual mode. When retracting the medical instrument, the controller normally operates in a zero-force mode to allow the distal tip to freely move so that it may comply with the shape of the passages as the medical instrument is being retracted through the linked body unless manually overridden to operate in a manual mode.

METHOD AND SYSTEM FOR DETERMINING INFORMATION OF EXTREMA DURING EXPANSION AND CONTRACTION CYCLES OF AN OBJECT

A medical system provides navigation assistance to a surgeon for navigating a flexible medical device through linked passages of an anatomical structure to a target area. For tracking, navigation, and other purposes, information of extrema is determined during expansion and contraction cycles of an object by receiving time sampled information from sensors distributed along a length of a flexible device so as to indicate the shape of the device over time while the device extends through a lumen of the object so as to conform to and resemble the shape of the lumen, displacements over time of a selected point at a selected insertion length of the flexible device into the lumen of the object relative to a reference point are determined, extrema time points are determined by identifying sign changes of the slope of the determined displacements over time, and extrema types are determined using extrema type characteristics.

CATHETER WITH REMOVABLE VISION PROBE

A medical system includes a catheter and a vision probe that can be removed from the catheter and replaced with a medical probe. The vision probe can thus be used to steer and pose the catheter, and then be removed and replaced with the medical probe when a medical task such as a lung biopsy is performed. A sensor system in the catheter at least partly measures a pose of the catheter, and control logic controls actuation of the catheter to maintain the desired working configuration when the medical probe is used. A small diameter catheter can thus provide vision and biopsy functionality. 1. A medical system comprising:a catheter having a main lumen and a mechanical system, wherein the main lumen accommodates either of a vision probe and a medical probe and is too narrow to simultaneously guide both a vision probe and a medical probe to the distal tip, and wherein the mechanical system is connected to control a pose of a distal tip of the catheter; andcontrol logic coupled to operate the mechanical system, wherein the control logic is operable to identify a desired working configuration of the distal tip while the vision probe is deployed in the main lumen and to hold or return the catheter to the desired working configuration when the vision probe has been removed from the catheter and the medical probe is deployed in the main lumen.2. The system of claim 1 , wherein a distal section of the catheter has a width less than about 3 mm.3. The system of claim 2 , wherein the main lumen in the catheter has a width that is more than one half of the width of the distal section.4. The system of claim 1 , wherein the control logic is operable in a plurality of modes for holding or returning the catheter to the desired working configuration.5. The system of claim 4 , wherein the plurality of modes includes a position mode in which the control logic operates the mechanical system to hold or return the distal tip to a target position.6. The system of claim 4 , wherein the ...

VISION PROBE AND CATHETER SYSTEMS

A medical system includes a catheter and a vision probe that can be removed from the catheter and replaced with a medical probe. Functionality for the system is divided between the catheter and the vision probe. In particular, the removable vision probe can provide imaging, illumination, irrigation, and suction that may be employed before a medical probe is deployed. The catheter can include actuation and sensing structures that are useful with or necessary for both vision and medical probes. Accordingly, the catheter can maximize available space for probes and still provide all necessary functions for use of a medical probe when the vision probe is removed. 1. A medical system comprising a vision probe that includes:a tube containing a plurality of channels including a main channel, one or more oblong channels for irrigation and suction, and one or more auxiliary channels;an imaging system extending through the main channel to a distal end of the tube; andone or more illumination fibers running through respective auxiliary channels in the tube.2. The system of claim 1 , wherein the probe has a diameter less than about 2 mm.3. The system of claim 1 , wherein the probe further comprises a keying feature shaped to engage a complementary keying feature on a catheter.4. The system of claim 1 , wherein the imaging system comprises a CMOS camera mounted at the distal end of the tube.5. The system of claim 1 , wherein the imaging system comprises an image fiber bundle extending through the tube to the distal end of the tube.6. The system of claim 1 , wherein the tube comprises an extrusion in which the plurality of channels reside.7. The system of claim 1 , further comprising a catheter having a lumen in which the vision probe can be deployed and removed during a medical procedure.8. The system of claim 7 , wherein the catheter further comprises:a steerable segment at a distal end of the catheter; anda plurality of tendons attached to the steerable segment and extending ...

CATHETER SENSOR SYSTEMS

A medical system including a catheter or other flexible structure uses a combination of two different sensor systems to measure a pose of a section or tip of the catheter or flexible structure. The first sensor system, which may include an electromagnetic sensor, can measure a pose of a first section of the catheter, and the second sensor system can measure a pose of the second section relative to the first section. The second sensor system may employ a technology such as fiber shape sensing that permits the second section to be smaller than the first section, so that a distal tip of the catheter or flexible structure can fit within smaller natural lumens. 1. A medical system comprising:a catheter having a first section and a second section, the second section adjacent to the first section;a first sensor system in the first section and configured for measurement of a pose of the first section; anda second sensor system in the second section and configured for measurement of a pose of the second section relative to the first section.2. The system of claim 1 , wherein the second section is narrower than the first section.3. The system of claim 2 , wherein the first sensor system is wider than the second section.4. The system of claim 1 , wherein the first sensor system comprises a first sensor configured to measure a position and an orientation of the first section relative to an external reference.5. The system of claim 4 , wherein the second sensor system comprises a second sensor configured to measure a position and an orientation of the second section relative to the first section.6. The system of claim 1 , wherein the first sensor system comprises an electromagnetic sensor that produces electrical signal that depends on a position and an orientation of the first section relative to an externally applied magnetic field.7. The system of claim 6 , wherein the second sensor system comprises shape sensor.8. The system of claim 6 , wherein the electromagnetic sensor is ...

Method and system to sense relative partial-pose information using a shape sensor

A shape-sensing segment traverses through at least a portion of a kinematic chain of a tele-operated slave surgical instrument in a tele-operated minimally-invasive surgical system. The shape-sensing segment includes a pre-set perturbation. Shape information from the pre-set perturbation allows determination of relative partial-pose information for at least one link in the kinematic chain.

Systems And Methods For Registration Of A Medical Device Using A Reduced Search Space

A method comprises identifying connected anatomical structures in stored images of a patient anatomy and generating a plurality of cylindrical linkage elements representing the connected anatomical structures. The method also comprises receiving tracking data corresponding to a point on an instrument positioned within at least one of the connected anatomical structures; and matching the point on the instrument to one of the plurality of cylindrical linkage elements. 1. A method comprising:identifying connected anatomical structures in stored images of a patient anatomy;generating a plurality of linkage elements representing the connected anatomical structures;receiving tracking data corresponding to a point on an instrument positioned within at least one of the connected anatomical structures; andmatching the point on the instrument to one of the plurality of linkage elements.2. The method of further comprising:receiving preoperative medical images into a computer memory device to create the stored images of the patient anatomy.3. The method of wherein the connected anatomical structures include airways of a lung.4. The method of wherein the step of matching the point on the instrument to one of the plurality of linkage elements includes determining a set of the plurality of linkage elements closest to position coordinates of the point on the instrument.5. The method of further comprising determining claim 4 , for each linkage element in the set claim 4 , a distance between the point on the instrument and an anatomical centerline of the linkage element.6. The method of further comprising identifying a closest linkage element in the set.7. The method of further comprising creating a projection of the point on the instrument to an anatomical centerline of the closest linkage element.8. The method of further comprising identifying a snapping point along the projection at a radial distance from the anatomical centerline.9. The method of further comprising determining ...

Systems and Methods for Navigation Based on Ordered Sensor Records

A method of tracking a medical instrument comprises receiving a model of an anatomical passageway formation and receiving a set of ordered sensor records for the medical instrument. The set of ordered sensor records provide a path history of the medical instrument. The method further comprises registering the medical instrument with the model of the anatomical passageway formation based on the path history. 1. A method of tracking a medical instrument , the method comprising:receiving a model of an anatomical passageway formation;receiving a set of ordered sensor records for the medical instrument, the set providing a path history of the medical instrument; andregistering the medical instrument with the model of the anatomical passageway formation based on the path history.2. The method of further comprising determining a relationship between a first sensor record of the set of ordered sensor records claim 1 , a second sensor record of the set of ordered sensor records claim 1 , a first candidate match point defined within the model of the anatomical passageway claim 1 , and a second candidate match point defined within the model of the anatomical passageway.3. The method of wherein determining the relationship includes determining a transition probability between the first and second candidate match points.4. The method of further comprising tracking the movement of the medical instrument relative to the model of the anatomical passageway formation.5. The method of wherein the set of ordered sensor records include a set of temporally ordered sensor records.6. The method of wherein the set of ordered sensor records include a set of spatially ordered sensor records.7. The method of wherein receiving the model of the anatomical passageway formation includes receiving the model formed from a set of three-dimensional volumetric images.8. The method of wherein receiving a set of ordered sensor records includes receiving the set from an electromagnetic sensor coupled to ...

