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Patent · US10682070B2 · B2 · US

Electromagnetic sensor with probe and guide sensing elements

(11) Publication number
US10682070B2
(21) Application number
14/802,199
(22) Filing date
2015-07-17
(30) Priority date
2011-10-14
(43) Publication date
2020-06-16
(45) Date of grant
2020-06-16
(51) IPC
A61B 5/06; A61B 34/20; A61M 25/09
(52) CPC
  • A61B Diagnosis; surgery; identification: 5/062, 2034/2051, 2034/302, 34/20, 5/065, 5/6852
  • A61M Devices for introducing media into, or onto, the body; devices for transducing body media or for taking media from the body; devices for producing or ending sleep or stupor {}: 2025/0166, 25/09
(73) Assignee
Intuitive Surgical Operations Inc
(72) Inventors
Vincent Duindam
(54) Title
Electromagnetic sensor with probe and guide sensing elements
(57) Abstract

A medical system comprises a probe comprising a terminal distal end. The system further comprises a first coil in the probe and comprises a guide instrument including a terminal distal end and defining a lumen sized to guide the probe. The probe can 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 system further comprises a sensor embedded in a wall of the guide instrument and comprises processing hardware configured to receive a first induced signal from the first coil and to receive from the sensor an indication of a pointing direction of the guide instrument. The processing hardware is configured to use the first induced signal and the indication of the pointing direction to determine a roll angle of the probe.

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Claims (20)

  1. A medical system comprising: a probe comprising a terminal distal end; a first coil in the probe; a guide instrument comprising a terminal distal end and defining a lumen sized to guide the probe, wherein the probe is configured to be inserted through the lumen to reach a worksite, and wherein at the worksite, the terminal distal end of the probe is configured to reach at least the terminal distal end of the guide instrument; a sensor embedded in a wall of the guide instrument; and processing hardware configured to receive a first induced signal from the first coil and to receive from the sensor an indication of a pointing direction of the guide instrument, the processing hardware being configured to use both the first induced signal from the first coil and the indication of the pointing direction from the sensor to determine a roll angle of the probe.
  2. The system of claim 1, wherein the probe comprises one of a surgical tool, a camera, or a vision system.
  3. The system of claim 1, wherein the guide instrument comprises one of a catheter, an endoscope, a bronchoscope, or a cannula.
  4. The system of claim 3, wherein the probe comprises one of a surgical tool, a camera, or a vision system.
  5. The system of claim 1, wherein: the sensor comprises a second coil in the guide instrument; and the processing hardware is configured to receive a second induced signal from the second coil and employ the second induced signal as the indication of the pointing direction.
  6. The system of claim 5, further comprising a field generator configured to generate a varying magnetic field that induces the first induced signal in the first coil and induces the second induced signal in the second coil.
  7. The system of claim 5, wherein the second coil is a helical coil.
  8. The system of claim 1, wherein the first coil comprises wire that is wound in a plurality of loops collectively defining a first core extending along a lengthwise direction of the probe, wherein each of the loops defines a first normal direction that is at a non-zero angle relative to the lengthwise direction.
  9. The system of claim 1, wherein the processing hardware is configured to use the first induced signal and the indication of the pointing direction from the sensor to determine six degrees of freedom of the probe.
  10. The system of claim 1, wherein the first coil is the only coil in the probe.
  11. The system of claim 1, wherein the processing hardware is configured to receive the first induced signal and the indication of the pointing direction when the probe is at the worksite.
  12. The system of claim 11, wherein after the processing hardware receives the first induced signal and the indication of the pointing direction, the probe is configured to be removed from the lumen of the guide instrument.
  13. The system of claim 1, wherein the guide instrument further comprises: a proximal section; a steerable distal section; and a plurality of actuation cables extending from the proximal section into the steerable distal section, wherein each actuation cable of the plurality of actuation cables is configured to actuate the steerable distal section.
  14. The system of claim 13, further comprising an actuator, wherein each actuation cable of the plurality of actuation cables is coupled to the actuator, and wherein the actuator is configured to actuate the steerable distal section of the guide instrument by actuating each actuation cable of the plurality of actuation cables.
  15. The system of claim 1, wherein: the sensor comprises a shape sensor; and the processing hardware is configured to receive a second signal from the shape sensor and employ the second signal as the indication of the pointing direction.
  16. The system of claim 1, wherein a roll axis of the probe extends in a direction normal to the sensor in the guide instrument.
  17. The system of claim 1, further comprising a surgical tool sized to extend within the lumen of the guide instrument, wherein a terminal distal end of the surgical tool is configured to reach at least the terminal distal end of the guide instrument.
  18. The system of claim 17, wherein the surgical tool includes a biopsy needle.
  19. The system of claim 17, wherein the surgical tool includes a second coil, and wherein the processing hardware is configured to receive a second induced signal from the second coil and to use both the second induced signal from the second coil and the indication of the pointing direction from the sensor to determine a roll angle of the surgical tool.
  20. The system of claim 19, wherein the surgical tool includes an asymmetric biopsy needle, and wherein the processing hardware is configured to determine the roll angle of the surgical tool when the surgical tool extends past the terminal distal end of the guide instrument.

