Granted Patent B2

US 12,193,764 · App. 18/458,503 · Granted Jan 14, 2025

Inventors: Jake Anthony Sganga (San Francisco, CA); David James Bell (San Francisco, CA); Benjamin Fredrickson (Gualala, CA); Gregory Kahn (Berkeley, CA)

Assignee: Remedy Robotics, Inc.

A61B34/20A61B34/25A61B34/35G16H20/40G16H30/40G16H40/63A61B2034/2065A61B2034/303A61B2090/064A61B2090/3762

Abstract

Claims (36)

1. A computer-implemented method for guiding an instrument within a vascular network of a patient during an endovascular procedure, the method comprising:

causing a medical imaging device to capture a medical image of the patient, wherein the medical image includes at least a portion of the vascular network and a view of a distal tip of the instrument;

determining a position of the distal tip of the instrument relative to the medical image;

determining, based on the position of the distal tip of the instrument, a target location for the distal tip of the instrument;

determining a trajectory command for navigation of the instrument from a current position of the instrument to the target location, wherein the trajectory command comprises instructions for a robotic medical system coupled to the instrument to cause the robotic medical system to move the instrument;

transmitting the trajectory command to the robotic medical system, whereby the robotic medical system executes the trajectory command to move the instrument from the current position toward the target location;

causing the medical imaging device to capture a new medical image; and

determining the current position of the distal tip of the instrument in the new medical image.

2. The method of claim 1 , further comprising:

transmitting, over an electronic network, display data to a user device, the display data configured to display on the user device the target location overlaid onto the medical image; and

receiving a user input, from the user device, to modify a position of the target location prior to determining the trajectory command.

3. The method of claim 2 , wherein modifying the position of target location comprises selecting a new position for the target location relative to the medical image.

4. The method of claim 3 , wherein selecting the new position for the target location relative to the medical image comprises receiving a user selection of at least one pixel on the medical image.

5. The method of claim 4 , wherein the user selection comprises a touch screen input or a mouse click.

6. The method of claim 1 , further comprising:

receiving, from a force sensor associated with the instrument, a measure of an insertion force associated with movement of the instrument by the robotic medical system.

7. The method of claim 2 , wherein the user and the user device are remotely located from the patient, the instrument, and the robotic medical system.

8. The method of claim 2 , wherein the user device comprises a tablet, a mobile phone, a laptop, or a personal computer.

9. A computer readable medium comprising instructions that, when executed by a processor, cause the processor to:

cause a medical imaging device to capture a medical image of a patient, wherein the medical image includes at least a portion of a vascular network of the patient and a view of a distal tip of an instrument;

determine a position of the distal tip of the instrument relative to the medical image;

determine, based on the position of the distal tip of the instrument, a target location for the distal tip of the instrument;

determine a trajectory command for navigation of the instrument from a current position of the instrument to the target location, wherein the trajectory command comprises instructions for a robotic medical system coupled to the instrument to cause the robotic medical system to move the instrument;

transmit the trajectory command to the robotic medical system, whereby the robotic medical system executes the trajectory command to move the instrument from the current position toward the target location;

cause the medical imaging device to capture a new medical image; and

determine the current position of the distal tip of the instrument in the new medical image.

10. The computer readable medium of claim 9 , wherein the instructions further cause the processor to:

transmit, over an electronic network, display data to a user device, the display data configured to display on the user device the target location overlaid onto the medical image; and

receive a user input, from the user device, to modify a position of the target location prior to determining the trajectory command.

11. The computer readable medium of claim 10 , wherein modifying the position of target location comprises selecting a new position for the target location relative to the medical image.

12. The computer readable medium of claim 11 , wherein selecting the new position for the target location relative to the medical image comprises receiving a user selection of at least one pixel on the medical image.

13. The computer readable medium of claim 12 , wherein the user selection comprises a touch screen input or a mouse click.

14. The computer readable medium of claim 9 , wherein the instructions further cause the processor to:

receive, from a force sensor associated with the instrument, a measure of an insertion force associated with movement of the instrument by the robotic medical system.

15. The computer readable medium of claim 10 , wherein the user and the user device are remotely located from the patient, the instrument, and the robotic medical system.

16. The computer readable medium of claim 10 , wherein the user device comprises a tablet, a mobile phone, a laptop, or a personal computer.

Assignments (1)

Continuity (6)

References Cited (400)