Methods and systems for performing navigation-assisted medical procedures

• US 10,383,654 B2
• Filed: 11/20/2014
• Issued: 08/20/2019
• Est. Priority Date: 11/20/2014
• Status: Active Grant

• Current Assignee: Ohio State Innovation Foundation (Ohio State University)
• Original Assignee: Ohio State Innovation Foundation (Ohio State University)
• Inventors: Yilmaz, Alper, Martin, Edward W., Povoski, Stephen P., Hitchcock, Charles L., Ozer, Enver, Xu, Ronald
• Primary Examiner(s): Remaly, Mark D
• Application Number:
  US14/549,258
• Publication Number:
  US 20160143693A1
• Time in Patent Office: 1,734 Days
• CPC Class Codes: A61B 17/3211 Surgical scalpels, knives; Accessories therefor
• CPC Class Codes: A61B 2010/045 Needles pointed biopsy devices with vacuum aspiration A61B10/0283
• CPC Class Codes: A61B 2017/00115 with audible or visual output with imaging means A61B90/37, A61B34/20
• CPC Class Codes: A61B 2017/008 Removal of tumors
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/3762 using computed tomography systems [CT]
• CPC Class Codes: A61B 2090/3908 Soft tissue, e.g. breast tissue
• CPC Class Codes: A61B 2090/392 Radioactive markers
• CPC Class Codes: A61B 2090/502 Headgear, e.g. helmet, spectacles
• 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 34/30 Surgical robots
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 5/0077 Devices for viewing the surface of the body, e.g. camera, magnifying lens
• CPC Class Codes: A61B 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• 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 5/062 using magnetic field
• CPC Class Codes: A61B 5/067 using accelerometers or gyroscopes
• 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 6/4258 : for detecting non x-ray radiation, e.g. gamma radiation A61B6/037 takes precedence
• CPC Class Codes: A61B 6/462 : characterised by constructional features of the display
• CPC Class Codes: A61B 6/466 : adapted to display 3D data
• CPC Class Codes: A61B 6/502 : for diagnosis of breast, i.e. mammography
• CPC Class Codes: A61B 6/5235 : combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT
• CPC Class Codes: A61B 90/11 : with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: B25J 9/1664 : characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1694 : characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: G05B 2219/40121 : Trajectory planning in virtual space
• CPC Class Codes: G05B 2219/40131 : Virtual reality control, programming of manipulator
• CPC Class Codes: Y10S 901/09 : Closed loop, sensor feedback controls arm movement

Abstract

Systems and methods are described for performing navigation-assisted medical procedures such as biopsies, surgeries and pathology procedures by obtaining location information of an item of interest located within at least a portion of a subject; sensing position information of a moveable device; determining a relative position of the moveable device to the item of interest using the location information of the item of interest and the position information of the moveable device; and providing feedback based on the relative position of the moveable device to the item of interest that can be used to change the relative position of the moveable device to the item of interest.

Claims

1. A system for providing feedback on a position of a tool in relation to an item of interest during medical procedures comprising:

a medical imaging device that acquires image information of an item of interest located within at least a portion of a subject using targeted or non-targeted techniques;

a tool comprising a sensor, wherein the sensor senses position and orientation information of the tool;

a programmable processor that executes computer-readable instructions in communication with the medical imaging device and the sensor, wherein the processor;

receives the acquired image information of the item of interest from the medical imaging device;

estimates location information of the item of interest located within at least the portion of the subject using an algorithmic deformation model based on the acquired image information to estimate unobserved motion of the item of interest within at least the portion of the subject;

receives the position and orientation information of the tool from the sensor;

determines a relative position of the tool to the item of interest using the location information of the item of interest and the position and orientation information of the tool; and

provides directional and distance active feedback based on the relative position of the tool to the item of interest, wherein the active feedback is used to change the relative position of the tool to the item of interest during a navigation-assisted medical procedure, wherein the active feedback changes as the moveable device moves closer to or further away from the item of interest, and wherein the distance active feedback comprises distance encoded vibration frequencies provided through the tool.

2. The system of claim 1, wherein the sensor comprises an inertial sensor.

3. The system of claim 1, wherein the item of interest can be one or more of a tumor within at least a portion of a subject, cancerous tissue within at least a portion of a subject, a tissue sample of the subject, or an organ within a body of the subject.

