System and method for guiding the movements of a device to a target particularly for medical applications

• US 20030163142A1
• Filed: 01/03/2003
• Published: 08/28/2003
• Est. Priority Date: 11/27/1997
• Status: Abandoned Application

• Current Assignee: Ultraguide Ltd.
• Original Assignee: Ultraguide Ltd.
• Inventors: Nagar, Ron, hareven, Michael, Paltieli, Yoav, Segalescu, Victor
• Application Number:
  US10/336,039
• Publication Number:
  US 20030163142A1
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 17/3403 Needle locating or guiding means guides for suture needles A61B17/0482; guiding or tracking by nuclear magnetic resonance G01R33/285
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3929 Active markers
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis

Abstract

A system and method for guiding the movements of a device to a target particularly for medical applications is provided. In one aspect of the invention, the system guides the movements of a device toward a target, which is viewable from an image. The system includes at least one scanning apparatus for creating the image including the target, at least one transmitter at a first reference location for transmitting radiant energy from the reference location, several position sensors and a data processor. The position sensors include at least one position sensor on the device for receiving the radiant energy, at least one position sensor on the scanning apparatus for receiving the radiant energy and at least one position sensor for receiving the radiant energy on either the device or the scanning apparatus. The data processor is in operative communication with the transmitter and each of the position sensors, for monitoring the accuracy of the calculated position of the device with respect to the scanning apparatus.

Claims

1. A system for guiding the movements of a device towards a target, comprising:

transmitter apparatus at a reference location in space for transmitting radiant energy from said reference location;

a position sensor on said device to be guided to the target, said position sensor receiving radiant energy from the transmitter apparatus and producing an output corresponding to the position of said device with respect to said reference location in space;

and a data processor receiving the output of said position sensor and calculating the position of said device with respect to said reference location;

characterized in that said transmitter apparatus includes a first transmitter (T1), and a second transmitter (T2) in a known spatial relationship to each other defined by a known vector ({right arrow over (T)}₁₂)

and further characterized in that said data processor;

(a) produces a measurement of the location and orientation of the position sensor with respect to said first transmitter (T1) and defines same by a first vector;

(b) produces a measurement of the location and orientation of the position sensor with respect to said second transmitter (T2) and defines same by a second vector;

(c) calculates from the said first vector and said second vector a measured vector (₁₂)m between the two transmitters;

(d) compares the measured vector (₁₂)m with the known vector ({overscore (T)}₁₂); and

(e) produces an output corresponding to the difference between the measured vector ({overscore (T)}₁₂)m and the known vector ({overscore (T)}₁₂).

2. The system according to claim 1, wherein said data processor includes an alarm, compares said output produced in step (e) with a predetermined threshold value, and actuates said alarm if the output produced in step (e) exceeds said predetermined threshold value.

3. The system according to either of claims 1 or 2, wherein said data processor compares the absolute values of said measured vector ({right arrow over (T)}₁₂)_m and of the known vector ({right arrow over (T)}₁₂).

4. The system according to either of claims 2 or 3, wherein said device is a medical device to be guided through biological tissue in a body to a target therein.

5. The system according to claim 4, wherein said medical device is an interventional device, and said position sensor is located at a predetermined location with respect to said interventional device.

6. The system according to claim 5, wherein said body is imaged by an imaging system which scans the body by a scanning device along a plurality of scan planes.

7. The system according to claim 6:

wherein said scanning device also includes a second position sensor receiving radiant energy from said first and second transmitters and producing an output corresponding to the position of said second position sensor, and thereby of said scanning device, with respect to said reference location in space;

and wherein said data processor performs said steps (a)-(e) also with respect to said second position sensor to produce an output error with respect to said measured vector (T₁₂)_m^u for the scanner, and utilizes, the larger of said two output errors. for comparison with said predetermined threshold and for actuating said alarm.

8. The system according to claim 7, wherein said scanning device is an ultrasound scanner.

9. The system according to any one of claims 1-8, wherein said first and second transmitters are mounted at the opposite ends of an arm having a known length and orientation in space with respect to said known location in space defining said known vector ({right arrow over (T)}₁₂).

