US 12,357,252 B2
Devices, systems, methods, and storage media for controlling a bendable medical device
Fumitaro Masaki, Brookline, MA (US); Brian Ninni, Woburn, MA (US); and Takahisa Kato, Brookline, MA (US)
Assigned to Canon U.S.A., Inc., Melville, NY (US)
Filed by Canon U.S.A., Inc., Melville, NY (US)
Filed on May 16, 2023, as Appl. No. 18/198,141.
Prior Publication US 2024/0382168 A1, Nov. 21, 2024
Int. Cl. A61B 6/00 (2006.01); A61B 90/00 (2016.01)
CPC A61B 6/487 (2013.01) [A61B 6/4441 (2013.01); A61B 90/08 (2016.02); A61B 90/39 (2016.02); A61B 2090/0811 (2016.02); A61B 2090/3966 (2016.02)] 25 Claims
OG exemplary drawing
 
1. A system comprising:
one or more computer-readable media; and
one or more processors in communication with the one or more computer-readable media, wherein the one or more processors and the one or more computer-readable media are configured to cooperate to perform operations that comprise:
obtaining a fluoroscopic image that was generated by a C-arm scanner and corresponding C-arm positional information for the fluoroscopic image, wherein the fluoroscopic image depicts a distal end of a bendable medical device, and wherein the C-arm positional information indicates a rotation angle of a C-arm of the C-arm scanner;
determining an orientation of the distal end in an image plane of the fluoroscopic image, wherein the image plane is defined in a detector reference frame of the C-arm scanner;
obtaining an instructed direction;
determining, in the image plane, a movement direction of the distal end that corresponds to the instructed direction, wherein the determining is based on the orientation of the distal end in the image plane, and wherein the movement direction lies in the imaging plane;
mapping the movement direction from the image plane, which is defined in the detector reference frame, to a distal-end reference frame of the distal end, thereby generating a mapped movement direction, wherein the detector reference frame is different from the distal-end reference frame, wherein the mapping is based on an orientation of the distal end in an intermediate reference frame and on the C-arm positional information, and wherein the mapped movement direction, which is defined in the distal-end reference frame, lies in the image plane; and
controlling the distal end to move according to the mapped movement direction.