4. The system of claim 1, wherein the item of interest is located within a tissue specimen.

5. The system of claim 1, wherein the item of interest is located within a body of the subject or an organ of the subject.

6. The system of claim 1, wherein the tool is configured to be inserted into the item of interest and the processor provides feedback that indicates a depth that the tool has been inserted into the item of interest.

7. The system of claim 1, further comprising one or more cameras in communication with the processor that acquire a real-time image of the at least a portion of the subject, wherein the acquired real-time image is referenced to the same coordinate system as the location information of the item of interest and the position information of the tool.

8. The system of claim 1, wherein the processor executes computer-readable instructions that further cause the processor to provide one or more of visual or audible feedback that is used to move the tool closer to the item of interest.

9. The system of claim 1 further comprising a robotic surgical device, wherein the processor executes computer-readable instruction that cause the computing device to provide a control signal that is used to provide robotic control of tool.

10. The system of claim 1, wherein the tool comprises a biopsy needle, a scalpel, a pathology wand, a locator wand, or a bone segment.

11. The system of claim 1, wherein the sensor comprises a three-dimensional sensor.

12. The system of claim 1, wherein the targeted imaging or non-targeted medical imaging device that acquires image information of the item of interest located within the at least a portion of the subject re-registers the location information of the item of interest located within at least a portion of a subject.

13. The system of claim 1, wherein estimating location information of the item of interest located within at least the portion of the subject using the algorithmic deformation model based on the acquired image information is performed by a soft tissue motion engine, wherein the soft tissue motion engine estimates the unobserved movement or deformation of the item of interest caused by movement or palpation of the at least a portion of the subject.

14. The system of claim 1, wherein the medical imaging device for acquiring the imaging information using targeted techniques include one or more of positron emission tomography/computed tomography (PET/CT), single photon emission computed tomography/computed tomography (SPECT/CT), positron emission tomography magnetic resonance imaging (PET MRI), or fluorescence spectroscopy.

15. The system of claim 1, wherein the medical imaging device for acquiring the imaging information using non-targeted techniques include one or more of x-ray, ultrasound, computed tomography (CT), or magnetic resonance imaging (MRI).

17. The system of claim 1, wherein the tool further comprises a haptic feedback generator and the active feedback provided through the tool comprises haptic feedback provided by the haptic feedback generator.

18. The system of claim 17, wherein the haptic feedback comprises multipoint haptic feedback to provide vibration to denote distance and position of the tool to the item of interest or distance encoded vibration frequency provided through the tool.

16. A system for providing feedback on a position of a tool in relation to an item of interest during medical procedures comprising:

a medical imaging device that obtains image information of an item of interest located within at least a portion of a subject using targeted or non-targeted techniques;

a tool comprising a sensor, wherein the sensor senses position and orientation information of the tool;

at least one pair of augmented reality glasses;

a stereo electro-optical (EO) camera pair with overlapping field-of-views;

a programmable processor that executes computer-readable instructions, wherein the programmable processor;

receives the image information of the item of interest from the medical imaging device;

estimates location information of the item of interest located within at least the portion of the subject using an algorithmic deformation model based on the acquired image information to estimate unobserved motion of the item of interest within at least the portion of the subject;

receives the position information of the tool;

determines a relative position of the tool to the item of interest using the location information of the item of interest and the position and orientation information of the tool; and

provides distance and directional feedback based on the relative position of the tool to the item of interest that can be used to change the relative position of the tool to the item of interest during a navigation-assisted medical procedure, wherein the directional feedback includes displaying in the augmented reality glasses a real-time image of the at least a portion of a subject as captured by the EO camera pair with the image information of the item of interest superimposed on the real-time image of the at least a portion of a subject and the distance feedback comprises distance encoded vibration frequencies provided through the tool, wherein the distance and directional feedback changes as the tool moves closer to or further away from the item of interest.

19. The system of claim 16, wherein the medical imaging device for acquiring the imaging information using targeted techniques include one or more of positron emission tomography/computed tomography (PET/CT), single photon emission computed tomography/computed tomography (SPECT/CT), positron emission tomography magnetic resonance imaging (PET MRI), or fluorescence spectroscopy.

20. The system of claim 16, wherein the medical imaging device for acquiring the imaging information using non-targeted techniques include one or more of x-ray, ultrasound, computed tomography (CT), or magnetic resonance imaging (MM).