Systems and Methods for Deformation Compensation Using Shape Sensing

A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device. 1. A method for estimating the deformation of an anatomic structure comprising:generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy;determining a shape of a device positioned within the branched anatomical passageways; andgenerating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device.2. The method of wherein determining a shape of the device includes receiving information from an optical fiber shape sensor.3. The method of wherein determining a shape of the device includes receiving information from an electromagnetic sensor.4. The method of further comprising fitting a sampling of points along the shape of the device to the first model.5. The method of further comprising computing a set of deformation forces and wherein generating a second model further includes adjusting the first model in response to the set of deformation forces.6. The method of further comprising computing a set of restorative forces and wherein generating a second model further includes adjusting the first model in response to the set of restorative forces.7. The method of further comprising computing a set of maintenance forces and wherein generating a second model further includes adjusting the first model in response to the set of maintenance forces.8. The method of further comprising creating a weighted sum of a set of deformation claim 1 , ...

Systems and Methods for Registration of a Medical Device Using a Reduced Search Space

A method comprises identifying connected anatomical structures in stored images of a patient anatomy and generating a plurality of cylindrical linkage elements representing the connected anatomical structures. The method also comprises receiving tracking data corresponding to a point on an instrument positioned within at least one of the connected anatomical structures; and matching the point on the instrument to one of the plurality of cylindrical linkage elements. 1. A method comprising:identifying connected anatomical structures in stored images of a patient anatomy;generating a plurality of cylindrical linkage elements representing the connected anatomical structures;receiving tracking data corresponding to a point on an instrument positioned within at least one of the connected anatomical structures; andmatching the point on the instrument to one of the plurality of cylindrical linkage elements.2. The method of further comprising:receiving preoperative medical images into a computer memory device to create the stored images of the patient anatomy.3. The method of wherein the connected anatomical structures include airways of a lung.4. The method of wherein the step of matching the point on the instrument to one of the plurality of cylindrical linkage elements includes determining a set of the plurality of cylindrical linkage elements closest to position coordinates of the point on the instrument.5. The method of further comprising determining claim 4 , for each cylindrical linkage element in the set claim 4 , a distance between the point on the instrument and an anatomical centerline of the cylindrical linkage element.6. The method of further comprising identifying a closest cylindrical linkage element in the set.7. The method of further comprising creating a projection of the point on the instrument to an anatomical centerline of the closest cylindrical linkage element.8. The method of further comprising identifying a snapping point along the projection at a ...

Systems and Methods for Reducing Measurement Error in Optical Fiber Shape Sensors

A shape sensing apparatus comprises an instrument including an elongated shaft with a neutral axis. The shape sensor also includes a first shape sensor with an elongated optical fiber extending within the elongated shaft at a first radial distance from the neutral axis. The apparatus also includes a shape sensor compensation device extending within the elongated shaft. The apparatus also comprises a tracking system for receiving shape data from the first shape sensor and compensating data from the shape sensor compensation device for use in calculating a bend measurement for the instrument. 1. A shape sensing apparatus comprising:an instrument including an elongated shaft with a neutral axis;a first shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from the neutral axis; anda shape sensor compensation device extending within the elongated shaft;a tracking system adapted to receive shape data from the first shape sensor and compensating data from the shape sensor compensation device for calculating a bend measurement for the instrument.2. The apparatus of wherein the shape sensor compensation device includes a temperature sensor.3. The apparatus of wherein the temperature sensor includes an optical fiber.4. The apparatus of wherein the shape sensor compensation device is located at a second radial distance from the neutral axis.5. The apparatus of wherein the shape sensor compensation device is located between the neutral axis and the first radial distance.6. The apparatus of wherein the temperature sensor and the first shape sensor are enclosed in insulation.7. The apparatus of wherein the shape sensor compensation device includes a second shape sensor including a second elongated optical fiber extending within the elongated shaft at a second radial distance from the neutral axis and wherein an angular displacement between the first and second shape sensor about the neutral axis is approximately 180° ...

Systems and Methods for Configuring Components in a Minimally Invasive Instrument

A catheter system comprises an elongate flexible catheter and a support structure mounted on the catheter. The support structure comprises a first alignment feature and a second alignment feature. The system further comprises a first sensor component mated with the first alignment feature and a second sensor component mated with the second alignment feature. The first sensor component is fixed relative to the second sensor component in at least one degree of freedom at the support structure by the first alignment feature. 1. A catheter system comprising:an elongate flexible catheter;a support structure mounted on the catheter, the support structure comprising a first alignment feature and a second alignment feature;a first sensor component mated with the first alignment feature; anda second sensor component mated with the second alignment feature,wherein the first sensor component is fixed relative to the second sensor component in at least one degree of freedom at the support structure by the first alignment feature.2. The catheter system of claim 1 , wherein the elongate flexible catheter defines a central lumen having a first longitudinal axis claim 1 ,wherein the support structure further comprises a wall defining a working lumen having a second longitudinal axis, andwherein the second longitudinal axis is aligned with the first longitudinal axis.3. The catheter system of wherein the elongate flexible catheter extends within the working lumen.4. The catheter system of wherein the working lumen is serially aligned with the central lumen.5. The catheter system of wherein the first sensor component includes a shape sensor.6. The catheter system of wherein the first sensor component is laterally fixed with respect to the support structure.7. The catheter system of wherein the second sensor component includes an electromagnetic position sensor.8. The catheter system of wherein the electromagnetic position sensor includes a six degree of freedom electromagnetic ...

Catheter With Removable Vision Probe

A medical system includes a catheter and a vision probe that can be removed from the catheter and replaced with a medical probe. The vision probe can thus be used to steer and pose the catheter, and then be removed and replaced with the medical probe when a medical task such as a lung biopsy is performed. A sensor system in the catheter at least partly measures a pose of the catheter, and control logic controls actuation of the catheter to maintain the desired working configuration when the medical probe is used. A small diameter catheter can thus provide vision and biopsy functionality. 120-. (canceled)21. A medical system comprising:a catheter having a main lumen and a distal tip configured to be positioned in a working pose at a working location, wherein the working pose comprises a working position and a working orientation of the distal tip;a sensor system coupled to the catheter to generate measurement signals associated with the catheter; anda control system coupled to the sensor system to receive measurement signals, wherein the control system is operable to identify from the received measurement signals the working pose of the distal tip, and the control system is further operable to receive pre-operative imaging data and generate a virtual view of the working location.22. The medical system of wherein the virtual view of the working location is registered with measurement signals to the working pose of the distal tip.23. The medical system of wherein the pre-operative imaging data is three dimensional imaging data.24. The medical system of wherein the distal tip of the catheter is steerable to adjust the working orientation of the distal tip.25. The medical system of wherein the catheter includes an isolated bend section.26. The medical system of wherein the isolated bend section is formed with Nitinol.27. The medical system of wherein the catheter includes a mechanical system connected to control the working pose of the distal tip.28. The medical system ...

SYSTEMS AND METHODS FOR DEFORMATION COMPENSATION USING SHAPE SENSING

A medical system comprises a surgical device including a tracking system. The medical system also includes a memory storing anatomical data describing a patient anatomy. The medical system also includes a processor configured for generating a first model, that includes a set of anatomical passageways including a first proximal branch connected to a first distal branch, from the stored anatomical data describing the patient anatomy. The processor is also configured for determining, by the tracking system, a shape of an elongate flexible body of the surgical device positioned within the first proximal branch and the first distal branch of the set of anatomical passageways. The processor is also configured for computing, based on the determined shape of the elongate flexible body, a total set of forces acting on the set of anatomical passageways in response to the surgical device positioned within the first proximal branch and the first distal branch. The processor is also configured for deforming the first model into a second model of the anatomical passageways by adjusting at least one joint between branches in the set of anatomical passageways in the first model based on the total set of forces computed, to thereby change a pose of at least one branch through which the surgical device extends and at least one additional branch through which the surgical device does not extend. 19-. (canceled)10. A medical system comprising:a surgical device including a tracking system;a memory storing anatomical data describing a patient anatomy; and generating a first model, that includes a set of anatomical passageways including a first proximal branch connected to a first distal branch, from the stored anatomical data describing the patient anatomy;', 'determining by the tracking system a shape of an elongate flexible body of the surgical device positioned within the first proximal branch and the first distal branch of the set of anatomical passageways;', 'computing, based on the ...

SYSTEMS AND METHODS FOR REDUCING MEASUREMENT ERROR USING OPTICAL FIBER SHAPE SENSORS

An apparatus may include an instrument including an elongated shaft and a shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from a neutral axis. The apparatus may also comprise a reference sensor disposed within the elongated shaft. The shape sensor may be fixed in a known first position relative to the reference sensor. The apparatus may also comprise a twist resistant feature disposed within the elongated shaft. The twist resistant feature may be coupled to the shape sensor to reduce twisting of the elongated optical fiber relative to the elongated shaft while permitting axial translation of the elongated optical fiber within the elongated shaft. The shape sensor may be coupled to the twist resistant feature at a known second position relative to the reference sensor. 120-. (canceled)21. An apparatus comprising:an instrument including an elongated shaft;a shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from a neutral axis;a reference sensor disposed within the elongated shaft, wherein the shape sensor is fixed in a known first position relative to the reference sensor; anda twist resistant feature disposed within the elongated shaft, wherein the twist resistant feature is coupled to the shape sensor to reduce twisting of the elongated optical fiber relative to the elongated shaft while permitting axial translation of the elongated optical fiber within the elongated shaft, wherein the shape sensor is coupled to the twist resistant feature at a known second position relative to the reference sensor.22. The apparatus of claim 21 , wherein first shape sensor is fixed to at least one of the reference sensor and the elongated shaft via a bonding agent.23. The apparatus of claim 21 , wherein:the reference sensor is at a first axial location along the elongated shaft;the elongated optical fiber is fixed to the elongated shaft at the first axial ...

