Automatic probe reinsertion

{
  "publication_number": "US11707179B2",
  "country": "US",
  "kind": "B2",
  "title": "Automatic probe reinsertion",
  "abstract": "In accordance with one embodiment, an automated probe system includes a probe configured to be reversibly inserted into a live body part, a robotic arm attached to the probe and configured to manipulate the probe, a first sensor configured to track movement of the probe during an insertion and a reinsertion of the probe in the live body part, a second sensor configured to track movement of the live body part, and a controller configured to calculate an insertion path of the probe in the live body part based on the tracked movement of the probe during the insertion, and calculate a reinsertion path of the probe based on the calculated insertion path while compensating for the tracked movement of the live body part, and send control commands to the robotic arm to reinsert the probe in the live body part according to the calculated reinsertion path.",
  "claims": [
    "1. An automated system comprising: (a) an endoscope comprising a lens configured to be inserted into a live body-part and capture at least one image; (b) a lens cleaning device configured to automatically clean the lens of the endoscope; (c) a robotic arm attached to the endoscope and configured to manipulate the endoscope; (d) a first sensor configured to track movement of the endoscope during an insertion and a reinsertion of the endoscope in the live body-part; (e) a second sensor configured to track movement of the live body-part; and (f) a controller configured to: responsive to identifying a blur in the at least one image, send one or more control commands to the robotic arm to remove the endoscope from the live body-part, (ii) send one or more control commands to the lens cleaning device to clean the lens after the endoscope had been removed from the live body-part, (iii) calculate an insertion path of the endoscope in the live body-part based on the tracked movement of the endoscope during the insertion; (iv) calculate a reinsertion path of the endoscope based on the calculated insertion path while compensating for the tracked movement of the live body-part; and (v) send one or more control commands to the robotic arm to reinsert the endoscope in the live body-part according to the calculated reinsertion path.",
    "2. The system according to claim 1, wherein identifying a blur in the at least one image comprises the controller processing an image captured by the endoscope so as to detect the blur in the at least one image.",
    "3. The system according to claim 1, wherein the controller is configured to output a notification that the lens of the endoscope needs cleaning.",
    "4. The system according to claim 1, wherein the controller is configured to instruct the robotic arm to automatically remove the endoscope from the live body-part.",
    "5. The system according to claim 1, wherein sending a plurality of control commands to the robotic arm to reinsert the endoscope in the live body-part according to the calculated reinsertion is responsive to the lens being automatically cleaned.",
    "6. The system according to claim 1, wherein at least part of the endoscope is flexible, and wherein the first sensor is disposed on a distal end of the endoscope.",
    "7. The system according to claim 1, wherein the controller is further configured to calculate a removal path of the endoscope based on the calculated insertion path while compensating for the tracked movement of the live body-part during the removal of the endoscope from the live body-part.",
    "8. The system according to claim 1, wherein the first sensor is moveable along the endoscope.",
    "9. The system according to claim 1, wherein the endoscope includes a rigid cylinder, wherein the first sensor is removably coupled with the rigid cylinder of the endoscope.",
    "10. The system according to claim 1, further comprising a magnetic field radiation assembly configured to surround a head of a patient.",
    "11. The system according to claim 10, wherein the magnetic field radiation assembly includes a plurality of magnetic field radiators configured to radiate alternating magnetic fields at respective frequencies into a region that includes the head of a patient, wherein the alternating magnetic fields are configured to induce signals in the first and second sensors.",
    "12. The system according to claim 11, wherein the first and second sensors each comprise at least first and second coils disposed perpendicular to one another, wherein the controller is configured to derive a location and an orientation of the first and second sensors with respect to the magnetic field radiation assembly in response to the signals.",
    "13. A method comprising: responsive to identifying a blur in at least one image, sending a plurality of control commands, using a processor, to a robotic arm to remove an endoscope configured to capture at least one image from a live body-part; responsive to the endoscope being removed from the live body-part, sending a plurality of control commands, using the processor, to a lens cleaning device to clean a lens of the endoscope after the endoscope has been removed from the live body-part; calculating, using the processor, an insertion path of the endoscope during the insertion in the live body-part based on tracked movement data from a first sensor; calculating, using the processor, a reinsertion path of the endoscope based on the insertion path and tracked movement data from a second sensor; and sending a plurality of control commands to the robotic arm to reinsert the endoscope in the live body-part according to a calculated reinsertion path.",
