Systems and methods for guidance of intraluminal devices within the vasculature
System for guiding an instrument within a vascular network of a patient are disclosed. In some embodiments, the system receives a medical image from a medical imaging device and identifies a distal tip and a direction the instrument in the image. The system may then determine a waypoint for the distal tip of the instrument based at least in part on the position and direction of the distal tip of the instrument. The system may then generate a trajectory command for moving the instrument through the vascular network from the current position to the waypoint. The system may operate in a closed loop. The system may provide the trajectory command to a robotic medical system configured to move the instrument according to the command.
1 . A computer-implemented method for guiding an instrument within a vascular network of a patient during an endovascular procedure, the method comprising:
determining a pathway from an insertion site to a target site;
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 and the pathway;
determining, based on the position of the distal tip of the instrument, a target location for the distal tip of the instrument, wherein the target location is located along the pathway;
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; and
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.
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:
receive or determine a pathway from an insertion site to a target site;
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 and the pathway;
determine, based on the position of the distal tip of the instrument, a target location for the distal tip of the instrument, wherein the target location is along the pathway;
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; and
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.
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.