Systems, instruments, and methods for four dimensional soft tissue navigation

• US 10,165,928 B2
• Filed: 08/22/2011
• Issued: 01/01/2019
• Est. Priority Date: 08/20/2010
• Status: Active Grant

• Current Assignee: Veran Medical Technologies, Inc. (Olympus Corporation)
• Original Assignee: Veran Medical Technologies, Inc. (Olympus Corporation)
• Inventors: Hunter, Mark, Lee, Christopher
• Primary Examiner(s): Newton, Alexandra L
• Application Number:
  US13/215,041
• Publication Number:
  US 20120046521A1
• Time in Patent Office: 2,689 Days
• Field of Search: 600104, 600114, 600117, 600153, 600154
• CPC Class Codes: A61B 1/00009 of image signals during a use of endoscope
• CPC Class Codes: A61B 1/0005 combining images e.g. side-by-side, superimposed or tiled
• CPC Class Codes: A61B 1/00094 Suction openings
• CPC Class Codes: A61B 1/04 combined with photographic or television appliances
• CPC Class Codes: A61B 1/2676 Bronchoscopes
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2034/2063 Acoustic tracking systems, e.g. using ultrasound
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 5/0066 Optical coherence imaging
• CPC Class Codes: A61B 5/061 Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body A61B1/00158 takes precedence
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 5/065 Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
• CPC Class Codes: A61B 5/066 Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
• CPC Class Codes: A61B 5/113 occurring during breathing
• CPC Class Codes: A61B 5/352 Detecting R peaks, e.g. for synchronising diagnostic apparatus; Estimating R-R interval
• CPC Class Codes: A61B 5/415 the glands, e.g. tonsils, adenoids or thymus
• CPC Class Codes: A61B 5/418 : lymph vessels, ducts or nodes
• CPC Class Codes: A61B 8/0841 : for locating instruments
• CPC Class Codes: A61B 8/12 : in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 90/39 : Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61M 2025/09183 : having tools at the distal tip
• CPC Class Codes: A61M 25/09 : Guide wires
• CPC Class Codes: G06T 2207/30061 : Lung

Abstract

A surgical instrument navigation system is provided that visually simulates a virtual volumetric scene of a body cavity of a patient from a point of view of a surgical instrument residing in the cavity of the patient. The surgical instrument navigation system includes: a surgical instrument; an imaging device which is operable to capture scan data representative of an internal region of interest within a given patient; a tracking subsystem that employs electro-magnetic sensing to capture in real-time position data indicative of the position of the surgical instrument; a data processor which is operable to render a volumetric, perspective image of the internal region of interest from a point of view of the surgical instrument; and a display which is operable to display the volumetric perspective image of the patient.

Claims

1. An endoscope system comprising:

an endoscope having a distal tip, a port, a working channel extending between the distal tip and the port, an electromagnetic sensor positioned within the distal tip;

a guidewire extending from the port to the distal tip and through the working channel;

a first proximal offset device coupled to the guidewire proximate to the port;

a second distal offset device coupled to the guidewire proximate to the first proximal offset device;

both the first proximal offset device and the second distal offset device sized to limit extension of the guidewire in said working channel, the first proximal offset device and the second distal offset device separated by a perforated connection.

2. The endoscope or attachment of claim 1 wherein the endoscope comprises an sensor affixed proximate to an aspiration needle disposed at an end of the endoscope, wherein the needle tip and the sensor move in conjunction with one another upon actuation of the endoscope by a user.

3. The endoscope or attachment of claim 1 wherein the endoscope comprises an sensor affixed proximate to a brush disposed at an end of the endoscope, wherein the brush and the sensor move in conjunction with one another upon actuation of the endoscope by a user.

4. The endoscope of claim 1 wherein the endoscope comprises a detachable electromagnetic tracking sensor affixed proximate to a forceps, the forceps being attached to the guidewire proximate the tip, wherein the forceps and the electromagnetic tracking sensor move in conjunction with one another upon extension of the guidewire by a user, wherein the electromagnetic tracking sensor is adapted generate a voltage induced by an electromagnetic field generator of a navigation system and wherein the navigation system is adapted to translate the voltage induced in the electromagnetic tracking sensor into a coordinate position of the electromagnetic tracking sensor.

5. The endoscope of claim 4 wherein the tracking sensor is an electromagnetic sensor comprising a solenoid coil, when in a “

passive”

mode, the solenoid coil is used as a tracking sensor and when in an “

active”

mode, the solenoid coil is activated by energy stored in an ultra-capacitor to actuate the forceps via an armature.

6. The endoscope of claim 1 wherein the guidewire is configured to be extended at least 1 cm beyond the distal tip by removal of one or both of the first proximal offset device and the second distal offset device.

7. The endoscope of claim 1 wherein the guidewire is configured to be extended at least 2 cm beyond the distal tip by removal of one or both of the first proximal offset device and the second distal offset device.

8. The endoscope of claim 1 wherein the guidewire is configured to be extended at least 3 cm beyond the tip by removal of one or both of the first proximal offset device and the second distal offset device.

9. The endoscope of claim 1, wherein the electromagnetic sensor is detachable.

10. The endoscope of claim 1, wherein contact of one of the first proximal offset device and the second distal offset device with the port prevents further extension of the guidewire while permitting retraction of the guidewire.

11. The endoscope of claim 1, further comprising a forceps attached to the guidewire proximate the distal tip, the forceps being configured to capture tissue.

12. The endoscope of claim 1, wherein each of the first proximal offset device and the second distal offset device is configured for snap-on engagement with the guidewire.