MULTI-CANNULA VISION SYSTEM

Vision systems on catheters, cannulas, or similar devices with guiding lumens include receptors distributed in annular areas around respective lumens. Each of the receptors has a field of view covering only a portion of an object environment, and the field of view of each of the receptors overlaps with at least one of the fields of view of the other receptors. A processing system can receive image data from the receptors of the vision systems and combine the image data to construct a visual representation of the object environment. 1. A system comprising:a first cannula including a first lumen configured for guiding of a first instrument;a first vision system, at least a portion of the first vision system being positioned at a distal end of the first cannula;a second cannula including a second lumen configured for guiding of a second instrument;a second vision system, at least a portion of the second vision system being positioned at a distal end of the second cannula; anda processing system configured to receive image data from the first vision system and the second vision system and to combine the image data from the first vision system and the second vision system in construction of a representation of an environment in which the distal ends of the first cannula and the second cannula are deployed.2. The system of claim 1 , wherein the first vision system leaves the first lumen open to insertion of a first instrument through the first cannula into the environment.3. The system of claim 2 , wherein the second vision system leaves the second lumen open to insertion of a second instrument through the second cannula into the environment.4. The system of claim 1 , further comprising:a third cannula including a third lumen configured for guiding of a third instrument; anda third vision system, at least a portion of the third vision system being positioned at a distal end of the third cannula; whereinthe processing system is further configured to receive image data from ...

Arm With A Combined Force and Shape Sensor

An apparatus comprises a continuously flexible device and an actuation mechanism that acts to bend and straighten the continuously flexible device. The apparatus also includes a sensor apparatus that generates bend information about at least a portion of the continuously flexible device. The apparatus also includes an electronic data processor. The electronic data processor generates (i) external force information about at least one of a magnitude or a direction of an external force applied to the continuously flexible device, or (ii) both the external force information and internal force information about a bending force applied to the continuously flexible device by the actuation mechanism from (a) the generated bend information and (b) information representing at least one mechanical property of the continuously flexible device. 119-. (canceled)20. An apparatus comprising:a continuously flexible device;an actuation mechanism that acts to bend and straighten the continuously flexible device;a sensor apparatus that generates bend information about at least a portion of the continuously flexible device; andan electronic data processor, wherein the electronic data processor generates (i) external force information about at least one of a magnitude or a direction of an external force applied to the continuously flexible device, or (ii) both the external force information and internal force information about a bending force applied to the continuously flexible device by the actuation mechanism from (a) the generated bend information and (b) information representing at least one mechanical property of the continuously flexible device, and wherein the electronic data processor outputs at least one of the generated external or internal force information.21. The apparatus of wherein the continuously flexible device is a catheter.22. The apparatus of wherein the actuation mechanism includes a cable actuation mechanism.23. The apparatus of wherein the actuation mechanism ...

SYSTEMS AND METHODS OF REGISTRATION FOR IMAGE-GUIDED SURGERY

A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. The method may further include determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality and discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches. The second set of points may then be moved relative to the first set of points based on the modified set of matches. 138-. (canceled)39. A method comprising:receiving a set of model points of a model of one or more passageways of a patient;receiving a set of measured points collected from within the one or more passageways of the patient, each point comprising coordinates within a medical environment occupied by the patient;assigning weights to one or more of the measured points;matching each measured point to a model point to generate a set of matches, a value of each of the matches depending on the assigned weight of the measured point in the match; andmoving the set of measured points relative to the set of model points based on the set of matches.40. (canceled)41. The method of claim 39 , further comprising computing a corrective motion to apply to the set of measured points claim 39 , and wherein the moving the set of measured points relative to the set of model points comprises applying the corrective motion to the set of measured points.42. (canceled)43. The method of claim 39 , further comprising:discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches; andcomputing a corrective motion to apply to the set of measured points, wherein the ...

GRAPHICAL USER INTERFACE FOR MONITORING AN IMAGE-GUIDED PROCEDURE

A system and method of monitoring a procedure includes a medical device. The medical device includes an elongate device including a flexible body, a tracking system disposed along at least a portion of the flexible body, and one or more processors communicatively coupled to the tracking system. The one or more processors are configured to receive a route to a target location in an anatomy, determine one or more features of the route based on a first anatomical representation, generate a reduced anatomical representation based on the one or more features of the route, receive real-time position information from the tracking system, associate the real-time position information to the reduced anatomical representation, and dynamically display the reduced anatomical representation with the associated real-time position information. 1. A medical device comprising:an elongate device including a flexible body;a tracking system disposed along at least a portion of the flexible body;one or more processors communicatively coupled to the tracking system; receive a route to a target location in an anatomy;', 'determine one or more features of the route based on a first anatomical representation;', 'generate a reduced anatomical representation based on the one or more features of the route, the reduced anatomical representation including passageway width;', 'receive real-time position information from the tracking system;', 'associate the real-time position information to the reduced anatomical representation; and', 'dynamically display the reduced anatomical representation with the associated real-time position information., 'wherein the one or more processors are configured to2. The medical device of claim 1 , wherein the anatomy corresponds to lungs claim 1 , and wherein the first anatomical representation includes a plurality of passageways in the anatomy that correspond to airways of the lungs.3. The medical device of claim 1 , wherein the one or more features of the route ...

SYSTEMS AND METHODS FOR PRE-OPERATIVE MODELING

A method for modeling a patient anatomy includes applying a first modeling function to a set of volumetric image data for a patient anatomy to produce a first model of the patient anatomy, presenting the first model to a user, receiving an input from the user, and generating a revised model based upon the input. 1. A computing system comprising:a user interface;a processor; and through the user interface, present a first model to a user, the first model being formed by applying a first modeling function to a set of volumetric image data for a patient anatomy to produce a first model of the patient anatomy;', 'through the user interface, receive an input from the user;', 'generate a revised model based upon the input; and', 'present the revised model to the user., 'a memory comprising machine readable instructions that when executed by the processor, cause the system to2. The system of wherein the first model is associated with a plurality of first model parameters.3. The system of wherein the plurality of first model parameters includes a leak rate.4. The system of wherein the plurality of first model parameters includes a center line composite length.5. The system of wherein the plurality of first model parameters includes a quantity of voxels in the first model.6. The system of wherein the plurality of first model parameters includes a quantity of branches in the first model.7. The system of wherein the input received from the user includes additional voxels representing additional features of the patient anatomy.8. The system of wherein the input received from the user includes a seed location and to generate the revised model claim 1 , the processor is further to cause the system to apply a second modeling function to the set of volumetric image data in a region of the seed location.9. The system of wherein the input received from the user includes a tunable parameter for at least a portion of the first model and to generate the revised model claim 1 , the ...

SYSTEMS AND METHODS FOR USING REGISTERED FLUOROSCOPIC IMAGES IN IMAGE-GUIDED SURGERY

A method performed by a computing system comprises receiving a fluoroscopic image of a patient anatomy while a portion of a medical instrument is positioned within the patient anatomy. The fluoroscopic image has a fluoroscopic frame of reference. The portion has a sensed position in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position of the portion in the fluoroscopic frame of reference using the identified portion in the fluoroscopic image. The method further comprises registering the fluoroscopic frame of reference to the anatomic model frame of reference based on the sensed position of the portion and the extracted position of the portion. 141-. (canceled)42. A medical system comprising:an instrument including an instrument shape sensor;a display system; and receive an anatomic model of a patient anatomy, wherein an area of interest is identified in the anatomic model;', 'receive shape sensor data from the instrument shape sensor while the instrument is positioned within the patient anatomy and registered to the anatomic model; and', 'determine a fluoroscopic image plane for display on the display system based on the received shape sensor data and the area of interest., 'a processing unit including one or more processors, wherein the processing unit is configured to43. The medical system of claim 42 , wherein the instrument shape sensor is positioned at a distal tip portion of the instrument and the processing unit is configured to determine the fluoroscopic image plane for display by:determining a pose of the distal tip portion of the instrument from the received shape sensor data; anddetermining a distance between the distal tip portion of the instrument and the area of interest.44. The medical system of claim 43 , wherein the processing unit is configured to determine the fluoroscopic image plane for display by determining the fluoroscopic image plane in ...

SYSTEMS AND METHODS FOR NON-RIGID DEFORMATION OF TISSUE FOR VIRTUAL NAVIGATION OF INTERVENTIONAL TOOLS

A processing system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to obtain a reference tree of nodes and linkages based on a reference three dimensional volumetric representation of a branched anatomical formation in a reference state. The computer readable instructions also cause the system to obtain a reference three dimensional geometric model based on the reference tree and detect deformation of the branched anatomical formation due to anatomical motion based on measurements from a shape sensor. The computer readable instructions also cause the system to obtain a deformed tree of nodes and linkages based on the detected deformation and create a three dimensional deformation field that represents the detected deformation of the branched anatomical formation. 124-. (canceled)25. A processing system comprising:a processor; and obtain a reference tree of nodes and linkages based on a reference three dimensional volumetric representation of a branched anatomical formation in a reference state;', 'obtain a reference three dimensional geometric model based on the reference tree;', 'detect deformation of the branched anatomical formation due to anatomical motion based on measurements from a shape sensor;', 'obtain a deformed tree of nodes and linkages based on the detected deformation; and', 'create a three dimensional deformation field that represents the detected deformation of the branched anatomical formation., 'a memory having computer readable instructions stored thereon, the computer readable instructions, when executed by the processor, cause the system to26. The processing system of claim 25 , wherein the three dimensional deformation field includes a three dimensional field vector array.27. The processing system of claim 25 , wherein the computer readable instructions claim 25 , when executed by the processor claim 25 , cause the ...