Description

Minimally invasive medical devices that navigate natural body lumens need to be small enough to fit within the lumens. Lung catheters, for example, which may be used to perform minimally invasive lung biopsies or other medical procedures, may need to follow airways that decrease in size as the catheter navigates branching passages. To reach a target location in a lung, a catheter may follow passages having diameters as small as 3 mm or less. Manufacturing a catheter that is sufficiently small and includes the mechanical structures and sensors for remote or robotic operation can be challenging.

Electromagnetic sensors (EM) sensors can measure the position and orientation of a portion of a medical instrument. EM sensors are particularly suitable for minimally invasive medical instruments because EM sensors can combine high global accuracy with a small diameter package size. During EM sensor operation, a generator external to a patient can produce a well-controlled, time-varying magnetic field, and in response, one or more coils of an EM sensor in or on a portion of the medical instrument produce induced electrical signals. In particular, time variations in the magnetic field induce currents in the coils of the EM sensor, and the pose of each coil can be partially determined from knowledge of the generated magnetic field and the geometry of the coil. A single coil can be used, for example, to measure a position and a pointing direction, e.g., pitch and yaw angles, but a cylindrically symmetrical coil is unable to distinguish roll angles about the symmetry axis of the coil.

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Record as JSON 
{
  "publication_number": "US10682070B2",
  "country": "US",
  "kind": "B2",
  "title": "Electromagnetic sensor with probe and guide sensing elements",
  "abstract": "A medical system comprises a probe comprising a terminal distal end. The system further comprises a first coil in the probe and comprises a guide instrument including a terminal distal end and defining a lumen sized to guide the probe. The probe can 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 system further comprises a sensor embedded in a wall of the guide instrument and comprises processing hardware configured to receive a first induced signal from the first coil and to receive from the sensor an indication of a pointing direction of the guide instrument. The processing hardware is configured to use the first induced signal and the indication of the pointing direction to determine a roll angle of the probe.",
  "claims": [
    "1. A medical system comprising: a probe comprising a terminal distal end; a first coil in the probe; a guide instrument comprising a terminal distal end and defining a lumen sized to guide the probe, wherein the probe is configured to be inserted through the lumen to reach a worksite, and wherein at the worksite, the terminal distal end of the probe is configured to reach at least the terminal distal end of the guide instrument; a sensor embedded in a wall of the guide instrument; and processing hardware configured to receive a first induced signal from the first coil and to receive from the sensor an indication of a pointing direction of the guide instrument, the processing hardware being configured to use both the first induced signal from the first coil and the indication of the pointing direction from the sensor to determine a roll angle of the probe.",
    "2. The system of claim 1, wherein the probe comprises one of a surgical tool, a camera, or a vision system.",
    "3. The system of claim 1, wherein the guide instrument comprises one of a catheter, an endoscope, a bronchoscope, or a cannula.",
    "4. The system of claim 3, wherein the probe comprises one of a surgical tool, a camera, or a vision system.",
    "5. The system of claim 1, wherein: the sensor comprises a second coil in the guide instrument; and the processing hardware is configured to receive a second induced signal from the second coil and employ the second induced signal as the indication of the pointing direction.",
    "6. The system of claim 5, further comprising a field generator configured to generate a varying magnetic field that induces the first induced signal in the first coil and induces the second induced signal in the second coil.",
    "7. The system of claim 5, wherein the second coil is a helical coil.",
    "8. The system of claim 1, wherein the first coil comprises wire that is wound in a plurality of loops collectively defining a first core extending along a lengthwise direction of the probe, wherein each of the loops defines a first normal direction that is at a non-zero angle relative to the lengthwise direction.",
    "9. The system of claim 1, wherein the processing hardware is configured to use the first induced signal and the indication of the pointing direction from the sensor to determine six degrees of freedom of the probe.",
