Opto-acoustic imaging system with detection of relative orientation of light source and acoustic receiver using acoustic waves

• US 10,539,675 B2
• Filed: 10/30/2015
• Issued: 01/21/2020
• Est. Priority Date: 10/30/2014
• Status: Active Grant

• Current Assignee: Seno Medical Instruments, Inc.
• Original Assignee: Seno Medical Instruments, Inc.
• Inventors: Zalev, Jason
• Primary Examiner(s): Roy, Baisakhi
• Application Number:
  US14/928,201
• Publication Number:
  US 20160187481A1
• Time in Patent Office: 1,544 Days
• Field of Search: 600424
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• 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 5/0095 by applying light and detecting acoustic waves, i.e. photoacoustic measurements
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 8/0841 for locating instruments
• CPC Class Codes: A61B 8/15 Transmission-tomography
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation
• CPC Class Codes: G01S 15/06 Systems determining the position data of a target
• CPC Class Codes: G01S 15/8965 using acousto-optical or acousto-electronic conversion techniques

Abstract

In an embodiment, a system and method are provided for determining position and orientation of an optical delivery unit relative to an acoustic receiving unit, in the field of opto-acoustic imaging, wherein the optical delivery unit comprises a first fiducial marker site configured to emit acoustic responses and a second fiducial marker site configured to emit acoustic responses. A plurality of acoustic signals from a volume of a subject are sampled and recorded, each of the plurality of acoustic signals being collected at a different data collection position relative to a coordinate reference frame. The system is configured to identify in each of the plurality of acoustic signals a response of a first fiducial marker and a response of a second fiducial marker. Each identified response indicates a separation between a fiducial marker site and a data collection position of an acoustic signal. The system determines the position and orientation of the optical delivery unit in the coordinate reference frame by using the identified responses of the first fiducial marker and the identified responses of the second fiducial marker.

Claims

1. A method for determining position and orientation of an optical delivery unit relative to an acoustic receiving unit, the method comprising:

sampling and recording acoustic signals from a volume of a subject, the acoustic signals collected by the acoustic receiving unit;

identifying an acoustic response of a first fiducial marker and an acoustic response of a second fiducial marker based on the acoustic signals, wherein the acoustic responses indicate time separations between times of emission of the acoustic signals from a corresponding one of first and second fiducial marker sites and times of reception of the acoustic signals by the acoustic receiving unit at a data collection position relative to a coordinate reference frame; and

,

determining position and orientation of the optical delivery unit in the coordinate reference frame based on the acoustic response of the first fiducial marker and the acoustic response of the second fiducial marker.

2. The method of claim 1, wherein the acoustic responses of the first fiducial marker and the second fiducial marker are based on an absorption of optical energy by the first fiducial marker and the second fiducial marker that is delivered by the optical delivery unit.

3. The method of claim 2, wherein the acoustic response of the first fiducial marker is stronger at a first predominant optical energy wavelength delivered by the optical delivery unit compared to that of a second predominant optical energy wavelength delivered by the optical delivery unit.

4. The method of claim 3, wherein the acoustic response of the second fiducial marker is stronger at the second predominant optical energy wavelength compared to that of the first predominant optical energy wavelength.

5. The method of claim 4, wherein the step of identifying the acoustic response of the first fiducial marker and the acoustic response of the second fiducial marker comprises:

locating a first target with a relatively high intensity in a reconstructed sinogram for the first predominant optical energy wavelength and with a relatively low intensity in a reconstructed sinogram for the second predominant optical energy wavelength;

locating a second target with a second relatively low intensity in the reconstructed sinogram for the first predominant optical energy wavelength and with a second relatively high intensity in the reconstructed sinogram for the second predominant optical energy wavelength;

identifying the acoustic response of the first fiducial marker as from the located first target; and

, identifying the acoustic response of the second fiducial marker as from the located second target.

6. The method of claim 1, wherein determining the position and orientation of the optical delivery unit comprises:

determining values for a rotation matrix and a translation vector to rotate and translate values for fiducial marker positions to a configuration that fits to explain time separations that are measured upon identifying the acoustic response of the first fiducial marker and the acoustic response of the second fiducial marker.

7. The method of claim 6, wherein the time separations are measured in units of samples and are converted to distance separations by multiplying with a constant speed of sound for the volume and dividing with a constant sampling rate of an analog to digital converter.

8. The method of claim 1, wherein the acoustic response of the first fiducial marker can be distinguished from the acoustic response of the second fiducial marker.

9. The method of claim 1, wherein the method further comprises the steps of:

processing the acoustic signals to produce processed acoustic signals; and

,

outputting to a display an image of the volume using the processed acoustic signals.

10. The method of claim 9, wherein the acoustic response of the first fiducial marker comprises a distinguishable acoustic response, and the step of processing comprises:

separating the distinguishable acoustic response from another acoustic response of the acoustic signals.