SYSTEMS AND METHODS FOR FAULT REACTION MECHANISMS FOR MEDICAL ROBOTIC SYSTEMS

Systems and methods for responding to faults in a robotic system are provided herein. In some embodiments, the system includes an elongate body having a proximal end and a distal end, a backend housing coupled to the proximal end of the elongate body, and a control system. The backend housing includes one or more actuators configured to manipulate the distal end of the elongate body. The control system is configured to control the robotic system by performing operations including: determining an operational state of the medical robotic system, detecting a fault in one or more components of the medical robotic system, classifying the fault according to one or more heuristics, and imposing a fault reaction state on the medical robotic system based on the one or more heuristics to mitigate the fault. 1. A medical robotic system comprising:a manipulator assembly comprising one or more actuators configured to manipulate a flexible elongate body; and determining an operational state of the medical robotic system;', 'detecting a fault in one or more components of the medical robotic system;', 'classifying the fault according to one or more heuristics; and', 'imposing a fault reaction state on the medical robotic system based on the one or more heuristics to mitigate the fault., 'a control system configured to perform operations, the operations comprising2. (canceled)3. (canceled)4. The medical robotic system of claim 1 , wherein the one or more components of the medical robotic system includes a shape sensor.5. The medical robotic system of claim 4 , wherein the shape sensor comprises an optical fiber comprising more than one core.6. The medical robotic system of claim 1 , wherein the one or more components of the medical robotic system includes a state sensor within the one or more actuators.7. (canceled)8. The medical robotic system of claim 1 , further comprising:the flexible elongate body, wherein the flexible elongate body comprises a proximal end, a distal end, and a ...

GRAPHICAL USER INTERFACE FOR DISPLAYING GUIDANCE INFORMATION IN A PLURALITY OF MODES DURING AN IMAGE-GUIDED PROCEDURE

A method for displaying guidance information using a graphical user interface during an medical procedure comprises displaying, in a first mode of the graphical user interface, first image data from a perspective corresponding to a distal end of an elongate device. The first image data includes a virtual roadmap. The method also comprises transitioning from the first mode of the graphical user interface to a second mode of the graphical user interface. The transition is based on an occurrence of a triggering condition. The method also comprises displaying, in the second mode of the graphical user interface, second image data from a perspective corresponding to the distal end of the elongate device. The second image data includes a target indicator corresponding to a target location and an alignment indicator corresponding to an expected location of the medical procedure at the target location. 1. A method for displaying guidance information using a graphical user interface during a medical procedure , the method comprising:displaying, in a first mode of the graphical user interface, first image data from a perspective corresponding to a distal end of an elongate device, wherein the first image data includes a virtual roadmap;transitioning from the first mode of the graphical user interface to a second mode of the graphical user interface wherein the transition is based on an occurrence of a triggering condition; anddisplaying, in the second mode of the graphical user interface, second image data from a perspective corresponding to the distal end of the elongate device, wherein the second image data includes a target indicator corresponding to a target location and an alignment indicator corresponding to an expected location of the medical procedure at the target location.23-. (canceled)4. The method of claim 1 , wherein the triggering condition includes a change in presence of a medical instrument from the elongate device detected based on a change in shape of the ...

SYSTEMS AND METHODS OF STEERABLE ELONGATE DEVICE

Systems and methods for controlling an elongate device include an input control console. The console includes a first input control having an infinite length of travel in a first direction, a second input control having an infinite length of travel in more than one direction, one or more transceivers for coupling the console to a control unit for the elongate device, and interface circuits for coupling the first input control and the second input control to the one or more transceivers. The first input control provides a first command suitable for controlling an insertion depth of the elongate device. The second input control provides second commands suitable for controlling steering of a distal end of the elongate device. In some embodiments, the console includes raised rings or bezels within which the input controls are mounted. In some embodiments, pockets of a drape are anchored to the raised rings or bezels. 1. An input control console for an elongate device , the console comprising:a first input control having an infinite length of travel in a first direction, the first input control providing a first command suitable for controlling an insertion depth of the elongate device;a second input control having an infinite length of travel in more than one direction, the second input control providing a second command suitable for controlling steering of a distal end of the elongate device including a pitch setting and a yaw setting;one or more transceivers for coupling the console to a control unit for the elongate device; andinterface circuits for coupling the first input control and the second input control to the one or more transceivers.2. The console of claim 1 , wherein the first input control is a single-axis device and the second input control is a multiple-axis device.3. The console of claim 1 , wherein the first input control is a scroll wheel and the second input control is a track ball.4. (canceled)5. The console of claim 1 , wherein the first input ...

Shape sensor systems with redundant sensing

A method of operating a shape sensing apparatus comprises receiving shape data from a first shape sensor. The first shape sensor includes a first plurality of optical cores extending between a first section and a second section of an elongated optical fiber. The method further comprises receiving shape data from a second shape sensor. The second shape sensor includes a second plurality of optical cores extending between the first and second sections of the elongated optical fiber. The method further comprises determining a shape of the elongated optical fiber between the first and second sections by combining the shape data from the first and second shape sensors.

FIBER MANAGEMENT IN MEDICAL INSTRUMENT BACKEND

A flexible tool includes an optical fiber including a proximal end, a distal end, an intermediate portion between the proximal end and the distal end and an adjustable bend between the proximal end and the intermediate portion. The intermediate portion may be constrained to have a single degree of freedom that is translational substantially along an axis defined by the optical fiber at the intermediate portion. The adjustable bend may be enclosed with a housing that provides space within the housing for the adjustable bend to adjust. The optical fiber may be used to provide shape sensing of the flexible tool. 120-. (canceled)21. A tool comprising: a proximal end,', 'a distal end, an intermediate portion between the proximal end and the distal end, and', 'an adjustable bend between the proximal end and the intermediate portion, wherein motion of the intermediate portion is constrained to translational motion substantially along an axis defined by the optical fiber at the intermediate portion;, 'an optical fiber including'}a cylindrical passage through which the intermediate portion of the optical fiber extends; anda housing enclosing the adjustable bend and the cylindrical passage.22. The tool of claim 21 , wherein the intermediate portion is constrained to translational motion by the cylindrical passage.23. The tool of claim 21 , wherein the housing includes a curved inner surface to bound motion of the adjustable bend.24. The tool of claim 21 , wherein the proximal end of the optical fiber is fixed within the housing relative to the housing.25. The tool of claim 21 , further comprising a return mechanism that is configured to urge the intermediate portion towards a predetermined starting location.26. The tool of claim 25 , wherein the return mechanism is positioned between the proximal end and the intermediate portion.27. The tool of claim 25 , wherein the return mechanism includes a magnet.28. The tool of claim 25 , wherein the return mechanism includes a spring. ...

SYSTEMS AND METHODS RELATED TO ELONGATE DEVICES

A medical system includes a catheter and a processor. The catheter includes a first channel and a distal end portion associated with a catheter frame of reference. The processor is configured to receive a first image captured by a first imaging device provided by the catheter within a patient anatomy, and receive a second image of the patient anatomy captured by a second imaging device from outside the patient anatomy. The second image includes the catheter and the first imaging device. The processor is further configured to determine a relative pose between the first imaging device and the distal end of the catheter based on the second image, determine a target location associated with a target structure in the first image, and transform the target location in an image frame of reference associated with the first image to the catheter frame of reference based on the relative pose. 1. A medical system comprising:a catheter including a first channel and a distal end portion, wherein the distal end portion is associated with a catheter frame of reference; and receive a first image captured by a first imaging device provided by the catheter within a patient anatomy;', 'receive a second image of the patient anatomy captured by a second imaging device from outside the patient anatomy, wherein the second image includes the catheter and the first imaging device;', 'determine a relative pose between the first imaging device and the distal end of the catheter based on the second image;', 'determine a target location associated with a target structure in the first image; and', 'transform the target location in an image frame of reference associated with the first image to the catheter frame of reference based on the relative pose., 'a processor configured to2. The medical system of claim 1 ,wherein the first imaging device includes an ultrasound probe.3. (canceled)4. The medical system of claim 2 , wherein the ultrasound probe is configured to be slidably received within the ...

