Systems and methods for guiding a medical instrument

• US 10,602,958 B2
• Filed: 11/30/2016
• Issued: 03/31/2020
• Est. Priority Date: 11/26/2007
• Status: Active Grant

• Current Assignee: C.R. Bard, Inc. (Becton, Dickinson & Co)
• Original Assignee: C.R. Bard, Inc. (Becton, Dickinson & Co)
• Inventors: Silverstein, Fred E., Golden, Robert N.
• Primary Examiner(s): Cattungal, Sanjay
• Application Number:
  US15/365,698
• Publication Number:
  US 20170079548A1
• Time in Patent Office: 1,217 Days
• Field of Search: 600407-480, 382128-132
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3954 magnetic, e.g. NMR or MRI
• 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 5/062 using magnetic field
• CPC Class Codes: A61B 5/283 Invasive
• CPC Class Codes: A61B 5/743 Displaying an image simultaneously with additional graphical information, e.g. symbols, charts, function plots
• CPC Class Codes: A61B 5/7475 User input or interface means, e.g. keyboard, pointing device, joystick
• 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 8/0891 for diagnosis of blood vessels
• CPC Class Codes: A61B 8/4472 Wireless probes
• CPC Class Codes: A61B 8/463 characterised by displaying multiple images or images and diagnostic data on one display composite display in devices for short-range imaging with acoustic waves G01S7/52074
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation
• CPC Class Codes: A61B 90/98 using electromagnetic means, e.g. transponders

Abstract

A virtual tracking system for a virtual medical device. The virtual medical device may include a tangible proximal portion that at least temporarily has a magnetic element attached thereto. The system includes a tracking circuit configured to track movement of the virtual medical device and a display. The tracking circuit may include at least one reception component configured to detect a magnetic field of the magnetic element and to generate magnetic field strength data. The tracking circuit may also include a processor that iteratively computes position data of a virtual distal portion of the virtual medical device according to the magnetic field strength data so as to simulate insertion of the virtual distal portion of the virtual medical device into a body of a patient. The display may be configured to depict an image of the computed position data of the virtual distal portion of the virtual medical device.

Claims

1. A virtual tracking system, comprising:

a medical device having a tangible portion including a magnetic element, wherein a distal portion of the medical device is simulated by the virtual tracking system;

a tracking component including a housing, the tracking component configured to detect a magnetic field of the magnetic element and to generate magnetic field strength data, the tracking component including a processor that iteratively computes position data of the distal portion of the medical device according to the magnetic field strength data to simulate insertion of the distal portion of the medical device into a body of a patient; and

a display configured to depict an image of the computed position data of the distal portion of the medical device.

2. The virtual tracking system as defined in claim 1, further comprising a needle, wherein the virtual tracking system is configured to additionally guide the needle into the body of the patient.

3. The virtual tracking system as defined in claim 2, wherein the display is configured to depict the image of the distal portion of the medical device and an image of a distal portion of the needle.

4. The virtual tracking system as defined in claim 3, wherein the image of the distal portion of the medical device is saved from a previous procedure and wherein the image of the needle is displayed in real time.

5. The virtual tracking system as defined in claim 1, wherein the display is included in an ultrasound imaging system, and wherein the tracking component comprises a plurality of sensors disposed in a handheld probe of the ultrasound imaging system, the plurality of sensors detecting the magnetic field of the magnetic element.

6. The virtual tracking system as defined in claim 1, wherein the magnetic element is a permanent magnet.

7. The virtual tracking system as defined in claim 1, wherein the medical device is a virtual needle having selected structural characteristics, the tangible portion having a weight and feel similar to a conventional needle.

8. The virtual tracking system as defined in claim 7, wherein manipulation of the tangible portion of the virtual needle produces a simulated respective manipulation of the distal portion.

9. The virtual tracking system as defined in claim 1, wherein the tangible portion of the medical device is collapsible to simulate advancement of the medical device into the body of the patient.