Automatic tracking and registration of ultrasound probe using optical shape sensing without tip fixation

• US 10,639,007 B2
• Filed: 12/01/2015
• Issued: 05/05/2020
• Est. Priority Date: 12/02/2014
• Status: Active Grant

• Current Assignee: Koninklijke Philips N.V.
• Original Assignee: Koninklijke Philips N.V.
• Inventors: Cole, Gregory, Dreyer, Marissa Patricia, Ramachandran, Bharat
• Primary Examiner(s): Bedtelyon, John
• Application Number:
  US15/529,100
• Publication Number:
  US 20170290563A1
• Time in Patent Office: 1,617 Days
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• 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 5/065 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 5/6848 Needles
• CPC Class Codes: A61B 5/6852 Catheters
• 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 8/4254 using sensors mounted on the probe
• CPC Class Codes: A61M 25/0147 with movable mechanical means, e.g. pull wires
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• CPC Class Codes: G01L 1/242 the material being an optical fibre

Abstract

A registration device includes an attachment piece (106) configured to conform with and attach to an imaging probe (102), in particular an internal or external ultrasound probe such as a TEE probe. A pathway (105) formed in or on the attachment piece is configured to receive an optical shape sensing device (OSS fiber) such that the optical shape sensing device can free float (no tip fixation) to permit longitudinal twisting within the pathway. The pathway includes a distinctive geometry for shaping the OSS device such that the distinctive geometry provides a template pattern (107) within an image collected using the imaging probe module to permit registration between imaging coordinates and OSS coordinates. A registration module (130) is configured to compare a stored shape template (121) with an image (134) including the template pattern to permit the registration (unique transformation).

Claims

1. A registration device, comprising:

an attachment piece configured to conform with and couple to an imaging probe; and

a pathway formed in or on the attachment piece and being configured to receive an optical shape sensing device such that the optical shape sensing device can free float to permit longitudinal twisting within the pathway, the pathway including a distinctive geometry for shaping the optical shape sensing device such that the distinctive geometry provides a template pattern within an image collected using the imaging probe to permit registration between imaging coordinates and optical shape sensing coordinates.

2. The device as recited in claim 1, wherein the pathway includes a lumen for receiving the optical shape sensing device therein.

3. The device as recited in claim 1, wherein the pathway includes a split lumen configured to be opened for receiving the optical shape sensing device having an instrument coupled on a distal end portion thereof.

4. The device as recited in claim 1, wherein the attachment piece includes a contoured internal profile for receiving the imaging probe therein.

5. The device as recited in claim 1, wherein the pathway extends longitudinally along a cable of the probe, the pathway including a protective lumen coupled to an exterior of the cable.

6. The device as recited in claim 1, wherein the imaging probe includes an internal ultrasound probe.

7. The device as recited in claim 1, wherein the imaging probe includes an external ultrasound probe.

8. A registration system, comprising:

an attachment piece configured to conform with and couple to an imaging probe for an imaging system;

a pathway formed in or on the attachment piece and being configured to receive an optical shape sensing device such that the optical shape sensing device can free float to permit longitudinal twisting within the pathway, the pathway including a distinctive geometry for shaping the optical shape sensing device such that the distinctive geometry provides a template pattern within an image collected using the imaging probe; and

a registration module configured to compare a shape template stored in memory, which corresponds with the template pattern, with an image including the template pattern to permit registration between imaging coordinates and optical shape sensing coordinates.

9. The system as recited in claim 8, wherein the registration module computes a transformation between the shape template and the template pattern.

10. The system as recited in claim 8, wherein the pathway includes a lumen for receiving the optical shape sensing device therein.

11. The system as recited in claim 8, wherein the pathway) includes a split lumen configured to be opened for receiving the optical shape sensing device having an instrument coupled on a distal end portion thereof.

12. The system as recited in claim 8, wherein the attachment piece includes a contoured internal profile for receiving the imaging probe therein.

13. The system as recited in claim 8, wherein the pathway extends longitudinally along a cable of the probe, the pathway including a protective lumen coupled to an exterior of the cable.

14. The system as recited in claim 8, wherein the imaging probe includes an external ultrasound probe.

15. A method for registration, comprising:

connecting an attachment piece to an imaging probe, the attachment piece being configured to conform with and couple to the imaging probe for an imaging system;

placing an optical shape sensing device in a pathway formed in or on the attachment piece, the pathway permitting the optical shape sensing device to free float to permit longitudinal twisting within the pathway, the pathway including a distinctive geometry for shaping the optical shape sensing device such that the distinctive geometry provides a template pattern within an image collected using the imaging probe; and

registering a shape template stored in memory, which corresponds with the template pattern, with an image including the template pattern to register between imaging coordinates and optical shape sensing coordinates.