GUIDE APPARATUS FOR DELIVERY OF A FLEXIBLE INSTRUMENT AND METHODS OF USE

An apparatus for guiding a flexible instrument comprises an elongated support assembly having a longitudinal axis. The elongated support assembly is adapted to laterally receive into engagement and longitudinally support an elongated flexible instrument. 1. An apparatus for guiding a flexible instrument , the apparatus comprising:an elongated support assembly having a longitudinal axis, the elongated support assembly adapted to laterally receive into engagement and longitudinally support an elongated flexible instrument.2. The apparatus of wherein the elongated support assembly includes a guide channel configured to laterally receive the elongated flexible instrument.3. The apparatus of wherein the guide channel includes an undulated lateral opening.4. The apparatus of wherein the elongated support assembly includes a fastener configured to laterally receive a mating fastener component of the elongated flexible instrument.5. The apparatus of wherein the elongated support assembly includes a magnetic structure configured to couple with the elongated flexible instrument.6. The apparatus of wherein the elongated support assembly is adapted to longitudinally support the elongated flexible instrument as the elongated support assembly is moved along the longitudinal axis.7. The apparatus of wherein the elongated support assembly is adapted to maintain a length of the elongated flexible instrument in a fixed configuration relative to the elongated support assembly as the elongated support assembly is moved along the longitudinal axis.8. The apparatus of claim 1 , wherein the elongated support assembly is adapted such that advancement of a proximal end of the elongated support assembly along the longitudinal axis directs a portion of the elongated support assembly away from the longitudinal axis.9. The apparatus of wherein the elongated support assembly includes a first elongated support member and a second elongated support member interlocked along the longitudinal axis.10 ...

Arm With A Combined Shape And Force Sensor

A bend sensor is used to determine force applied to a robotic arm. The force may be an external force applied to the arm, an internal actuation force, or both. In some aspects, a stiffening element is used to restore the arm to a minimum kinematic energy state. In other aspects, the stiffening element is eliminated, and the arm is fully actuated. 1. An apparatus comprising:an arm, wherein the arm comprises a bendable portion and a stiffening element, and wherein the stiffening element tends to restore the bendable portion of the arm to a kinematic minimum energy state;a sensor apparatus that generates bend information about at least one bend in the bendable portion; andan electronic data processor, wherein the electronic data processor determines (i) external force information about at least one of a magnitude or a direction of an external force applied to the arm, or (ii) internal force information about a bending force applied to the arm by an actuation mechanism, or (iii) both the external and internal force information from (a) the generated bend information, (b) information about the stiffness of the stiffening element, and (c) information representing at least one mechanical property of the bendable portion, and wherein the electronic data processor outputs the determined force information.2. The apparatus of :wherein the bendable portion of the arm is continuously flexible.3. The apparatus of :wherein the bendable portion of the arm comprises a plurality of discrete links coupled in series to approximate a continuously flexible structure.4. The apparatus of :wherein the apparatus further comprises the actuation mechanism that acts to bend the bendable portion of the arm.5. The apparatus of :wherein the sensor apparatus comprises an optical fiber.6. The apparatus of :wherein the arm is at least a portion of a surgical instrument shaft.7. The apparatus of claim 1 , further comprising:a master control device coupled to the electronic data processor;wherein the ...

SYSTEMS AND METHODS FOR FLEXIBLE COMPUTER-ASSISTED INSTRUMENT CONTROL

A medical system includes a flexible elongate instrument and a control system. The flexible elongate instrument includes a plurality of wires useable to control articulation of the flexible elongate instrument. The control system is configured to monitor movement of the flexible elongate instrument, determine an extent of motion of the flexible elongate instrument based on the monitoring, and determine a mode of operation for the flexible elongate instrument from a plurality of modes of operation based on the monitoring. The plurality of modes of operation includes a retraction mode, an insertion mode, and a parking mode. The control system is further configured to, in response to a change in the mode of operation, alter a rigidity of the flexible elongate instrument with a rate of rigidity change that is based on the extent of motion using one or more of the plurality of wires. 148-. (canceled)49. A medical system , comprising:a flexible elongate instrument comprising a plurality of wires useable to control articulation of the flexible elongate instrument; and monitor movement of the flexible elongate instrument;', 'determine an extent of motion of the flexible elongate instrument based on the monitoring;', 'determine a mode of operation for the flexible elongate instrument from a plurality of modes of operation based on the monitoring, the plurality of modes of operation including a retraction mode, an insertion mode, and a parking mode; and', 'in response to a change in the mode of operation, alter a rigidity of the flexible elongate instrument with a rate of rigidity change that is based on the extent of motion using one or more of the plurality of wires., 'a control system configured to50. The medical system of claim 49 , wherein:the rate of rigidity change is non-linear with respect to the extent of motion; andthe extent of motion is at least one of a velocity of the movement, an elapsed time of the movement, or a distance traveled of the movement.51. The ...

GUIDE APPARATUS FOR DELIVERY OF A FLEXIBLE INSTRUMENT AND METHODS OF USE

A guiding apparatus comprises a support assembly extending along a longitudinal axis. The support assembly includes a first plurality of linkages including a first channel formation, a second plurality of linkages including a second channel formation, and a strut having a proximal portion and a distal portion. The distal portion of the strut is coupled to the support assembly. The support assembly has a coupled configuration with a proximal end and a distal end in which the first plurality of linkages is coupled to the second plurality of linkages with the first and second channel formations arranged to form a continuous channel through the support assembly. The continuous channel has an elongated opening sized to receive an elongated flexible instrument in a direction generally perpendicular to the longitudinal axis. 122-. (canceled)23. A guiding apparatus comprising: a first plurality of linkages including a first channel formation;', 'a second plurality of linkages including a second channel formation; and,', 'a strut having a proximal portion and a distal portion, wherein the distal portion of the strut is coupled to the support assembly,, 'a support assembly extending along a longitudinal axis and includingwherein the support assembly has a coupled configuration with a proximal end and a distal end in which the first plurality of linkages is coupled to the second plurality of linkages with the first and second channel formations arranged to form a continuous channel through the support assembly, wherein the continuous channel has an elongated opening sized to receive an elongated flexible instrument in a direction generally perpendicular to the longitudinal axis.24. The guiding apparatus of further comprising:a first return assembly; anda second return assembly,wherein advancement of the distal portion of the strut coupled to the proximal end of the support assembly along the longitudinal axis moves the distal end of the support assembly from the coupled ...

Method And System For Providing Visual Guidance To An Operator For Steering A Tip Of An Endoscopic Device Towards One Or More Landmarks In A Patient

Landmark directional guidance is provided to an operator of an endoscopic device by displaying graphical representations of vectors adjacent a current image captured by an image capturing device disposed at a tip of the endoscopic device and being displayed at the time on a display screen, wherein the graphical representations of the vectors point in directions that the endoscope tip is to be steered in order to move towards associated landmarks such as anatomic structures in a patient. 132-. (canceled)33. A system for navigating a steerable instrument in a patient anatomy , the system comprising:a processor; and receive a first landmark establishment request;', 'responsive to receiving the first landmark establishment request, record information about a reference portion of the steerable instrument located at a first anatomic landmark in the patient anatomy;', 'reference the recorded information as first landmark information;', 'register the first landmark information to a model of the patient anatomy; and', 'while the steerable instrument is navigating the patient anatomy, update navigation guidance all along a path to a target location, through a plurality of anatomic landmarks, including the first anatomic landmark., 'a memory comprising computer readable instructions stored thereon that, when executed by the processor, cause the system to34. The system of claim 33 , wherein updating navigation guidance all along the path includes updating guidance from an entry point of the patient anatomy to the target location.35. The system of claim 33 , wherein the navigation guidance includes a directional graphical representation that is updated as the steerable instrument is guided toward the target location.36. The system of claim 35 , wherein the directional graphical representation includes a three-dimensional graphical representation.37. The system of claim 36 , wherein the three-dimensional graphical representation includes at least one three-dimensional arrow.38. ...

ARM WITH A COMBINED SHAPE AND FORCE SENSOR

A system comprises an arm including a bendable section and a force transmission mechanism. The system also comprises an actuation mechanism coupled to the force transmission mechanism to bend the bendable section. The system also comprises an electronic data processor configured to receive sensor data about the bendable section and determine external force information about at least one of a magnitude or a direction of an external force applied to the arm from the sensor data. the processor is also configured to determine a pose of the bendable section from the sensor data and generate control information for the actuation mechanism to maintain the pose of the bendable section in a stationary configuration as the external force is applied to or withdrawn from the arm. 119-. (canceled)20. A system comprising:an arm including a bendable section and a force transmission mechanism;an actuation mechanism coupled to the force transmission mechanism to bend the bendable section; and receive sensor data about the bendable section,', 'determine external force information about at least one of a magnitude or a direction of an external force applied to the arm from the sensor data,', 'determine a pose of the bendable section from the sensor data, and', 'generate control information for the actuation mechanism to maintain the pose of the bendable section in a stationary configuration as the external force is applied to or withdrawn from the arm., 'an electronic data processor configured to'}21. The system of further comprising:a stiffening element for providing a restoration force to the arm.22. The system of wherein the sensor data includes shape data about the bendable section.23. The system of wherein the pose of the bendable section is further determined from information representing at least one mechanical property of the arm.24. The system of further comprising:an end effector coupled to the bendable section of the arm.25. The system of wherein the actuation mechanism is ...