10. The system according to claim 9, wherein said arm has a length of 0.1 to 1.0 meters.

11. The system according to claim 10, wherein said arm has a length of 35 cm.

12. A method for guiding the movements of a device towards a target, comprising:

transmitting radiant energy from transmitter apparatus at a reference location in space;

providing a position sensor on said device to be guided to the target, said position sensor receiving radiant energy from the transmitter apparatus and producing an output corresponding to the position of said device with respect to said reference location in space;

processing in a data processor the output of said position sensor and calculating the position of said device with respect to said reference location;

characterized in that said transmitter apparatus includes a first transmitter (T₁), and a second transmitter (T₂), in a known spatial relationship to each other defined by a known vector ({right arrow over (T)}₁₂);

and further characterized in that said data processor;

(a) produces a measurement of the location and orientation of the position sensor with respect to said first transmitter (T₁) and defines same by a first vector;

(b) produces a measurement of the location and orientation of the position sensor with respect to said second transmitter (T₂) and defines same by a second vector;

(c) calculates from said first vector and from said second vector a measured {right arrow over (vect)}or (T₁₂)_m between the two transmitters;

(d) compares the measured vector ({right arrow over (T)}₁₂)_m with the known {right arrow over ( 

)} (T₁₂) vector; and

(e) produces an output corresponding to the difference between the measured vector ({right arrow over (T)}₁₂)_m and the known vector ({right arrow over (T)}₁₂).

13. The method according to claim 12, wherein said data processor compares said output produced in step (e) with a predetermined threshold value, and actuates an alarm if the output produced in step (e) exceeds said predetermined threshold.

14. The method according to either of claims 12 or 13, wherein said data processor compares the absolute values of said measured {right arrow over ( 

)} vector (T₁₂)_m and of the kn{right arrow over (own)} vector (T₁₂).

15. The method according to any one of claim 12-14, wherein said known vector ({overscore (T)}₁₂) is mechanically measured.

16. The method according to any one of claim 12-14, wherein said known vector ({overscore (T)}₁₂)_m is determined by attaching a position sensor to the tip of a needle, placing the needle in an environment free of interference, and measuring the position of said latter position sensor with respect to said first and second transmitters.

17. The methods according to any one of claims 12-16, wherein said device is a medical device to be guided through biological tissue in a body to a target therein.

18. The method according to claim 17, wherein said medical device is a biopsy needle, and said position sensor is located at a predetermined location with respect to said biopsy needle.

19. The method according to claim 18, wherein said body is imaged by an imaging system that scans the body by a scanning device along a plurality of scan planes.

20. The method according to claim 19, wherein said scanning device also includes a second position sensor receiving radiant energy from said first and second transmitters and producing an output corresponding to the position of said second position sensor, and thereby of said scanning device, with respect to said reference location in space;

and wherein said data processor performs said steps (a)-(e) also with respect to said second position sensor to produce an output error with respect to said measured vector ({overscore (T)}₁₂)_m^u for the scanner, and utilizes, the larger of said two output errors for comparison with said predetermined threshold and for activating said alarm.

21. The method according to claim 20, wherein said scanning device is an ultra-sound scanner.

22. The method according to any one of claims 12-14, wherein said first and second transmitters are mounted at the opposite ends of an arm having a known length and orientation in space with respect to said reference location in space defining said known vector ({right arrow over (T)}₁₂).

23. The method according to claim 22, wherein said arm has a length of 0.1 to 1.0 meters.

24. The method according to claim 23, wherein said arm has a length of 35 cm.

25. A system for guiding the movements of a device toward a target viewable from an image, comprising:

at least one scanning apparatus for creating said image including said target;

at least one transmitter at a first reference location for transmitting radiant energy from said reference location;

at least one first position sensor on said device for receiving said radiant energy;

at least one second position sensor on said at least one scanning apparatus for receiving said radiant energy;

at least one third position sensor for receiving said radiant energy on either said device or said at least one scanning apparatus; and

a data processor in operative communication with said at least one transmitter and each of said at least one first, second and third said position sensors, for monitoring the accuracy of the calculated position of said device with respect to said at least one scanning apparatus.

26. The system of claim 25, wherein said each of said at least one first, second and third position sensors includes a receiver.

27. The system of claim 25, wherein said each of said at least one position sensors is one position sensor.

28. The system of claim 25, wherein said first reference location is a known and fixed location in space.

29. The system of claim 25, wherein said reference location is unknown.

30. The system of claim 25, wherein said at least one scanning apparatus includes one scanning apparatus.

31. The system of claim 30, wherein said at least one third position sensor is on said device and said relative position between said at least one first position sensor and said at least one third position sensor is known.

32. The system of claim 30, wherein said at least one third position sensor is on said scanning apparatus and said relative position between said at least one second position sensor and said at least one third position sensor is known.

33. The system of claim 25, additionally comprising:

at least one fourth position sensor at a second reference location, said at least one fourth position sensor for receiving said radiant energy and in operative communication with said data processor.

34. The system of claim 33, wherein said at least one fourth position sensor includes two receivers at a relative position from each other.

