Systems and methods for medical procedures using optical coherence tomography sensing
A system for performing a minimally invasive procedure comprises a flexible catheter with a lumen extending therethrough. The system also comprises an elongate instrument sized for passage through the lumen and an optical coherence tomographic sensor coupled to the elongate instrument. The system also comprises a control system that includes one or more processors. The control system is configured to receive sensor data from the optical coherence tomographic sensor, profile a tissue based on the received sensor data, generate an output signal based on the profiled tissue, and based on receipt of the output signal, determine a distance between the elongate instrument and the profiled tissue.
1. A system for performing a minimally invasive procedure, the system comprising:
a flexible catheter with a lumen extending therethrough;
an elongate instrument sized for passage through the lumen;
an optical coherence tomographic sensor coupled to the elongate instrument; and
a control system including one or more processors, wherein the control system is configured to:
receive sensor data from the optical coherence tomographic sensor;
profile a tissue based on the received sensor data;
generate an output signal based on the profiled tissue; and
based on receipt of the output signal, determine a distance between the elongate instrument and the profiled tissue.
2. The system of claim 1 , wherein the elongate instrument is a biopsy needle or a removable stylet.
3. The system of claim 1 , further comprising a biopsy needle sized for passage through the lumen, wherein the elongate instrument comprises a stylet sized for passage through the biopsy needle.
4. The system of claim 1 , further comprising an alert system operable to provide an indicator to a user based on the distance between the elongate instrument and the profiled tissue.
5. The system of claim 4 , wherein the indicator comprises a notification to alter movement of the elongate instrument including at least one of reducing a velocity of the elongate instrument, suspending advancement of the elongate instrument, or retracting the elongate instrument.
6. The system of claim 1 , further comprising a drive system operable to control motion of the elongate instrument, wherein the control system provides a command to the drive system based on a comparison of the determined distance with a predetermined distance limit.
7. The system of claim 6 , wherein the command includes reducing a velocity of the elongate instrument, suspending advancement of the elongate instrument, or retracting the elongate instrument.
8. The system of claim 1 , further comprising a display device, and wherein the output signal is used to generate an image of the profiled tissue and an indicator of the distance between the elongate instrument and the profiled tissue to display on the display device.
9. The system of claim 1 , further comprising a navigation system operable to provide guidance to navigate the flexible catheter or the elongate instrument along a predefined route, wherein receipt of the output signal causes suspension of advancement of the flexible catheter and elongate instrument along the predefined route.
10. A method comprising:
receiving sensor data from an optical coherence tomographic (OCT) sensor, the OCT sensor coupled to an elongate instrument;
profiling a tissue based on the received sensor data;
generating an output signal based on the profiled tissue; and
based on receipt of the output signal, determining a distance between the elongate instrument and the profiled tissue.
11. The method of claim 10 , further comprising displaying, on a display device, an indicator of the distance between the elongate instrument and the profiled tissue.
12. The method of claim 10 , further comprising comparing the determined distance to a predetermined distance limit and altering movement of the elongate instrument based on the comparison.
13. The method of claim 12 , wherein altering the movement of the elongate instrument includes at least one of suspending advancement of the elongate instrument, altering velocity of advancement of the elongate instrument, or retracting the elongate instrument.
14. The method of claim 10 , further comprising providing an alert to a user based on the distance between the elongate instrument and the profiled tissue.
15. The method of claim 10 , further comprising using the output signal to generate an image of the profiled tissue on a display device.
16. The method of claim 10 , further comprising providing confirmation that the elongate instrument has contacted the profiled tissue.
17. The method of claim 10 , wherein the profiled tissue is at least one of pulmonary pleura tissue, pulmonary fissure tissue, or blood vessel tissue.
18. The method of claim 10 , further comprising updating a registration between an anatomic model and the elongate instrument, based on the output signal.
19. The method of claim 10 , further comprising providing guidance to navigate the elongate instrument along a predefined route, wherein, based on the output signal, the guidance includes a notification to alter movement of the elongate instrument including suspension of advancement of the elongate instrument along the predefined route.
20. The method of claim 10 , wherein the elongate instrument comprises a stylet positioned within a biopsy needle extending through a lumen of a flexible catheter.