JPWO2022043896A5

JPWO2022043896A5 -

Info

Publication number: JPWO2022043896A5
Application number: JP2023513385A
Authority: JP
Publication date: 2024-08-28
Anticipated expiration: 2041-08-25

Claims

A robotic medical system, comprising:
a first robotic arm configured to couple to an electromagnetic (EM) field generator and configured to move the EM field generator;
one or more processors,
determining an EM position of an EM sensor within the EM field in an EM coordinate frame associated with the EM field generator;
determining a position of the EM field generator within a robot coordinate frame associated with the first robot arm;
determining an alignment between the EM coordinate frame and the robot coordinate frame based on the position of the EM field generator;
and determining a position of the EM sensor in the robot coordinate frame based on the alignment.

The system of claim 1, wherein the one or more processors are configured to determine the position of the EM field generator based on the kinematics of the first robotic arm.

The system of claim 1, wherein the EM field generator comprises a compact electromagnetic field generator (cFG).

The system of claim 1, wherein the first robotic arm is configured to removably couple to the EM field generator.

a second robotic arm configured to control the movement of the medical instrument;
The system of claim 1 , wherein the robot coordinate frame is further associated with the second robot arm.

The system of claim 5, wherein the first robotic arm and the second robotic arm are coupled to a movable cart.

The system of claim 5, wherein the first robotic arm and the second robotic arm are coupled to a patient platform configured to support a patient during a medical procedure.

The system of claim 5, wherein the EM sensor is positioned on the medical instrument.

The system of claim 1, wherein the one or more processors are further configured to cause the first robotic arm to move the EM field generator to allow access to a patient during a medical procedure.

the one or more processors:
causing the first robotic arm to move the EM field generator to a new position relative to the EM sensor;
2. The system of claim 1, further configured to determine a new EM position of the EM sensor within the EM field in the EM coordinate frame associated with the EM field generator, the new EM position having improved accuracy compared to the EM position.

The system of claim 1, wherein the one or more processors are further configured to cause the first robotic arm to move the EM field generator to center the EM sensor within a working volume of the EM field generator based on the position of the EM field generator and the position of the first robotic arm.

A robotic medical system, comprising:
an electromagnetic (EM) field generator configured to generate an EM field that detects an EM target positioned within a patient;
an instrument guide positioned over the EM field generator and configured to guide a percutaneously insertable instrument along an insertion axis;
a first robotic arm configured to be coupled to the EM field generator, the first robotic arm further configured to move a composite structure of the EM field generator and the instrument guide;
one or more processors,
determining the EM target located within the patient;
determining a registration that maps coordinates in an EM coordinate frame associated with the EM field to coordinates in a robot coordinate frame associated with a kinematic pose of the first robot arm;
determining a position of the EM target in the robot coordinate frame based on the alignment; and
and one or more processors configured to: move the first robotic arm to align the insertion axis of the instrument guide with the EM target based on the position of the EM target in the robot coordinate frame such that the percutaneously insertable instrument is navigable towards the EM target when the insertion axis is aligned with the EM target .

a second robotic arm configured to couple with a percutaneously insertable instrument extending along an axis, the second robotic arm further configured to move the percutaneously insertable instrument;
the one or more processors:
aligning the axis of the percutaneously insertable instrument with the insertion axis using the second robotic arm;
13. The robotic medical system of claim 12, further configured to: insert, using the second robotic arm, the percutaneously insertable instrument through the instrument guide along the insertion axis toward the EM target.

14. The robotic medical system of claim 13, further comprising a third robotic arm configured to couple with a robotic medical instrument, the third robotic arm further configured to control the robotic medical instrument while the robotic medical instrument is inserted into the patient, and the EM target comprises an EM sensor disposed on the robotic medical instrument.

the alignment is determined based on a position of the EM field generator in the robot coordinate frame;
The robotic medical system of claim 12 , wherein the position of the EM field generator in the robot coordinate frame is determined based on the kinematic pose of the first robotic arm.

the one or more processors:
determining a position of the EM target within the EM coordinate frame;
16. The robotic medical system of claim 15, configured to determine the position of the EM target in the robot coordinate frame by mapping the position of the EM target in the EM coordinate frame to the position of the EM target in the robot coordinate frame based on the alignment .

The robotic medical system of claim 12 , wherein the percutaneously insertable instrument comprises one of a needle, an access sheath, and a laparoscopic instrument.

The robotic medical system of claim 12 , wherein the instrument guide is a defined space into which the percutaneously insertable instrument is inserted.

The robotic medical system of claim 12 , wherein the instrument guide is mounted on the EM field generator.

The robotic medical system of claim 12 , wherein the instrument guide limits insertion motion of the percutaneously insertable instrument to a degree of freedom.