CATHETER SENSOR SYSTEMS

A medical system may comprise a catheter that includes an elongate body and a main lumen extending longitudinally through the elongate body. The medical system may also comprise a vision probe that includes a tube extendable through the main lumen of the catheter and comprising a flexible body having an outermost wall and an innermost wall, the innermost wall defining a central lumen. The flexible body contains a plurality of channels formed within the flexible body of the tube and separated from the central lumen by the innermost wall. The plurality of channels includes oblong channels for irrigation and suction and auxiliary channels. The oblong channels have concentric arc shaped surfaces forming an arcuate channel cross-section. The auxiliary channels have a different shape than the one or more oblong channels. The vision probe also includes an imaging system and illumination fibers running through respective auxiliary channels in the tube. 120-. (canceled)21. A medical system comprising: an elongate body; and', 'a main lumen extending longitudinally through the elongate body; and, 'a catheter that includes a tube extendable through the main lumen of the catheter and comprising a flexible body having an outermost wall and an innermost wall, the innermost wall defining a central lumen, the flexible body containing a plurality of channels formed within the flexible body of the tube and separated from the central lumen by the innermost wall, the plurality of channels including one or more oblong channels for irrigation and suction and one or more auxiliary channels, the one or more oblong channels having first and second concentric arc shaped surfaces forming an arcuate channel cross-section, the one or more auxiliary channels having a different shape than the one or more oblong channels;', 'an imaging system extending through the central lumen to a distal end of the tube; and', 'one or more illumination fibers running through respective auxiliary channels in the ...

Graphical User Interface For Catheter Positioning And Insertion

A method of guiding an interventional instrument within a patient anatomy comprises processing a target location within the patient anatomy and receiving a position for a tip portion of an interventional instrument at a first location within the patient anatomy. The method also comprises determining a three-dimensional distance between the first location and the target location and displaying a symbol representing the target location and a symbol representing the tip portion of the interventional instrument. 1. A method of guiding an interventional instrument within a patient anatomy , the method comprising:processing a target location within the patient anatomy;receiving a position for a tip portion of an interventional instrument at a first location within the patient anatomy;determining a three-dimensional distance between the first location and the target location; anddisplaying a symbol representing the target location and a symbol representing the tip portion of the interventional instrument.2. The method of further comprising displaying a symbol representing a direction between the position of the tip portion and the target location.3. The method of further comprising displaying a symbol representing an insertion distance component of the three dimensional distance.4. The method of wherein the symbol representing the insertion distance is concentric with the symbol representing the target location.5. The method of wherein the symbol representing the insertion distance is concentric with the symbol representing the tip portion.6. The method of wherein the symbol representing the insertion distance component is scalable in size.7. The method of further comprisingchanging the size of the symbol representing the insertion distance component as the three-dimensional distance between the first location and the target location is changed.8. (canceled)9. The method of further comprising displaying the symbols representing the target location and tip portion in a ...

SHAPE SENSOR SYSTEMS FOR TRACKING INTERVENTIONAL INSTRUMENTS AND MEHODS OF USE

A medical tracking system comprises a fiducial apparatus that includes a sensor docking feature configured to mate with a mating portion of a sensor device. The sensor docking feature retains the mating portion in a known configuration. The fiducial apparatus also includes at least one imageable fiducial marker and a surface configured for attachment to an anatomy of a patient. 1. A medical tracking system comprising: a sensor docking feature configured to mate with a mating portion of a sensor device and to retain the mating portion in a known configuration;', 'at least one imageable fiducial marker; and', 'a surface configured for attachment to an anatomy of a patient., 'a fiducial apparatus including'}2. The medical tracking system of further comprising the sensor device including the mating portion claim 1 , a first shape sensor claim 1 , and a sensor connection component for interfacing the first shape sensor with a sensor interrogation system.3. The medical tracking system of further comprising an elongated flexible instrument in which the first shape sensor extends.4. The medical tracking system of wherein the first shape sensor is fixedly coupled to the elongated flexible instrument.5. The medical tracking system of further comprising the sensor interrogation system including a processor configured to receive information from the first shape sensor.6. The medical tracking system of further comprising an optical fiber link configured to connect the sensor interrogation system and the first shape sensor and convey information from the first shape sensor to the sensor interrogation system.7. The medical tracking system of wherein the first shape sensor includes an optical fiber shape sensor.8. The medical tracking system of wherein the first shape sensor includes the mating portion.9. The medical tracking system of further comprising a reference fixture including a first sensor adaptor configured to hold a proximal end of the first shape sensor in a fixed pose. ...

Systems And Methods For Non-Rigid Deformation Of Tissue For Virtual Navigation Of Interventional Tools

A method of modeling anatomic deformation comprises receiving a reference three dimensional model of a branched anatomical formation in a reference state. The method further comprises applying a three dimensional deformation field to the reference three dimensional model to create a deformed three dimensional model of a deformed state of the branched anatomical formation and dynamically displaying an image of the deformed three dimensional model of the deformed state of the branched anatomical formation. 1. A method comprising:receiving a reference three dimensional model of a branched anatomical formation in a reference state;applying a three dimensional deformation field to the reference three dimensional model to create a deformed three dimensional model of a deformed state of the branched anatomical formation; anddynamically displaying an image of the deformed three dimensional model of the deformed state of the branched anatomical formation.2. The method of wherein applying the three dimensional deformation field to the reference three dimensional model includes interpolating the three dimensional deformation field for a point on the reference three dimensional model.3. The method of wherein applying the three dimensional deformation field to the reference three dimensional model further includes transforming the point on the reference three dimensional model to a point on the deformed three dimensional model of the deformed state of the branched anatomical formation.4. The method of wherein applying the three dimensional deformation field to the reference three dimensional model is performed on a graphical processing unit.5. The method of wherein the deformed state of the branched anatomical formation is caused claim 1 , at least in part claim 1 , by a periodic anatomical motion.6. The method of wherein the deformed state of the branched anatomical formation is caused claim 1 , at least in part claim 1 , by an interventional instrument positioned within the ...

Shape Sensor Systems For Localizing Movable Targets

A method comprises receiving first shape data from a first elongated optical fiber section in a first shape sensor. The first elongated optical fiber section extends between a reference fixture and a first anatomic fixture coupled to a patient anatomy. The method further comprises determining a pose of the first anatomic fixture from the first shape data and tracking a pose change for the first anatomic fixture. 1. A method comprising:receiving first shape data from a first elongated optical fiber section in a first shape sensor, the first elongated optical fiber section extending between a reference fixture and a first anatomic fixture coupled to a patient anatomy;determining a pose of the first anatomic fixture from the first shape data; andtracking a pose change for the first anatomic fixture.2. The method of further comprising:receiving second shape data from a second shape sensor including a second elongated optical fiber section extending between the reference fixture and a second anatomic fixture coupled to the patient anatomy;determining a pose of the second anatomic fixture from the second shape data; andtracking a pose change for the second anatomic fixture.3. The method of further comprising:receiving second shape data from a second shape sensor including a second elongated optical fiber section extending between the reference fixture and an instrument fixture coupled to a medical instrument;determining a pose for the second anatomic fixture from the second shape data; andtracking a pose change for the instrument fixture.4. The method of claim 3 , wherein the medical instrument is a probe adapted to digitize point locations.5. The method of wherein the second elongated optical fiber section extends within a cable including a power supply component or a communication component.6. The method of wherein determining a pose of the first anatomic fixture from the first shape data includes integrating transformations for a plurality of discrete shape estimates ...

CATHETERS WITH CONTROL MODES FOR INTERCHANGEABLE PROBES

A medical system comprises a catheter containing a mechanical system that is remotely operable to control a distal tip of the catheter. The medical system also comprises a sensor configured to at least partly measure a pose of the distal tip and a control system coupled to the mechanical system. The control system includes a memory operable to store parameters of a working configuration of the distal tip of the catheter and a plurality of operating modes including a holding mode in which the control system operates the mechanical system to actively maintain the working configuration of the distal tip based on feedback from the sensor. The control system also includes a plurality of modules. During activation of the holding mode, the plurality of modules is configured to sense a current pose of the distal tip and determine a difference between the current pose and the working configuration. The difference is due to an external disturbance. Without user input, the plurality of modules is also configured to operate the mechanical system to move the catheter to minimize the difference between the current pose and the working configuration. 123-. (canceled)24. A medical system comprising:a catheter containing a mechanical system that is remotely operable to control a distal tip of the catheter;a sensor configured to at least partly measure a pose of the distal tip; and a memory operable to store parameters of a working configuration of the distal tip of the catheter;', 'a plurality of operating modes including a holding mode in which the control system operates the mechanical system to actively maintain the working configuration of the distal tip based on feedback from the sensor; and', sense a current pose of the distal tip;', 'determine a difference between the current pose and the working configuration, wherein the difference is due to an external disturbance; and', 'without user input, operate the mechanical system to move the catheter to minimize the difference ...

SYSTEMS AND METHODS RELATED TO REGISTRATION FOR IMAGE GUIDED SURGERY

A system is configured to perform operations includes accessing a set of model points of a model of an anatomic structure of a patient, the model points being associated with a model space. A set of measured points of the anatomic structure of the patient are collected, the measured points being associated with a patient space. The set of model points are registered to the set of measured points using a first set of initial parameters to generate a first transformation. One or more sets of perturbed initial parameters are generated based on the first set of initial parameters. One or more perturbed registration processes are performed to register the set of model points to the set of measured points using the one or more sets of perturbed initial parameters respectively to generate corresponding perturbed transformations. A registration quality indicator is generated based on the first transformation and the one or more perturbed transformations. 1. A system comprising:a non-transitory memory; accessing a set of model points of a model of an anatomic structure of a patient, the model points being associated with a model space;', 'collecting a set of measured points of the anatomic structure of the patient, the measured points being associated with a patient space;', 'registering the set of model points to the set of measured points using a first set of initial parameters to generate a first transformation;', 'generating one or more sets of perturbed initial parameters based on the first set of initial parameters;', 'performing one or more perturbed registration processes to register the set of model points to the set of measured points using the one or more sets of perturbed initial parameters respectively to generate one or more perturbed transformations; and', 'generating a registration quality indicator based on the first transformation and the one or more perturbed transformations., 'one or more processors coupled to the non-transitory memory and configured to ...

