Catheterscope 3D guidance and interface system

• US 20060149134A1
• Filed: 01/27/2006
• Published: 07/06/2006
• Est. Priority Date: 12/12/2003
• Status: Active Grant

• Current Assignee: University of Washington
• Original Assignee: University of Washington
• Inventors: Seibel, Eric J., Glenny, Robb W., Soper, Timothy D.
• Granted Patent: US 8,382,662 B2
• Time in Patent Office: Days
• US Class Current: 600/182
• CPC Class Codes: A61B 1/000096 using artificial intelligence
• CPC Class Codes: A61B 1/00016 using wireless means
• CPC Class Codes: A61B 1/00045 Display arrangement
• CPC Class Codes: A61B 1/00097 Sensors
• CPC Class Codes: A61B 1/00172 with means for scanning
• CPC Class Codes: A61B 1/005 Flexible endoscopes
• CPC Class Codes: A61B 1/07 using light-conductive means, e.g. optical fibres
• CPC Class Codes: A61B 1/2676 Bronchoscopes
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2090/3762 using computed tomography systems [CT]
• 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 5/06 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 5/065 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 5/066 Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
• CPC Class Codes: A61B 5/08 Detecting, measuring or recording devices for evaluating the respiratory organs A61B5/0205 takes precedence
• CPC Class Codes: A61B 5/0816 Measuring devices for examining respiratory frequency measuring frequency of electric signals G01R23/00
• CPC Class Codes: A61B 5/7285 for synchronising or triggering a physiological measurement or image acquisition with a physiological event or waveform, e.g. an ECG signal A61B6/5205, A61B6/541, A61B8/5207, A61B8/543 take precedence
• CPC Class Codes: A61B 6/541 involving acquisition triggered by a physiological signal

Abstract

Visual-assisted guidance of an ultra-thin flexible endoscope to a predetermined region of interest within a lung during a bronchoscopy procedure. The region may be an opacity-identified by non-invasive imaging methods, such as high-resolution computed tomography (HRCT) or as a malignant lung mass that was diagnosed in a previous examination. An embedded position sensor on the flexible endoscope indicates the position of the distal tip of the probe in a Cartesian coordinate system during the procedure. A visual display is continually updated, showing the present position and orientation of the marker in a 3-D graphical airway model generated from image reconstruction. The visual display also includes windows depicting a virtual fly-through perspective and real-time video images acquired at the head of the endoscope, which can be stored as data, with an audio or textual account.

Claims

1. A flexible endoscope capable of being visually guided through linked passages within a body, comprising:

(a) a light source;

(b) an optical fiber having a cantilevered portion disposed adjacent to a distal end of the flexible endoscope;

(c) an actuator that is energized to drive the optical fiber to move in a desired pattern to scan a region adjacent to the distal end of the flexible endoscope by emitting light from the cantilevered portion that was conveyed from the light source through the optical fiber;

(d) a light sensor that senses light reflected from the region, producing a signal that is usable to image the region to enable visual guidance of the flexible endoscope through the linked passages; and

(e) a sensor producing an output signal indicating a disposition of the distal end of the flexible endoscope, the output signal being adapted to couple to a tracking system that responds to the output signal produced by the sensor and produces an indication of the disposition of the distal end of the flexible endoscope within the linked passages, as the flexible endoscope is advanced through the linked passages.

2. The flexible endoscope of claim 1, wherein the reference signal comprises an electromagnetic signal, and wherein the reference signal source and the sensor that receives the reference signal together comprise at least five coils configured to indicate a three-dimensional position of the distal end of the flexible endoscope.

3. The flexible endoscope of claim 2, wherein the sensor that receives the reference signal comprises at least one coil configured to indicate both the three-dimensional position and an orientation of the distal end of the flexible endoscope.

4. The flexible endoscope of claim 1, wherein the light sensor comprises a plurality of light sensing regions disposed proximate to the distal end of the flexible endoscope, the plurality of light sensing regions each having a sensitivity to light of different wavebands.

5. The flexible endoscope of claim 1, further comprising at least one lens for focusing light emitted from the cantilevered portion onto a desired scan region that is proximate to the distal end of the flexible endoscope.

6. The flexible endoscope of claim 1, further comprising a housing disposed around the cantilevered portion to provide protection for it, the housing having a window through which light emitted from the cantilevered portion passes to image the linked passages.

7. The flexible endoscope of claim 1, further comprising one of:

(a) a biopsy needle that is adapted to be selectively inserted into a tissue to take a sample;

(b) micro-forceps for taking a sample of a tissue;

(c) a cytological brush for taking a sample of a tissue; and

(d) a fluid channel for taking a bronchial lavage.

8. The flexible endoscope of claim 1, further comprising a lead coupled to the light sensor for conveying at least one electrical signal from the light sensor to a proximal end of the flexible endoscope, for providing the at least one electrical signal to a display used to assist in visually guiding the flexible endoscope through the linked passages to a desired location by imaging a region in the linked passages.

9. The flexible endoscope of claim 1, further comprising a lead that is connected to the sensor and which is adapted to couple the output signal from the sensor to a tracking system.

10. The flexible endoscope of claim 1, further comprising at least one multimode optical fiber to convey light between the distal end and the proximal end of the flexible endoscope.