Method and system for measuring inserted length of a medical device using internal referenced sensors

摘要

Measured locations of position sensors on a steerable medical device are used to determine the insertion depth of the steerable medical device with respect to a foundation point, which is initialized by an operator. The insertion depth, in turn, is used to determine the state of each segment that has passed the foundation point, i.e., is distal to the foundation point.

主权项

1. A method comprising:
receiving, by a processor, a first set of position data for a plurality of position sensors on a steerable medical device,
wherein said steerable medical device includes a plurality of articulatable segments;wherein each articulatable segment of the plurality of articulatable segments includes a serial combination of three or more links, and wherein each link in the three or more links is coupled to another link in the three or more links by a joint;wherein a first position sensor of said plurality of position sensors is mounted on a distal end of a distal articulatable segment of said plurality of articulatable segments;wherein a second position sensor of said plurality of position sensors is mounted on a proximal end of a proximal articulatable segment of said plurality of articulatable segments; andwherein a different position sensor of said plurality of position sensors is mounted between each of said plurality of articulatable segments so that the each articulatable segment of said plurality of articulatable segments is bounded by a different pair of position sensors of said plurality of position sensors; determining, by said processor using said first set of position data and a foundation point, a number of said plurality of articulatable segments having an active state and a number of said plurality of articulatable segments having an active state and an articulating state,
wherein an articulating segment of said plurality of articulatable segments is counted by the processor as having an active state if the articulating segment is completely or partially inserted into a patient past the foundation point,wherein an articulating segment of said plurality of articulatable segments is counted by the processor as having an active state and an articulating state if more than a predetermined percentage of the articulating segment is inserted into the patient past the foundation point; and sending, by said processor to a controller for said steerable medical device, a command to configure said steerable medical device to have said number of said plurality of articulatable segments having said active state and said number of said plurality of articulatable segments having said active state and said articulating state.