Systems and methods for configuring components in a minimally invasive instrument

{
  "publication_number": "US10568539B2",
  "country": "US",
  "kind": "B2",
  "title": "Systems and methods for configuring components in a minimally invasive instrument",
  "abstract": "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.",
  "claims": [
    "1. A catheter system, comprising: an elongate flexible catheter; a support structure mounted on a proximal portion of the elongate flexible catheter, the support structure including: 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.",
    "2. The catheter system of claim 1, 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.",
    "3. The catheter system of claim 1, wherein the second alignment feature includes a groove formed in an interior wall of the support structure, the groove sized to mate with the second sensor.",
    "4. The catheter system of claim 1, 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.",
    "5. The catheter system of claim 1, wherein the first sensor and the second sensor extend partially within the support structure.",
    "6. The catheter system of claim 1, wherein the first sensor and the second sensor extend through the support structure.",
    "7. The catheter system of claim 1, wherein the first sensor includes a shape sensor and the second sensor includes an electromagnetic position sensor.",
    "8. The catheter system of claim 1, wherein the first alignment feature includes a passageway extending through the support structure, the support structure further including a port that couples an exterior surface of the support structure to an interior surface of the passageway of the first alignment feature.",
    "9. The catheter system of claim 1, further comprising: an additional support structure comprising a third alignment feature and having an outer diameter that is smaller than an outer diameter of the support structure.",
    "10. The catheter system of claim 9, wherein the support structure is coupled to the additional support structure by a distal portion of the elongate flexible catheter, the first sensor extending through the distal portion of the elongate flexible catheter to mate with the third alignment feature.",
    "11. The catheter system of claim 1, wherein a proximal surface of the support structure is coupled to a distal surface of the proximal portion of the elongate flexible catheter.",
    "12. The catheter system of claim 1, wherein the support structure comprises a ring configured to fix the support structure to the proximal portion of the elongate flexible catheter.",
    "13. The catheter system of claim 1, wherein the proximal portion of the elongate flexible catheter comprises a passive portion and a distal portion of the elongate flexible catheter comprises a steerable portion.",
    "14. A catheter system, comprising: a first support structure mounted on a proximal portion of an elongate flexible catheter, the first support structure including: 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 first 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 first support structure and such that the second sensor is fixed relative to the first sensor in at least one degree of freedom; and a second support structure mounted on a distal portion of the elongate flexible catheter, the second support structure including: a third alignment feature configured to mate with the first sensor.",
    "15. The catheter system of claim 14, 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.",
    "16. The catheter system of claim 14, wherein the second alignment feature includes a groove formed in an interior wall of the first support structure, the groove sized to mate with the second sensor.",
    "17. The catheter system of claim 14, further comprising a port formed in the first support structure, the port connecting an exterior surface of the first support structure to an interior surface of the first alignment feature.",
    "18. The catheter system of claim 14, wherein the first support structure comprises a first set of steering wire passageways and the second support structure comprises a second set of steering wire passageways, at least one steering wire extending through the first set of steering wire passageways and into the second set of steering wire passageways.",
    "19. The catheter system of claim 14, wherein the first support structure comprises a ring configured to fix the first support structure to the proximal portion of the elongate flexible catheter.",
    "20. The catheter system of claim 14, wherein the second support structure is mounted on a distal portion of the elongate flexible catheter such that a proximal surface of the second support structure is coupled to a distal surface of the distal portion of the elongate flexible catheter."
  ],
  "description_excerpt": "The present disclosure is directed to systems and methods for minimally invasive surgery, and more particularly to systems and methods for configuring components in a minimally invasive instrument.\n\nMinimally invasive medical techniques are intended to reduce the amount of tissue that is damaged during diagnostic or surgical procedures, thereby reducing patient recovery time, discomfort, and deleterious side effects. Such minimally invasive techniques may be performed through natural orifices in a patient anatomy or through one or more surgical incisions. Through these natural orifices or incisions clinicians may insert surgical instruments to reach a target tissue location. To reach the target tissue location, the minimally invasive surgical instruments may navigate natural or surgically created connected passageways in anatomical systems, such as the lungs, the colon, the intestines, the kidneys, the heart, the brain, the circulatory system, or the like. Navigational assist systems help the clinician route the surgical instruments and avoid damage to the anatomy. These systems can incorporate the use of sensors to more accurately describe the shape, pose, and location of the surgical instrument in real space or with respect to previously recorded or concurrently gathered images. In a dynamic anatomical system and/or in an anatomical region dense with many anatomical passageways, accurately determining the shape, pose, and location of the surgical instrument may depend, at least in part, upon precision in the relative placement of sensor systems, steering systems, and imaging components.",
  "cpc": [
    "A61B 5/06",
    "A61B 2034/2051",
    "A61B 2034/2061",
    "A61B 2034/301",
    "A61B 2090/3614",
    "A61B 34/20",
    "A61B 34/30",
    "A61B 5/065",
    "A61M 2025/0166",
    "A61M 25/0147"
  ],
  "ipc": [
    "A61B 34/20",
    "A61B 5/06",
    "A61B 5/05"
  ],
  "assignees": [
    "Intuitive Surgical Operations Inc"
  ],
  "inventors": [
    "Anoop B. Kowshik",
    "Caitlin Q. Donhowe",
    "Vincent Duindam",
    "Carolyn M. Fenech"
  ],
  "filing_date": "2018-07-05",
  "publication_date": "2020-02-25",
  "grant_date": "2020-02-25",
  "priority_date": "2012-08-14",
  "application_number": "US-201816028062-A",
  "family_id": "50100527",
  "cited_by_count": 22,
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}