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CN-121983266-A - System and method for tool detection and associated control patterns

CN121983266ACN 121983266 ACN121983266 ACN 121983266ACN-121983266-A

Abstract

The application relates to a system and method for tool detection and associated control modes. A method of detecting a tool being received in a medical system includes receiving a tool having a first target in a tool recognition component having a first reader with a first detection zone. The method further includes collecting first sensor data from the first reader for the first detection zone, and detecting an absence indication of the first target when the first sensor data is within a first predetermined threshold range, and recording the absence indication. The method further includes generating an insertion marker associated with the tool being received in the tool identification component by chronologically combining the absence and presence indications from the first reader. The method further includes comparing the insert flag to a predetermined set of model insert flags and determining characteristics of a tool being received in the tool identification component based on the comparison.

Inventors

  • KEITH A. NICHOLS
  • N. Diolaiti
  • W.LIU
  • J. G. Park

Assignees

  • 直观外科手术操作公司

Dates

Publication Date
20260505
Application Date
20190709
Priority Date
20180710

Claims (10)

  1. 1. A method of detecting a tool being received in a medical system, the method comprising: Receiving the tool having a first target in a tool recognition component having a first reader with a first detection zone; acquiring first sensor data from the first reader for the first detection zone; detecting an absence indication of the first target when the first sensor data is within a first predetermined threshold range, and recording the absence indication; Detecting an indication of presence of the first target when the first sensor data is within a second predetermined threshold range, and recording the indication of presence; generating an insertion flag associated with the tool being received in the tool identification component by chronologically combining the absence indication and the presence indication from the first reader; comparing the insert signature to a predetermined set of model insert signatures, and A characteristic of the tool being received in the tool identification component is determined based on the comparison.
  2. 2. The method of claim 1, wherein the characteristic of the tool comprises an absence or presence of the tool in the tool recognition component, an orientation of the tool in the tool recognition component, whether the tool is fully installed in the tool recognition component, a classification of the tool, whether the tool is a counterfeit tool, whether the tool is a competitor's tool, or a combination thereof.
  3. 3. The method of claim 2, wherein the classification of the tool comprises a type of the tool, or a unique identifier of the tool, or a combination thereof.
  4. 4. The method of claim 3, wherein the unique identifier comprises an identification of a tool manufacturer.
  5. 5. The method of claim 4, further comprising: acquiring second sensor data from a second reader having a second detection zone; detecting the absence indication of the first target when the second sensor data is within a third predetermined threshold range and recording the absence indication; detecting the presence indication of the first target and recording the presence indication when the second sensor data is within a fourth predetermined threshold range, and The insertion flag is generated by combining the absence indication and the presence indication from the first reader and the second reader in the time order.
  6. 6. The method of claim 5, wherein the characteristic comprises a type of the tool being installed in the tool identification component, and changing a control mode based on the type of the tool.
  7. 7. The method of claim 6, wherein the change in control mode comprises changing a speed of insertion of the tool, changing an error threshold for an operating parameter, changing a time constant for which a catheter is allowed to relax, changing a torque limit of a pull wire motor, temporarily relaxing the catheter, changing a function associated with a user interface button, changing a speed at which adjustment of the catheter is made, or a combination thereof.
  8. 8. The method of claim 5, wherein the characteristic is a position of the tool in the tool recognition component, and the position is indicated by at least one of the presence indications from either the first reader or the second reader, and wherein image collection by the tool for detecting longitudinal markers in a catheter is stopped.
  9. 9. A system, comprising: A tool identification component comprising a first reader with a first detection zone; processor, and A memory comprising computer readable instructions stored thereon that, when executed by the processor, cause the system to: acquiring first sensor data from the first reader for the first detection zone; Detecting an absence indication of a first target when the first sensor data is within a first predetermined threshold range, and recording the absence indication; Detecting an indication of presence of the first target when the first sensor data is within a second predetermined threshold range, and recording the indication of presence; Generating an insertion flag associated with a tool including the first target being received in the tool identification component by chronologically combining the absence indication and the presence indication from the first reader; comparing the insert signature to a predetermined set of model insert signatures, and A characteristic of the tool being received in the tool identification component is determined based on the comparison.
  10. 10. The system of claim 9, wherein the characteristic of the tool comprises an absence or presence of the tool in the tool recognition component, an orientation of the tool in the tool recognition component, whether the tool is fully installed in the tool recognition component, a classification of the tool, whether the tool is a counterfeit tool, whether the tool is a competitor's tool, or a combination thereof.