    "10. The system of claim 1, wherein the first coil is the only coil in the probe.",
    "11. The system of claim 1, wherein the processing hardware is configured to receive the first induced signal and the indication of the pointing direction when the probe is at the worksite.",
    "12. The system of claim 11, wherein after the processing hardware receives the first induced signal and the indication of the pointing direction, the probe is configured to be removed from the lumen of the guide instrument.",
    "13. The system of claim 1, wherein the guide instrument further comprises: a proximal section; a steerable distal section; and a plurality of actuation cables extending from the proximal section into the steerable distal section, wherein each actuation cable of the plurality of actuation cables is configured to actuate the steerable distal section.",
    "14. The system of claim 13, further comprising an actuator, wherein each actuation cable of the plurality of actuation cables is coupled to the actuator, and wherein the actuator is configured to actuate the steerable distal section of the guide instrument by actuating each actuation cable of the plurality of actuation cables.",
    "15. The system of claim 1, wherein: the sensor comprises a shape sensor; and the processing hardware is configured to receive a second signal from the shape sensor and employ the second signal as the indication of the pointing direction.",
    "16. The system of claim 1, wherein a roll axis of the probe extends in a direction normal to the sensor in the guide instrument.",
    "17. The system of claim 1, further comprising a surgical tool sized to extend within the lumen of the guide instrument, wherein a terminal distal end of the surgical tool is configured to reach at least the terminal distal end of the guide instrument.",
    "18. The system of claim 17, wherein the surgical tool includes a biopsy needle.",
    "19. The system of claim 17, wherein the surgical tool includes a second coil, and wherein the processing hardware is configured to receive a second induced signal from the second coil and to use both the second induced signal from the second coil and the indication of the pointing direction from the sensor to determine a roll angle of the surgical tool.",
    "20. The system of claim 19, wherein the surgical tool includes an asymmetric biopsy needle, and wherein the processing hardware is configured to determine the roll angle of the surgical tool when the surgical tool extends past the terminal distal end of the guide instrument."
  ],
  "description_excerpt": "Minimally invasive medical devices that navigate natural body lumens need to be small enough to fit within the lumens. Lung catheters, for example, which may be used to perform minimally invasive lung biopsies or other medical procedures, may need to follow airways that decrease in size as the catheter navigates branching passages. To reach a target location in a lung, a catheter may follow passages having diameters as small as 3 mm or less. Manufacturing a catheter that is sufficiently small and includes the mechanical structures and sensors for remote or robotic operation can be challenging.\n\nElectromagnetic sensors (EM) sensors can measure the position and orientation of a portion of a medical instrument. EM sensors are particularly suitable for minimally invasive medical instruments because EM sensors can combine high global accuracy with a small diameter package size. During EM sensor operation, a generator external to a patient can produce a well-controlled, time-varying magnetic field, and in response, one or more coils of an EM sensor in or on a portion of the medical instrument produce induced electrical signals. In particular, time variations in the magnetic field induce currents in the coils of the EM sensor, and the pose of each coil can be partially determined from knowledge of the generated magnetic field and the geometry of the coil. A single coil can be used, for example, to measure a position and a pointing direction, e.g., pitch and yaw angles, but a cylindrically symmetrical coil is unable to distinguish roll angles about the symmetry axis of the coil.",
  "cpc": [
    "A61B 5/062",
    "A61B 2034/2051",
    "A61B 2034/302",
    "A61B 34/20",
    "A61B 5/065",
    "A61B 5/6852",
    "A61M 2025/0166",
    "A61M 25/09"
  ],
  "ipc": [
    "A61B 5/06",
    "A61B 34/20",
    "A61M 25/09"
  ],
  "assignees": [
    "Intuitive Surgical Operations Inc"
  ],
  "inventors": [
    "Vincent Duindam"
  ],
  "filing_date": "2015-07-17",
  "publication_date": "2020-06-16",
  "grant_date": "2020-06-16",
  "priority_date": "2011-10-14",
  "application_number": "US-201514802199-A",
  "family_id": "49549175",
  "cited_by_count": 81,
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