35. The system of claim 34, wherein said second reference location is a known and fixed location.

36. The system of claim 34, wherein said second reference location is unknown.

37. The system of claim 25, additionally comprising:

at least one fifth position sensor at a known and fixed position from said first reference location, said at least one fifth position sensor for receiving said radiant energy and in operative communication with said data processor.

38. The system of claim 25, wherein said at least one transmitter includes one transmitter.

39. The system of claim 25, wherein said at least one transmitter includes two transmitters, one of said transmitters being redundant.

40. A system for guiding the movements of a device toward a target viewable from an image, comprising:

at least one scanning apparatus for creating said image including said target;

at least one transmitter at a reference location for transmitting radiant energy from said reference location, said radiant energy being in the form of signals emitted so as to alternate at different measurement cycles;

at least one position sensor on said device for receiving said radiant energy and producing an output corresponding to the position of said device with respect to said reference location in space;

at least one position sensor on said at least one scanning apparatus for receiving said radiant energy and producing an output corresponding to the position of said device with respect to said reference location in space; and

a data processor in operative communication with said at least one transmitter and each of said at least one position sensors, for monitoring the accuracy of the calculated position of said device with respect to said at least one scanning apparatus.

41. The system of claim 40, wherein said position sensors are receivers.

42. The system of claim 41, wherein said receivers are magnetic and said at least one transmitter emits electromagnetic energy.

43. The system of claim 40, wherein said signals emitted so as alternate at different measurement cycles include DC or AC signals.

44. The system of claim 43, additionally comprising three independent antennae.

45. The system of claim 44, wherein said transmitter emits from each antenna at least partially sequentially during a first measurement cycle and at least partially sequentially from paired antennae during a second measurement cycle.

46. The system of claim 40, wherein said first reference location is a known and fixed location in space.

47. The system of claim 40, wherein said reference location is unknown.

48. The system of claim 40, wherein said at least one transmitter includes one transmitter.

49. The system of claim 40, wherein said at least one transmitter includes two transmitters, one of said transmitters being redundant.

50. A system for guiding a device towards a target, said target viewable from an image comprising:

imaging apparatus for creating said image;

at least one transmitter at a reference location for transmitting radiant energy from said reference location;

imaging apparatus for creating said image, said imaging apparatus including at least one position sensor for receiving said radiant energy and producing an output proportional to the position of said imaging apparatus with respect to said reference location;

an articulated arm for retaining said device to be guided, said articulated arm being calibrated to said reference location;

a data processor in operative communication with said at least one transmitter, said at least one position sensor, and said articulated arm for calculating the position of the device with respect to the imaging apparatus for displaying the position of the device with respect to the target on said image.

51. The system of claim 50, wherein, said device includes a needle.

52. The system of claim 50, wherein, said apparatus is selected from the group comprising:

ultrasound apparatus, CT apparatus, MRI apparatus and X-ray apparatus.

53. The system of claim 50, additionally comprising:

at least one additional position sensor on said imaging apparatus for receiving said radiant energy, said at least one additional position sensor in operative communication with said data processor, said data processor for monitoring the accuracy of the calculated position of said device with respect to said imaging apparatus.

54. The system of claim 50 wherein,

said at least one transmitter is such that said transmitted radiant energy is in the form of signals, emitted so as to alternate at different measurement cycles;

and

said data processor in operative communication with said at least one transmitter and said at least one position sensor, and said articulated arm, for monitoring the accuracy of the calculated position of said device with respect to said imaging apparatus.

55. The system of claim 50, wherein said at least one transmitter includes one transmitter.

56. The system of claim 50, wherein said at least one transmitter includes two transmitters, one of said transmitters being redundant, said data processor in operative communication with said two transmitters, said at least one position sensor, and said articulated arm, for monitoring the accuracy of the calculated position of said device with respect to said imaging apparatus.

57. A system for guiding a device towards a target, said target viewable from an image comprising:

imaging apparatus for creating said image;

at least one transmitter at a reference location for transmitting radiant energy from said reference location;

an articulated arm for retaining imaging apparatus, said articulated arm being calibrated to said reference location;

a device to be guided, said device including at least one position sensor for receiving said radiant energy and producing an output proportional to the position of said device with respect to said reference location;

said data processor in operative communication with said at least one transmitter, said at least one position sensor, and said articulated arm for calculating the position of the device with respect to the imaging apparatus for displaying the position of the device with respect to the target on said image.

58. The system of claim 57, wherein said device includes a needle.

59. The system of claim 57, additionally comprising:

at least one additional position sensor on said device for receiving said radiant energy and producing an output proportional to the position of said device with respect to said reference location; and

said at least one additional position sensor in operative communication with said data processor, said data processor for monitoring the accuracy of the calculated position of said device with respect to said imaging apparatus.

