Instrument device manipulator with tension sensing apparatus

Abstract

An endolumenal robotic system provides the surgeon with the ability to drive a robotically-driven endoscopic device to a desired anatomical position in a patient without the need for awkward motions and positions, while also enjoying improved image quality from a digital camera mounted on the endoscopic device.

1 - 20 . (canceled) 
     
     
         21 . A method for navigating a luminal network, the method comprising:
 positioning a working end of an endoscopic tool at a branched location in a luminal network;   at the branched location, capturing images at the working end of the endoscopic tool from a camera;   comparing features from the images captured at the working end of the endoscopic tool from the camera to corresponding features from a pre-generated computer model of the branched location; and   based at least in part on the comparison, registering the position of the endoscopic tool within the computer model of the luminal network.   
     
     
         21 . The method of  claim 21 , wherein comparing features from the images captured at the working end of the endoscopic tool comprises comparing cross-sectional views of the branched location. 
     
     
         22 . The method of  claim 21 , further comprising tracking rotation of the endoscopic tool. 
     
     
         23 . The method of  claim 22 , wherein tracking the rotation of the endoscopic tool comprises receiving information from an accelerometer. 
     
     
         24 . The method of  claim 22 , wherein tracking the rotation of the endoscopic tool comprises receiving information from an EM tracker. 
     
     
         25 . The method of  claim 21 , wherein the branched location is at the base of the trachea. 
     
     
         26 . The method of  claim 21 , further comprising advancing the endoscopic tool into a bronchial tube extending from the branched location. 
     
     
         27 . The method of  claim 26 , further comprising tracking the advancement of the endoscopic tool into the bronchial tube with an EM tracker. 
     
     
         28 . The method of  claim 26 , further comprising tracking the advancement of the endoscopic tool into the bronchial tube using an insertion length of the endoscopic tube into the luminal network. 
     
     
         29 . The method of  claim 21 , further capturing images at the working end of the endoscopic tool from the camera on more than one bronchial tube extending form the branched location. 
     
     
         30 . A robotic medical system for bronchoscopy, the system comprising:
 a robotic arm coupled to the moveable system cart;   an endoscope removably coupled to the robotic arm, the endoscope comprising an elongated body configured to be inserted into and navigated through bronchial lumens of a patient, wherein a distal end of the elongated body of the endoscope is articulable;   one or more processors configured to:
 track a position a working end of an endoscopic tool at a branched location in a luminal network; 
 at the branched location, capture images at the working end of the endoscopic tool from a camera; 
 compare features from the images captured at the working end of the endoscopic tool from the camera to corresponding features from a pre-generated computer model of the branched location; and 
 based at least in part on the comparison of the corresponding features from the pre-generated computer model of the branched location and the images captured at the branched location, register the position of the endoscopic tool within the computer model of the luminal network. 
   
     
     
         31 . The system of  claim 30 , wherein the one or more processors are configured to compare cross-sectional views of the branched location. 
     
     
         32 . The system of  claim 31 , wherein the one or more processors are configured to track the rotation of the endoscopic tool. 
     
     
         33 . The system of  claim 32 , wherein the one or more processors are configured to receive information from an accelerometer to track the rotation of the endoscopic tool. 
     
     
         34 . The system of  claim 32 , wherein the one or more processors are configured to receive information from an EM tracker to track the rotation of the endoscopic tool. 
     
     
         35 . The system of  claim 30 , wherein the branched location is at the base of the trachea. 
     
     
         36 . The system of  claim 30 , wherein the one or more processors are configured to advance the endoscopic tool into a bronchial tube extending from the branched location. 
     
     
         37 . The system of  claim 36 , wherein the one or more processors are configured to track the advancement of the endoscopic tool into the bronchial tube with an EM tracker. 
     
     
         38 . The system of  claim 37 , wherein the one or more processors are configured to track the advancement of the endoscopic tool into the bronchial tube using an insertion length of the endoscopic tube into the luminal network.