Systems and Methods for Intraoperative Segmentation

A method comprises navigating a patient's anatomy with a medical instrument, the instrument comprising a sensing tool. The method further includes correlating a position of the instrument with a model of the patient's anatomy. The method further includes, while navigating the patient's anatomy, updating the model based on data obtained by the sensing tool. 1. A method for intraoperative segmentation , the method comprising:navigating a patient's anatomy with a medical instrument, the instrument comprising a sensing tool;correlating a position of the instrument with a model of the patient's anatomy; andwhile navigating the patient's anatomy, updating the model based on data obtained by the sensing tool.2. The method of claim 1 , wherein the sensing tool comprises a position sensor.3. The method of claim 2 , wherein the position sensor comprises at least one of: a shape sensor claim 2 , an electromagnetic position sensor claim 2 , a fluoro-based system claim 2 , an impedance sensor claim 2 , a range sensor and a camera.4. The method of claim 1 , wherein the data comprises at least one of: spatially integrated data and temporally integrated data.5. The method of claim 1 , wherein updating the model occurs in response to detecting a difference between the model and the anatomy.6. The method of claim 5 , wherein the method further includes communicating the detected difference to an operator of the medical instrument.7. The method of claim 5 , wherein the difference is automatically detected based on an image analysis from data received by an imaging element associated with the medical instrument.8. The method of claim 1 , wherein updating the model comprises adding additional voxels or removing voxels associated with a difference between the model and the anatomy.9. The method of claim 1 , wherein updating the model comprises:adding additional seeds to a segmentation function, the seeds corresponding to a newly discovered passage; andreapplying the segmentation function ...

PROCESSING IMAGES FROM ANNULAR RECEPTOR ARRAYS

Vision systems on catheters, cannulas, or similar devices with guiding lumens include receptors distributed in annular areas around respective lumens. Each of the receptors has a field of view covering only a portion of an object environment, and the field of view of each of the receptors overlaps with at least one of the fields of view of the other receptors. A processing system can receive image data from the receptors of the vision systems and combine the image data to construct a visual representation of the object environment. 1. A method comprising:inserting an instrument through a lumen in an elongated guide structure so that an end of the instrument extends from an opening at a distal end of the lumen into a work site;capturing image data using a plurality of receptors, each of the receptors comprising an optical system with an optical axis passing through an annular area surrounding the opening at the distal end of the lumen; andprocessing the image data to construct a visual representation of the work site.2. The method of claim 1 , wherein capturing the image data comprises each of the receptors capturing an image from a field of view covering only a portion of the work site claim 1 , each of the fields of view overlapping with at least one of the fields of view of the other receptors.3. The method of claim 2 , wherein processing the image data comprises stitching together overlapping images respectively from the receptors to construct the visual representation of the work site.4. The method of claim 1 , wherein the visual representation comprises a stereoscopic view of the work site.5. The method of claim 1 , wherein processing the image data comprises removing the instrument from the visual representation to permit viewing of portions of the work site that the instrument would otherwise block from being viewed in the visible representation.6. The method of claim 1 , wherein processing the image data comprises making the instrument semitransparent in the ...

SYSTEMS AND METHODS FOR INSTRUMENT BUCKLING DETECTION

A method comprises measuring, with a sensor, a shape of a section of an elongated flexible instrument and comparing the measured shape of the section of the elongated flexible instrument to an expected shape. The method also comprises determining whether the measured shape of the section of the elongated flexible instrument differs from the expected shape by a predefined threshold. 1. A method comprising:measuring, with a sensor, a shape of a section of an elongated flexible instrument;comparing the measured shape of the section of the elongated flexible instrument to an expected shape; anddetermining whether the measured shape of the section of the elongated flexible instrument differs from the expected shape by a predefined threshold.2. The method of wherein the shape of the section of the elongated flexible instrument is measured between an anatomical entryway and a proximal instrument portion.3. The method of wherein the section of the elongated flexible instrument extends within a shape constraint device and the expected shape is based upon the shape constraint device.4. The method of further comprising contracting the shape constraint device by advancing the elongated flexible instrument.5. The method of claim 1 , wherein the expected shape is an expected shape volume.6. The method of claim 5 , wherein the expected shape volume comprises one of: a substantially straight tubular volume or an arced tubular volume.7. (canceled)8. The method of claim 1 , wherein determining whether the measured shape of the section of the elongated flexible instrument differs from the expected shape comprises determining whether a proximal portion of the section deviates from or along a reference axis more than a distal portion of the section deviates from or along the reference axis.9. The method of claim 1 , wherein determining whether the measured shape of the section of the elongated flexible instrument differs from the expected shape comprises determining whether a portion of ...

Systems and Methods for Anatomic Motion Compensation

A method of modeling a cyclic anatomical motion comprises receiving a pose dataset for an identified point on an interventional instrument retained within and in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters. The method also includes determining a set of pose differentials for the identified point with respect to a reference point at each of the plurality of time parameters and identifying a periodic signal for the cyclic anatomical motion from the set of pose differentials. 1. A method of modeling a cyclic anatomical motion , the method comprising:receiving a pose dataset for an identified point on an interventional instrument retained within and in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters;determining a set of pose differentials for the identified point with respect to a reference point at each of the plurality of time parameters; andidentifying a periodic signal for the cyclic anatomical motion from the set of pose differentials.2. The method of further comprising:identifying a first time parameter from the plurality of time parameters for the periodic signal, the first time parameter associated with a first distinct anatomic state.3. The method of further comprising:identifying a second time parameter from the plurality of time parameters for the periodic signal, the second time parameter associated with a second distinct anatomic state.4. The method of wherein determining the set of pose differentials for the identified point includes determining a displacement of the identified point with respect to the anatomical reference point at each of the plurality of time parameters.5. The method of wherein determining the set of pose differentials for the identified point includes determining a change rate of the displacement of the identified point with respect to the anatomical reference point at each of the plurality of time parameters.6. The method of wherein ...

SYSTEMS AND METHODS FOR USING REGISTERED FLUOROSCOPIC IMAGES IN IMAGE-GUIDED SURGERY

A method performed by a computing system comprises receiving a fluoroscopic image of a patient anatomy while a portion of a medical instrument is positioned within the patient anatomy. The fluoroscopic image has a fluoroscopic frame of reference. The portion has a sensed position in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position of the portion in the fluoroscopic frame of reference using the identified portion in the fluoroscopic image. The method further comprises registering the fluoroscopic frame of reference to the anatomic model frame of reference based on the sensed position of the portion and the extracted position of the portion. 1. A method performed by a computing system comprising:receiving a fluoroscopic image of a patient anatomy while a portion of a medical instrument is positioned within the patient anatomy, the fluoroscopic image having a fluoroscopic frame of reference, wherein the portion has a sensed position in an anatomic model frame of reference;identifying the portion in the fluoroscopic image;identifying an extracted position of the portion in the fluoroscopic frame of reference using the identified portion in the fluoroscopic image; andregistering the fluoroscopic frame of reference to the anatomic model frame of reference based on the sensed position of the portion and the extracted position of the portion.2. The method of claim 1 , further comprising:identifying an extracted orientation of the portion in the fluoroscopic frame of reference using the identified portion in the fluoroscopic image,wherein the portion has a sensed orientation in the anatomic model frame of reference, andwherein registering the fluoroscopic frame of reference to the anatomic model frame of reference is further based on the sensed orientation of the portion and the extracted orientation of the portion.3. The method of claim 1 , wherein identifying the ...

Systems and Methods for Using Tracking in Image-Guided Medical Procedure

A method comprises tracking a set of optical fiducials positioned on a reference portion of a medical instrument. The medical instrument includes an elongated flexible body with a distal end and a rigid proximal body which includes the reference portion. The method further comprises receiving shape information from a shape sensor extending within the medical instrument between the reference portion and the distal end and determining a pose of a portion of the elongated flexible body with respect to the patient anatomy. 1. A method of determining a pose of a portion of a medical instrument with respect to patient anatomy , the method comprising:operating an optical tracking sensor to track a first configuration of a first set of optical fiducials and a second configuration of a second set of optical fiducials, the first set of optical fiducials positioned on a patient anatomy and the second set of optical fiducials positioned on a reference portion of a medical instrument, the medical instrument including an elongated flexible body with a distal end and a rigid proximal body, the rigid proximal body comprising the reference portion;receiving shape information from a shape sensor extending along at least a portion of the medical instrument between the reference portion and the distal end; anddetermining a pose of a portion of the elongated flexible body with respect to the patient anatomy using the first configuration, the second configuration, and the shape information.2. The method of wherein the shape sensor is an optical fiber shape sensor claim 1 , and the pose of the portion of the elongated flexible body is a pose of the distal end.3. The method of wherein the shape sensor comprises a plurality of electromagnetic sensors.4. The method of wherein operating the optical tracking sensor to track the second location of the second set of optical fiducials occurs while the rigid proximal body is coupled to an insertion track along which motion of the rigid proximal ...

