Method and apparatus for invasive device tracking using organ timing signal generated from MPS sensors

• US 10,251,712 B2
• Filed: 11/29/2017
• Issued: 04/09/2019
• Est. Priority Date: 05/18/1999
• Status: Active Grant

• Current Assignee: ST JUDE MEDICAL INTERNATIONAL HOLDING S. R.L.
• Original Assignee: MediGuide Ltd (Abbott Laboratories)
• Inventors: Shmarak, Itzhak, Strommer, Gera, Eichler, Uzi
• Primary Examiner(s): Peng, Bo Joseph
• Application Number:
  US15/826,129
• Publication Number:
  US 20180153625A1
• Time in Patent Office: 496 Days
• CPC Class Codes: A61B 2017/00699 correcting for movement caused by respiration, e.g. by triggering
• CPC Class Codes: A61B 2017/00703 correcting for movement of heart, e.g. ECG-triggered
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/256 having a database of accessory information, e.g. including context sensitive help or scientific articles
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/367 creating a 3D dataset from 2D images using position information
• CPC Class Codes: A61B 2090/372 Details of monitor hardware
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3958 emitting a signal
• CPC Class Codes: A61B 2505/05 Surgical care
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• 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 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• 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 5/066 : Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
• CPC Class Codes: A61B 5/0816 : Measuring devices for examining respiratory frequency measuring frequency of electric signals G01R23/00
• CPC Class Codes: A61B 5/11 : Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb for measuring pulse A61B5/02 ;A61B5/1038 takes precedence; motion detection to correct for motion artifacts in physiological signals A61B5/721
• CPC Class Codes: A61B 5/1102 : Ballistocardiography
• CPC Class Codes: A61B 5/1107 : Measuring contraction of parts of the body, e.g. organ, muscle apparatus for measuring work or force in general G01L
• CPC Class Codes: A61B 5/1128 : using image analysis A61B5/1127 takes precedence
• 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 5/7207 : of noise induced by motion artifacts
• CPC Class Codes: A61B 5/721 : using a separate sensor to detect motion or using motion information derived from signals other than the physiological signal to be measured
• CPC Class Codes: A61B 5/7275 : Determining trends in physiological measurement data; Predicting development of a medical condition based on physiological measurements, e.g. determining a risk factor
• CPC Class Codes: A61B 5/7289 : Retrospective gating, i.e. associating measured signals or images with a physiological event after the actual measurement or image acquisition, e.g. by simultaneously recording an additional physiological signal during the measurement or image acquisition
• CPC Class Codes: A61B 5/742 : using visual displays A61B5/339 takes precedence
• CPC Class Codes: A61B 6/032 : Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/037 : Emission tomography
• CPC Class Codes: A61B 6/12 : Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/503 : for diagnosis of the heart
• CPC Class Codes: A61B 6/504 : for diagnosis of blood vessels, e.g. by angiography
• CPC Class Codes: A61B 6/527 : using data from a motion artifact sensor
• CPC Class Codes: A61B 6/541 : involving acquisition triggered by a physiological signal
• CPC Class Codes: A61B 6/547 : involving tracking of position of the device or parts of the device
• CPC Class Codes: A61B 8/02 : Measuring pulse or heart rate
• CPC Class Codes: A61B 8/0833 : involving detecting or locating foreign bodies or organic structures
• CPC Class Codes: A61B 8/0841 : for locating instruments
• CPC Class Codes: A61B 8/0883 : for diagnosis of the heart
• CPC Class Codes: A61B 8/0891 : for diagnosis of blood vessels
• 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 8/4245 : involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
• CPC Class Codes: A61B 8/4254 : using sensors mounted on the probe
• CPC Class Codes: A61B 8/5276 : due to motion
• CPC Class Codes: A61B 90/10 : for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61N 5/1067 : in real time, i.e. during treatment

Abstract

Apparatus for generating an organ timing signal relating to an inspected organ within the body of a patient, including a medical positioning system, and a processor coupled with the medical positioning system, the medical positioning system including at least one reference electromagnetic transducer placed at a reference location, at least one inner electromagnetic transducer attached to a surgical tool inserted in a blood vessel in the vicinity of the inspected organ, and a medical positioning system processor coupled with the reference electromagnetic transducer and the inner electromagnetic transducer, the medical positioning system processor determining the three-dimensional position of the inner electromagnetic transducer, by processing transmitted electromagnetic signals transmitted from one of the reference electromagnetic transducer and the inner electromagnetic transducer with detected electromagnetic signals detected by the other of the reference electromagnetic transducer and the inner electromagnetic transducer, the medical positioning system processor further generating medical positioning system data sets, each of the medical positioning system data sets including a collection of three-dimensional position coordinate readings demonstrating the motion trajectory of the surgical tool over time, the processor generating the organ timing signal from the medical positioning system data sets by detecting and identifying periodic motion frequencies in the medical positioning system data sets, and filtering the periodic motion frequencies from the medical positioning system data sets.