60. The system of claim 57 wherein,

said at least one transmitter is such that said transmitted radiant energy is in the form of signals, emitted so as to alternate at different measurement cycles;

and

said data processor in operative communication with said at least one transmitter and said at least one position sensor, and said articulated arm, for monitoring the accuracy of the calculated position of said device with respect to said imaging apparatus.

61. The system of claim 57, wherein said at least one transmitter includes one transmitter.

62. The system of claim 57, wherein said at least one transmitter includes two transmitters, one of said transmitters being redundant, said data processor in operative communication with said two transmitters, said at least one position sensor, and said articulated arm, for monitoring the accuracy of the calculated position of said device with respect to said imaging apparatus.

63. A system for free hand directing of a guided device towards a target imaged by a scanning device comprising:

at least one transmitter for transmitting radiant energy affixed to said scanning device at a predetermined position on it;

at least one position sensor affixed to said guided device for receiving said radiant energy from said at least one transmitter and producing an output proportional to the relative position of said guided device with respect to said scanning device; and

a data processor in operative communication with said at least one transmitter and said at least one position sensor, for calculating the position of the guided device with respect to the scanning device for displaying the position of the guided device with respect to the target on said image.

64. The system of claim 63, wherein said data processor is in operative communication with said at least one transmitter and said at least one position sensor by wired or wireless links therebetween.

65. The system of claim 63, wherein said at least one transmitter and said at least one position sensor define a positioning and tracking system.

66. The system of claim 65, wherein said positioning and tracking system is magnetic.

67. The system of claim 65, wherein said positioning and tracking system is acoustic.

68. The system of claim 65, wherein said positioning and tracking system is electro-optical.

69. The system of claim 63, wherein said at least one transmitter includes one transmitter.

70. The system of claim 63, wherein said at least one transmitter includes two transmitters, one of said transmitters being redundant, said data processor in operative communication with said two transmitters and said at least one position sensor, for monitoring the accuracy of the calculated position of said guided device with respect to said scanning device.

71. The system of claim 63, wherein said at least one position sensor includes one position sensor.

72. The system of claim 63, wherein said at least one position sensor includes two position sensors, one of said position sesnors being redundant, said data processor in operative communication with said at least one transmitter and said two position sensors, for monitoring the accuracy of the calculated position of said guided device with respect to said scanning device.

73. The system of claim 63 wherein,

said at least one transmitter is such that said transmitted radiant energy is in the form of signals, emitted so as to alternate at different measurement cycles;

and

said data processor in operative communication with said at least one transmitter and said at least one position sensor, for monitoring the accuracy of the calculated position of said guided device with respect to said scanning device.

74. A system for free hand directing of a guided device towards a target imaged by a scanning device comprising:

at least one transmitter for transmitting radiant energy affixed to said guided device at a predetermined position on it;

at least one position sensor affixed to said scanning device for receiving said radiant energy from said at least one transmitter and producing an output proportional to the relative position of said scanning device with respect to said guided device; and

a data processor in operative communication with said at least one transmitter and said at least one position sensor, for calculating the position of the guided device with respect to the scanning device for displaying the position of the guided device with respect to the target on said image.

75. The system of claim 74, wherein said data processor is in operative communication with said at least one transmitter and said at least one position sensor by wired or wireless links therebetween.

76. The system of claim 74, wherein said at least one transmitter and said at least one position sensor define a positioning and tracking system.

77. The system of claim 76, wherein said positioning and tracking system is magnetic.

78. The system of claim 76, wherein said positioning and tracking system is acoustic.

79. The system of claim 76, wherein said positioning and tracking system is electro-optical.

80. The system of claim 74, wherein said at least one transmitter includes one transmitter.

81. The system of claim 74, wherein said at least one transmitter includes two transmitters, one of said transmitters being redundant, said data processor in operative communication with said two transmitters and said at least one position sensor, for monitoring the accuracy of the calculated position of said guided device with respect to said scanning device.

82. The system of claim 74, wherein said at least one position sensor includes one position sensor.

83. The system of claim 74, wherein said at least one position sensor includes two position sensors, one of said position sensors being redundant, said data processor in operative communication with said at least one transmitter and said two position sensors, for monitoring the accuracy of the calculated position of said guided device with respect to said scanning device.

84. The system of claim 74 wherein,

said at least one transmitter is such that said transmitted radiant energy is in the form of signals, emitted so as to alternate at different measurement cycles;

and

said data processor in operative communication with said at least one transmitter and said at least one position sensor, for monitoring the accuracy of the calculated position of said guided device with respect to said scanning device.