Systems and Methods for Planning Multiple Interventional Procedures

A method of deploying an interventional instrument comprises identifying a target structure in an anatomic frame of reference. The method further comprises determining a target region in the anatomic frame of reference with respect to a current position of the interventional instrument and recording a first engagement location of the interventional instrument within the target region.

SYSTEMS AND METHODS FOR DETECTING ENVIRONMENTAL FORCES ON AN ELONGATE DEVICE

Systems and methods for detecting environmental forces on a flexible elongate instrument include an actuator for inserting and retracting the instrument and a control unit. The control unit is configured to determine a force exerted by the instrument on tissue of a patient. The force is determined based on one or more of a shape of the instrument, a force being exerted by the actuator, or an amount of force being applied at a proximal end of the instrument. In some embodiments the control unit determines the shape using a shape sensor. In some embodiments, the control unit determines the force exerted by the actuator based on a current of the actuator. In some embodiments, the control unit determines the amount of force being applied to the proximal end of the instrument using a force sensor located proximal to the instrument. 1. A medical device comprising:a flexible elongate instrument;an actuator for inserting and retracting the flexible elongate instrument; and a force being exerted by the actuator; or', 'an amount of force being applied at a proximal end of the flexible elongate instrument., 'a control unit configured to determine a force exerted by the flexible elongate instrument on tissue of a patient, the determined force being based on a shape of the flexible elongate instrument and one or more of2. The medical device of claim 1 , wherein the control unit is configured to determine the shape using a shape sensor.3. The medical device of claim 1 , wherein the control unit is further configured to determine a compression force in the flexible elongate instrument based on the shape.4. The medical device of claim 3 , wherein to determine the compression force the control unit is configured to determine a curvature in a section of the flexible elongate instrument and apply a mathematical model of mechanical properties of the flexible elongate instrument.5. The medical device of claim 4 , wherein the mathematical model comprises a spring model.6. The medical ...

SYSTEMS AND METHODS FOR MONITORING PATIENT MOTION DURING A MEDICAL PROCEDURE

A method of controlling an elongate instrument during a medical procedure involving motion of the elongate instrument relative to a patient is provided. The method includes generating, by a control system, a first model of the elongate instrument, and generating, by the control system, a second model of the elongate instrument based on a reference pose of the elongate instrument. The method further includes comparing, by the control system, the first model with the second model and determining, by the control system, a state of a system configuration based on the comparison. 1. A method of controlling an elongate instrument during a medical procedure involving motion of the elongate instrument relative to a patient , the method comprising:generating, by a control system, a first model of the elongate instrument;generating, by the control system, a second model of the elongate instrument based on a reference pose of the elongate instrument;comparing, by the control system, the first model with the second model; anddetermining, by the control system, a state of a system configuration based on the comparison.2. The method of claim 1 , wherein the first model is based on a measured pose of the elongate instrument claim 1 , and wherein the measured pose and the reference pose are each based on data provided by a first sensor system comprised of a shape sensor extending along a length of the elongate instrument.321-. (canceled)22. A medical system comprising:an elongate instrument having a sensor system; generating a first model of the elongate instrument;', 'generating a second model of the elongate instrument based on a reference pose of the elongate instrument;', 'comparing the first model with the second model; and', 'determining a state of a system configuration based on the comparison., 'a control system in communication with the sensor system to measure a pose of the elongate instrument, the control system adapted to perform operations comprising23. The medical ...

SYSTEMS AND METHODS FOR CONFIGURING COMPONENTS IN A MINIMALLY INVASIVE INSTRUMENT

A catheter system includes an elongate flexible catheter and a support structure mounted on a proximal portion of the elongate flexible catheter. The support structure includes a first alignment feature configured to mate with a first sensor such that the first sensor is maintained parallel to a longitudinal axis of the support structure, and a second alignment feature configured to mate with a second sensor such that the second sensor is maintained parallel to the longitudinal axis of the support structure and such that the second sensor is fixed relative to the first sensor in at least one degree of freedom. 122-. (canceled)2342-. (canceled)43. A catheter system , comprising:an elongate flexible catheter; a first alignment feature configured to mate with a first sensor such that the first sensor is maintained parallel to a longitudinal axis of the support structure; and', 'a second alignment feature configured to mate with a second sensor such that the second sensor is maintained parallel to the longitudinal axis of the support structure and such that the second sensor is fixed relative to the first sensor in at least one degree of freedom., 'a support structure mounted on a proximal portion of the elongate flexible catheter, the support structure including44. The catheter system of claim 43 , wherein a cross section shape of the second sensor is configured to mate with a matching shape in the second alignment feature to fix the second sensor relative to the first sensor in the at least one degree of freedom.45. The catheter system of claim 43 , wherein the second alignment feature includes a groove formed in an interior wall of the support structure claim 43 , the groove sized to mate with the second sensor.46. The catheter system of claim 43 , wherein the first sensor is glued or press-fit to at least a portion of the first alignment feature and the second sensor is glued or press-fit to at least a portion of the second alignment feature.47. The catheter system ...

SYSTEMS AND METHODS FOR NAVIGATION BASED ON ORDERED SENSOR RECORDS

A method of tracking a medical instrument comprises receiving a model of an anatomical passageway formation and receiving a set of ordered sensor records for the medical instrument. The set of ordered sensor records provide a path history of the medical instrument. The method further comprises registering the medical instrument with the model of the anatomical passageway formation based on the path history. The method further includes displaying a virtual visualization image in a display system, the virtual visualization image being based on the registering of the medical instrument with the model of the anatomical passageway and depicting a rendered view of the model of the anatomical passageway from a perspective of the medical instrument within the model of the anatomical passageway. 144-. (canceled)45. A method of tracking a medical instrument , the method comprising:receiving a model of an anatomical passageway formation;receiving a set of ordered sensor records for the medical instrument, the set providing a path history of the medical instrument;registering the medical instrument with the model of the anatomical passageway formation based on the path history; anddisplaying a virtual visualization image in a display system, the virtual visualization image being based on the registering of the medical instrument with the model of the anatomical passageway and depicting a rendered view of the model of the anatomical passageway from a perspective of the medical instrument within the model of the anatomical passageway.46. The method of further comprising determining a relationship between a first sensor record of the set of ordered sensor records claim 45 , a second sensor record of the set of ordered sensor records claim 45 , a first candidate match point defined within the model of the anatomical passageway claim 45 , and a second candidate match point defined within the model of the anatomical passageway.47. The method of wherein determining the relationship ...

SYSTEMS AND METHODS OF REGISTRATION FOR IMAGE-GUIDED SURGERY

A system includes a catheter, a display system, and a control system in communication with the catheter and the display system. The control system includes one or more processors configured for receiving a set of model points of a model of one or more passageways of a patient and receiving a first set of measures points collected from within the patient passageways. Each point includes coordinates within a surgical environment occupied by the patient. The one or more processors are also configured for generating a first registration between the set of measured points and the set of model points, generating a second registration between a second set of measured points and the set of model points, and determining whether to implement the second registration in place of the first registration. 146-. (canceled)47. A system comprising:a catheter;a display system; and receiving a set of model points of a model of one or more passageways of a patient;', 'receiving a first set of measured points collected from within the patient passageways, each point comprising coordinates within a surgical environment occupied by the patient;', 'generating a first registration between the set of measured points and the set of model points;', 'generating a second registration between a second set of measured points and the set of model points; and', 'determining whether to implement the second registration in place of the first registration., 'a control system in communication with the catheter and the display system, the control system including one or more processors configured for48. The system of claim 47 , wherein the second set of measured point includes at least one of the first set of measured points and additional measured points collected from within the patient passageways.49. The system of claim 47 , wherein determining whether to implement the second registration in place of the first registration comprises comparing an accuracy metric of the first registration with an ...

Catheter with removable vision probe

A medical system includes a catheter and a vision probe that can be removed from the catheter and replaced with a medical probe. The vision probe can thus be used to steer and pose the catheter, and then be removed and replaced with the medical probe when a medical task such as a lung biopsy is performed. A sensor system in the catheter at least partly measures a pose of the catheter, and control logic controls actuation of the catheter to maintain the desired working configuration when the medical probe is used. A small diameter catheter can thus provide vision and biopsy functionality.

Catheters with control modes for interchangeable probes

A medical system including a catheter containing a mechanical system that is remotely operable uses a sensor to at least partly measure a pose of the catheter and a control system coupled to the mechanical system. The control system has multiple operating modes including one or more holding modes in which the control system operates the mechanical system to maintain a working configuration of the catheter based on feedback from the sensor.

Graphical user interface for displaying guidance information during an image-guided procedure

A method for displaying guidance information during an image-guided surgical procedure comprises receiving, by one or more hardware processors, data from a tracking system associated with an elongate device comprising a flexible body and calculating, by the one or more hardware processors, at least one condition along a length of the flexible body based on the data. The method further comprises determining, by the one or more hardware processors, supplemental guidance information based on the at least one condition and augmenting, by the one or more hardware processors, one or more images with the supplemental guidance information to produce one or more augmented images. The method further comprises displaying the one or more augmented images on a display device at a surgeon console.