Claims

1. An apparatus for generating an organ timing signal relating to an organ within the body of a patient, said apparatus comprising:

a medical positioning system (MPS) configured to transmit and detect electromagnetic signals between a reference location and an electromagnetic transducer attached to a surgical tool configured to be inserted into the patient body, said medical positioning system determining a three-dimensional position of said electromagnetic transducer and thereby said surgical tool, by processing transmitted electromagnetic signals transmitted by said medical positioning system with detected electromagnetic signals detected by said electromagnetic transducer, said MPS further generating time-tagged MPS data sets, each of said MPS data sets comprising a collection of three-dimensional position coordinate readings wherein each of the readings is associated with a respective time at which the reading was obtained, said readings demonstrating the motion trajectory of said surgical tool over time; and

a processor coupled with said MPS, generating said organ timing signal from said MPS data sets by detecting and identifying periodic motion frequencies in said time-tagged MPS data sets, and filtering said periodic motion frequencies from said MPS data sets so as to separate out said periodic motion frequencies corresponding to said organ timing signal from said overall motion trajectory of said surgical tool.

2. The apparatus according to claim 1, wherein said electromagnetic transducer comprises a tool electromagnetic transducer, said MPS further comprising a reference electromagnetic transducer at the reference location configured to transmit electromagnetic signals, wherein said MPS determines the three-dimensional position with respect to the reference location.

3. The apparatus according to claim 1, wherein the reference location is stationary with respect to said body of the patient.

4. The apparatus according to claim 1, further comprising at least one additional electromagnetic transducer attached to an area of said body of a patient, said at least one additional electromagnetic transducer obtaining three-dimensional position information of said area, for movement compensation.

5. The apparatus according to claim 1, further comprising at least one additional electromagnetic transducer attached to a known area on the surface on which said patient rests, said at least one additional electromagnetic transducer obtaining three-dimensional position information of said known area, for compensating for movement of said patient.

6. The apparatus according to claim 1, wherein said processor further reconstructs a cardiac trajectory from said MPS data sets and said filtered periodic motion frequencies, said cardiac trajectory representing the mechanical movement of said organ originating from cardiac motion.

7. The apparatus according to claim 6, wherein said processor further detects phase information of said organ by identifying a plurality of phases on said reconstructed cardiac trajectory.

8. The apparatus according to claim 1, wherein said processor further reconstructs a respiratory trajectory from said MPS data sets and said filtered periodic motion frequencies, said respiratory trajectory representing the mechanical movement of said organ originating from respiratory motion.

9. The apparatus according to claim 8, wherein said processor further detects phase information of said organ by identifying a plurality of phases on said reconstructed respiratory trajectory.

10. The apparatus according to claim 1, further comprising a database coupled with said MPS and with said processor, said database storing at least said MPS data sets.

11. The apparatus according to claim 10, further comprising a medical imaging device coupled with said database, said medical imaging device including an image detector, said medical imaging device acquiring a plurality of two-dimensional images of said organ via said image detector, said database further storing at least said plurality of two-dimensional images.

12. The apparatus according to claim 1, further comprising an additional electromagnetic transducer coupled with an image sensor.

13. The apparatus according to claim 1, wherein said reference location is associated with an image sensor.

14. A method for generating an organ timing signal relating to an organ within a body of a patient, the method comprising:

determining a three-dimensional position of an electromagnetic sensor attached to a surgical tool configured to be inserted into the patient body to thereby determine a three-dimensional position of the sensor and thereby the surgical tool, by processing transmitted electromagnetic signals transmitted by a medical positioning system with detected electromagnetic signals detected by the sensor;

generating time-tagged MPS data sets comprising a collection of time-tagged three-dimensional position coordinate readings wherein each of the readings is associated with a respective time at which the reading was obtained, the readings demonstrating the overall motion trajectory of the sensor over time;

detecting and identifying periodic motion frequencies in said time-tagged MPS data sets; and

filtering said periodic motion frequencies from said MPS data sets so as to separate said periodic motion frequencies corresponding to said organ timing signal from said overall motion trajectory of said sensor.

15. An apparatus for generating an organ timing signal relating to an organ within a body of a patient, said apparatus comprising:

a medical positioning system (MPS) configured to be coupled to an electromagnetic sensor attached to an invasive surgical tool configured to be inserted into the patient body, said MPS being configured to determine a three-dimensional position of said sensor and thereby said surgical tool by processing transmitted electromagnetic signals transmitted by the MPS with detected electromagnetic signals detected by the sensor, said MPS further generating time-tagged MPS data sets, each of said MPS data sets comprising a collection of three-dimensional position coordinate readings wherein each of the readings is associated with a respective time at which the reading was obtained, said readings demonstrating the overall motion trajectory of said surgical tool over time; and

a processor coupled with said MPS, generating said organ timing signal from said MPS data sets by detecting and identifying periodic motion frequencies in said time-tagged MPS data sets, and filtering said periodic motion frequencies from said MPS data sets so as to separate out said periodic motion frequencies corresponding to said organ timing signal from said overall motion trajectory of said surgical tool.