Updates on AURIS' ARES
The most recent patent of AURIS on ARES - Navigation of Tubular Networks - reveals some details about their system and control approach:
"Methods and apparatuses provide improved navigation through
tubular networks such as lung airways by providing improved estimation
of location and orientation information of a medical instrument (e.g.,
an endoscope) within the tubular network. Various input data such as
image data, EM data, and robot data are used by different algorithms to
estimate the state of the medical instrument, and the state information
is used to locate a specific site within a tubular network and/or to
determine navigation information for what positions/orientations the
medical instrument should travel through to arrive at the specific site.
Probability distributions together with confidence values are generated
corresponding to different algorithms are used to determine the medical
instrument's estimated state.
The methods and apparatus disclosed herein provide improved
navigation through tubular networks such as lung airways by providing
improved estimation of location and orientation information of a medical
instrument like a flexible or rigid elongated medical instrument (e.g.,
an endoscope) within the tubular network.
As one example, the
apparatus is a robotic endoscopic tool to acquire “raw” location and
orientation information (collectively, input data) of a desired
anatomical site or of the endoscopic tool within the tubular network.
The endoscopic tool includes a flexible tip and an instrument device
manipulator (IDM) coupled to the endoscopic tool. Devices such as an
electromagnetic sensor (EM sensor), an imaging device (e.g., optical
sensor), and a robotic control system controlling the medical instrument
are coupled to the instrument tip to collect the input data as the
endoscopic tool enters and navigates through the tubular network. The
IDM is used to control movement and position of different robotic
components (e.g., the endoscopic tool) of the surgical robotic system. A
processor is coupled to the endoscopic tool to receive the input data
to determine moment-by-moment movements and location and orientation
information of the medical instrument (e.g., a instrument tip) within
the tubular network.
The processor is instructed by a navigation
configuration system to use the input data to estimate the state of the
medical instrument, which may include information such as position,
orientation, relative and absolute depth, branch selection, etc. The
processor may be further instructed to use the estimated state to locate
a specific site within a tubular network and/or to determine navigation
information for what positions/orientations the medical instrument
should travel through to arrive at the specific site, which may be
referred to as the output data or navigation data.
The navigation
configuration system further includes multiple algorithm modules
employing various navigation algorithms for providing the estimated
state and navigation data. Example algorithms used include EM-based
algorithms, image-based algorithms, and robot-based algorithms. The
estimated state and navigation data generated after employing these
various algorithms makes use of any one or more of the EM-based input
data, image-based input data, and robot-based input data.
In some
embodiments, probability distributions together with confidence values
are generated by the algorithm modules, which are used to determine the
medical instrument's estimated state. The “probability” of the
“probability distribution”, as used herein, refers to a likelihood of an
estimation or identification of location and/or orientation of the
medical instrument being correct. For example, different probabilities
may be calculated indicating the relative likelihood that the medical
instrument is in one of several different possible airways within the
lung. In contrast, the “confidence value, as used herein, reflects a
measure of confidence in the estimation of the state provided by one of
the algorithms. For example, relatively close to the airway opening, a
particular algorithm may have a high confidence in its estimations of
medical instrument position and orientation; but further into the bottom
of the lung the medical instrument travels, that confidence value may
drop. Generally, the confidence value is based on one or more “external”
factors relating to the process by which a result is determined,
whereas probability is a relative measure that arises when trying to
determine possible results from a single algorithm. The algorithms,
probabilities, and confidence values may be variously combined to arrive
at the estimated state and navigation data.
In one embodiment,
before executing an actual surgical operation on a patient, a sequence
of pre-operative steps employing the improved navigation of surgical
instruments (e.g., endoscopic) within a tubular network of the patient
may be taken. Initially, a CT scan of the tubular network is obtained to
generate a 3D model of the tubular network. A target area (e.g., a
lesion to biopsy) within the tubular network is selected and a
corresponding path for a surgical instrument to travel through the
tubular network to reach the target area is automatically planned and
displayed to a user (e.g., a physician responsible for the surgical
operation). After the path is determined, a virtual endoscopic may be
applied to travel through the tubular network to arrive at the target
area. In the actual surgical operation, the CT scan, the generated 3D
model as well as other input data (e.g., image data, EM data, robot data
collected over the duration of the surgery) is combined and repeatedly
analyzed during the surgery via the surgical configuration system to
provide an estimation of the real-time movement information and
location/orientation information of the surgical instrument (e.g., the
endoscope) within the tubular network along with navigation information,
which allows for more convenient operations by the physician."
Source: Auris
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