Description

System and method for tool detection and associated control patterns The present application is a divisional application of chinese patent application 2019800562391 (PCT/US 2019/040965) filed on 7/9/2019 entitled "system and method for tool detection and associated control patterns". Cross Reference to Related Applications The present application claims the benefit of U.S. provisional application 62/696,058 filed on 7.10 2018, which is incorporated herein by reference in its entirety. Technical Field The present disclosure relates to systems and methods for detecting and identifying tools, and in various embodiments may include determining proper installation of a tool, a tool type, a tool control, and/or other characteristics of the tool and its use. Background Minimally invasive medical techniques are intended to reduce the amount of tissue damaged during a medical procedure, thereby reducing patient recovery time, discomfort, and adverse side effects. Such minimally invasive techniques may be performed through natural orifices of the patient anatomy or through one or more surgical incisions. Through these natural orifices or incisions, a physician may insert minimally invasive medical instruments (including surgical, diagnostic, therapeutic, or biopsy instruments) to a target tissue location. Some minimally invasive medical tools may be teleoperational or otherwise computer-aided. Proper installation and identification of medical instruments allows for safe and efficient use of the instruments during a medical procedure. Accordingly, there is a need for systems and methods to determine proper installation of medical devices and to allow identification of medical devices. Disclosure of Invention The claims following the description best outline some embodiments of the invention. Consistent with some embodiments, a method of detecting a tool being received in a medical system is provided. The method may include receiving a tool that may have a first target in a tool recognition component having a first reader with a first detection zone. The method may further include acquiring first sensor data from a first reader for a first detection zone. The method may further include detecting an absence indication of the first target when the first sensor data is within a first predetermined threshold range and recording the absence indication. The method may further include detecting a presence indication of the first target when the first sensor data is within a second predetermined threshold range and recording the presence indication. The method may further include generating an insertion marker associated with the tool being received in the tool identification component by chronologically combining the absence indication and the presence indication from the first reader. The method may further include comparing the insert flag to a predetermined set of model insert flags. The method may further include determining a characteristic of the tool being received in the tool identification component based on the comparison. Consistent with other embodiments, a method for verifying that a tool is fully installed in a tool recognition component is provided. The method may include receiving a tool in a tool recognition assembly, and the tool may include a first target at a proximal portion of the tool. The tool recognition component may include a first reader with a first detection zone positioned along an insertion trajectory of the tool. The method may further include indicating, via sensor data from the first reader, when the first target is present within the first detection zone and when the first target is not present in the first detection zone. The method may further include generating the detected insertion flag by combining the indications from the first reader in an event sequence. The method may further include comparing the detected insert signature with one or more pre-established model insert signatures. The method may further include determining that the tool is fully installed in the tool identification component based on the comparison. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory in nature, and are intended to provide an understanding of the disclosure, without limiting the scope of the disclosure. In this regard, additional aspects, features and advantages of the present disclosure will be apparent to those skilled in the art from the following detailed description. Drawings Fig. 1 is a simplified schematic diagram of a teleoperational medical system according to some embodiments. Fig. 2A is a simplified partial schematic diagram of a medical instrument system according to some embodiments. Fig. 2B is a simplified schematic diagram of a medical device having an extended medical tool according to some embodiments. Fig. 3A and 3B are simplified schematic side views of a patient coordinate space including a medica