11. A system comprising:

an optical energy delivery unit comprising an optical energy exit port adapted to deliver optical energy to a volume of a subject;

an acoustic receiving unit configured to receive acoustic signals from the volume;

first and second fiducial marker sites configured to emit acoustic response to be received by the acoustic receiving unit;

a processing unit configured to perform processing of the acoustic signals received by the acoustic receiving unit, including determining a relative position of the optical energy delivery unit respective to the acoustic receiving unit;

wherein determining the relative position of the optical energy delivery unit respective to the acoustic receiving unit includes determining a time separation between a first time corresponding to emission of an acoustic signal of the acoustic signals from a corresponding one of the first and second fiducial marker sites and a second time when at least a portion of the acoustic signal is received at the acoustic receiving unit; and

,

display unit adapted to display an opto-acoustic image representing the volume.

12. The system of claim 11, wherein the opto-acoustic image is produced, at least in part, by using data describing the determined relative position.

13. The system of claim 11, further comprising:

wherein the processing by the processing unit further comprises determining a relative orientation and the relative position of said optical energy delivery unit respective to the acoustic receiving unit using a received acoustic response emitted of the first fiducial marker site and a received acoustic response emitted of the second fiducial marker site.

14. The system of claim 13, wherein the first fiducial marker site and the second fiducial marker site are located on a distal surface of said optical energy delivery unit.

15. The system of claim 14, wherein the optical energy exit port is located on the distal surface of said optical energy delivery unit.

16. The system of claim 13, wherein the processing performed by the processing unit further comprises the steps of:

retrieving a list of position values relative to a first coordinate reference frame, the list comprising a position for the first fiducial marker site and a position for the second fiducial marker site;

determining values for a rotation matrix and a translation vector to rotate and translate the list of position values to a configuration relative to a second coordinate reference frame, wherein the determined values comprise a solution that accounts for propagation delays of fiducial response component of the acoustic signals received by said acoustic receiving unit; and

,

producing the relative orientation and the relative position per the rotation matrix and translation vector.

17. The system of claim 11, wherein the processing unit is further configured to perform steps comprising:

separating a distinguishable acoustic response component emitted by said fiducial marker from remaining components of the acoustic signals received by the acoustic receiving unit; and

,

generating an opto-acoustic image of the volume using said remaining components.

18. The system of claim 11, wherein the processing unit is further configured to perform steps comprising:

generating a first opto-acoustic representation of the volume when said optical energy delivery unit is at a first relative placement respective to a placement of the acoustic receiving unit as determined by said processing unit;

generating a second opto-acoustic representation of the volume when said optical energy delivery unit is at a second relative placement respective to the placement of the acoustic receiving unit as determined by said processing unit;

computing a difference between the first opto-acoustic representation of the volume and the second opto-acoustic representation of the volume; and

generating an image to display said computed difference.

19. The system of claim 11, wherein the processing unit is further configured to determine when the optical energy delivery unit and acoustic receiving unit are within a proximity adequate to form an opto-acoustic image.

20. A system, comprising:

an acoustic receiver located on a distal surface of a primary contact unit, the primary contact unit comprising a distal end including its distal surface, the distal end of the primary contact unit being adapted to acoustically couple with a surface of a volume of tissue, the primary contact unit further comprising a proximal end;

a first optically absorbing fiducial located on a distal surface of a secondary contact unit, the secondary contact unit comprising a distal end including its distal surface, which distal end of the secondary contact unit is adapted to acoustically couple with the volume; and

,

a processing subsystem configured to perform processing comprising;

identifying acoustic responses of the first optically absorbing fiducial and of the second optically absorbing fiducial by analyzing acoustic signals received by the acoustic receiver; and

,

determining the position of the secondary contact unit respective to the primary contact unit using the identified responses;

wherein the acoustic responses are based on time separations between an acoustic wave emitted at a fiducial marker site and receiving the acoustic wave emitted at a data collection position.

21. The system of claim 20, wherein the first optically absorbing fiducial comprises a first optically absorbing pattern which when activated by an optical energy produces an acoustic response that can be received by the acoustic receiver.

22. The system of claim 21, further comprising, a second optically absorbing fiducial located on the distal surface of the secondary contact unit, wherein the second optically absorbing fiducial comprises a second optically absorbing pattern.

23. The system of claim 21, wherein the first optically absorbing pattern comprises an optically absorbing material with a greater optical absorption coefficient at a predominant wavelength of the optical energy compared to an optical absorption coefficient of the distal surface for the same predominant wavelength.

24. The system of claim 23, wherein the optically absorbing material is selected from the group consisting of:

a toner, a dye, a colorant, a screen printing ink, a plastisol based ink, a PVC based ink, a chemical deposit, a masked screening deposit, an adhesive film, and a decal.

25. The system of claim 21, wherein the produced acoustic response comprises a distinguishable acoustic response component, which distinguishable acoustic response component is characterized by a unique frequency spectral characteristic corresponding to the first optically absorbing pattern.