Systems and methods for dynamic trajectory control
In one example, a method for performing a medical procedure includes receiving a command to initiate tissue sampling with a surgical instrument at a target location, retrieving a predefined dynamic trajectory for tissue sampling from a memory device, and moving the surgical instrument according to the predefined dynamic trajectory to sample tissue at the target location.
1 . A biopsy system comprising:
a biopsy tool; and
a control system in communication with the biopsy tool, the control system configured to:
receive a command to perform a biopsy;
retrieve a predefined dynamic trajectory for performing the biopsy from a memory device, wherein the predefined dynamic trajectory comprises:
an insertion phase of the biopsy for inserting the biopsy tool to an extraction position inside or at a periphery of a target tissue; and
a sampling phase of the biopsy, after the insertion phase, wherein a motion profile of the sampling phase comprises a plurality of motion cycles, wherein each motion cycle of the plurality of motion cycles comprises an insertion of the biopsy tool and a retraction of the biopsy tool; and
control the biopsy tool to move according to the predefined dynamic trajectory to perform the biopsy.
2 . The biopsy system of claim 1 , wherein the motion profile of the sampling phase includes a higher tool velocity than a tool velocity of a motion profile of the insertion phase.
3 . The biopsy system of claim 1 , wherein the sampling phase moves the biopsy tool with the motion profile of the sampling phase for a predefined quantity of motion cycles.
4 . The biopsy system of claim 1 , wherein the predefined dynamic trajectory further comprises a suction phase of the biopsy in which suction is applied to the biopsy tool.
5 . The biopsy system of claim 1 , further comprising an operator teleoperational control device that initiates the command to perform the biopsy and wherein the control system is a teleoperational control system.
6 . The biopsy system of claim 1 , wherein the predefined dynamic trajectory provides a predefined position for a distal tip of the biopsy tool for a predefined period of time.
7 . The biopsy system of claim 1 , wherein the predefined dynamic trajectory provides a predefined orientation for a distal tip of the biopsy tool for a predefined period of time.
8 . The biopsy system of claim 1 , wherein the predefined dynamic trajectory provides a predefined velocity for a distal tip of the biopsy tool for a predefined period of time.
9 . The biopsy system of claim 1 , wherein the predefined dynamic trajectory provides a predefined acceleration for a distal tip of the biopsy tool for a predefined period of time.
10 . The biopsy system of claim 1 , wherein the biopsy tool comprises a force sensing mechanism to sense a force received at a distal tip of the biopsy tool.
11 . The biopsy system of claim 10 , wherein the force sensing mechanism is located at a proximal end of the biopsy tool.
12 . The biopsy system of claim 10 , wherein the force sensing mechanism is located adjacent to the distal tip of the biopsy tool.
13 . The biopsy system of claim 10 , wherein the control system is configured to use the force sensing mechanism to detect a difference between an actual electric current level being used to drive the biopsy tool and an expected electric current level associated with the predefined dynamic trajectory.
14 . The biopsy system of claim 13 , wherein the expected electric current level is determined based upon a present shape of a catheter guiding movement of the biopsy tool.
15 . The biopsy system of claim 13 , wherein the control system is configured to adjust the predefined dynamic trajectory based on the sensed force.
16 . The biopsy system of claim 1 , wherein the control system is further configured to assign a quality metric value to samples obtained by the biopsy tool.
17 . The biopsy system of claim 16 , wherein the control system is further configured to adjust the predefined dynamic trajectory based on the quality metric value.
18 . The biopsy system of claim 1 , wherein the control system is further configured to receive a manual input signal from an operator to perform an operator-controlled tissue sampling procedure and wherein the predefined dynamic trajectory comprises a dynamic modification mode for modifying the manual input signal to perform a modified operator-controlled tissue sampling procedure.
19 . The biopsy system of claim 1 , wherein the biopsy tool is an elongated flexible biopsy tool.
20 . The biopsy system of claim 1 , further comprising:
an obturator sized for passage within the biopsy tool, wherein the predefined dynamic trajectory further comprises an obturator removal phase of the biopsy in which the obturator is removed from the biopsy tool after the insertion phase.