    "14. The method of claim 13, wherein identifying a blur in the at least one image comprises processing, using the processor, an image captured by the endoscope so as to detect the blur in the at least one image.",
    "15. The method of claim 13, further comprising, outputting, using the processor, a notification that the endoscope needs cleaning.",
    "16. An apparatus comprising: (a) a processor, and (b) a memory storing instructions that cause the processor to: (i) responsive to identifying a blur in at least one image, send a plurality of control commands to a robotic arm to remove an endoscope from a live body-part, (ii) send a plurality of control commands to a lens cleaning device to clean a lens of the endoscope after the endoscope has been removed from the live body-part, (iii) calculate an insertion path of the endoscope during the insertion in the live body-part based on tracked movement data from a first sensor, (iv) calculate a reinsertion path of the endoscope based on the insertion path and tracked movement data from a second sensor, and (v) send a plurality of control commands to the robotic arm to reinsert the endoscope in the live body-part according to a calculated reinsertion path.",
    "17. The method according to claim 13, further comprising calculating, using the processor, a removal path of the endoscope based on the calculated insertion path while compensating for the tracked movement of the live body-part during the removal of the endoscope from the live body-part.",
    "18. The method according to claim 13, further comprising radiating, using a magnetic field radiation assembly, alternating magnetic fields at respective frequencies into a region that includes the head of a patient, wherein the alternating magnetic fields are configured to induce signals in the first and second sensors, wherein the first and second sensors each comprise at least first and second coils disposed perpendicular to one another, wherein the controller is configured to derive a location and an orientation of the first and second sensors with respect to the magnetic field radiation assembly in response to the signals.",
    "19. The apparatus according to claim 16, wherein the instructions further cause the processor to calculate a removal path of the endoscope based on the calculated insertion path while compensating for the tracked movement of the live body-part during the removal of the endoscope from the live body-part.",
    "20. The apparatus according to claim 16, further comprising a magnetic field radiation assembly configured to surround a head of a patient and include a plurality of magnetic field radiators configured to radiate alternating magnetic fields at respective frequencies into a region that includes the head of a patient, wherein the alternating magnetic fields are configured to induce signals in the first and second sensors, wherein the first and second sensors each comprise at least first and second coils disposed perpendicular to one another, wherein the controller is configured to derive a location and an orientation of the first and second sensors with respect to the magnetic field radiation assembly in response to the signals."
  ],
  "description_excerpt": "This application is a continuation of U.S. patent application Ser. No. 16/152,209, filed Oct. 4, 2018, and issued as U.S. Pat. No. 11,229,492 on Jan. 25, 2022.\n\nThe present invention relates to invasive medical apparatus and methods, and in particular, but not exclusively to, robotic insertion of a probe into a moving body-part.\n\nBy way of introduction, an endoscope may be used in brain surgery or sinus dilation among other applications. In sinus dilation, an endoscope may be inserted via the nasal cavity through various sinus cavities. In brain surgery, instead of opening skull to remove a tumor, an endoscope may be inserted via the nasal cavity and the sinus cavities.\n\nDuring use of an endoscope with a robot, for instance in an ear, nose, and throat (ENT) procedure or brain surgery, the front of the endoscope lens typically becomes coated with steam, blood, and dirt, reducing the clarity of the image captured by the endoscope. While there are endoscopes having cleansing jets, physicians often prefer not to use these, since the fluid from the jets bothers the patient. Rather, physicians remove the endoscope, wipe the front of the lens with gauze, then reinsert the endoscope.\n\nJapanese Patent Application Serial Number 2012024518A of Fujifilm Corp. describes a system in which a center line L of a tubular tissue of a subject is acquired from a previously acquired three-dimensional image of the subject and an endoscopic image captured while moving an endoscope inserted in the tubular tissue along the longitudinal direction of the tubular tissue is displayed.",
  "cpc": [
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  "ipc": [
    "A61B 1/00",
    "A61B 1/12",
    "A61B 34/10",
    "A61B 34/20",
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    "A61B 5/06"
  ],
  "assignees": [
    "Biosense Webster Israel Ltd"
  ],
  "inventors": [
    "Vadim Gliner",
    "Assaf Govari"
  ],
  "filing_date": "2022-01-05",
  "publication_date": "2023-07-25",
  "grant_date": "2023-07-25",
  "priority_date": "2018-10-04",
  "application_number": "US-202217568766-A",
  "family_id": "68137892",
  "cited_by_count": 1,
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}