Device and Method for Three-Dimensional Guidance and Three-Dimensional Monitoring of Cryoablation
First Claim
1. A system for performing a cryotherapy procedure on a tissue of a patient by a user comprising:
- at least one cryoprobe, each cryoprobe featuring a needle and at least one position sensor, for entering the tissue at a freely selected location by the user and for being moved through the tissue by the user;
a user computer featuring a computer display for the user;
an imaging device featuring at least one position sensor; and
a navigation determination module operated by a computer, wherein said navigation determination module receives position information from said position sensors of said imaging device and said cryoprobe, to determine a location and trajectory of said cryoprobe within said tissue.
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Accused Products
Abstract
Systems and methods for three-dimensional guidance and monitoring of a cryotherapy procedure, including virtually performing the procedure. A method of virtually performing a cryotherapy procedure includes: selecting a target object from three-dimensional image data displayed in three dimensions; selecting a three-dimensional ablation zone; selecting, from a library of virtual cryoprobe needles, a cryoprobe needle with a three-dimensional ablation zone that corresponds to the selected ablation zone; comparing the location of the target object with the selected ablation zone, the location of the ablation zone encompassing the target object to the greatest extent being an optimal location, determining, via a processor, a virtual trajectory for the virtual cryoprobe needle from an entry site to the target object when the ablation zone of the virtual cryoprobe needle is in the optimal position; and calculating a result of the procedure based on the target object, the selected ablation zone, the selected needle, and a duration of treatment. Guidance may also optionally be provided during an actual cryotherapy procedure, based upon three dimensional image data and/or data from one or more sensors, for example according to the results of the virtual cryotherapy procedure.
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Citations
36 Claims
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1. A system for performing a cryotherapy procedure on a tissue of a patient by a user comprising:
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at least one cryoprobe, each cryoprobe featuring a needle and at least one position sensor, for entering the tissue at a freely selected location by the user and for being moved through the tissue by the user; a user computer featuring a computer display for the user; an imaging device featuring at least one position sensor; and a navigation determination module operated by a computer, wherein said navigation determination module receives position information from said position sensors of said imaging device and said cryoprobe, to determine a location and trajectory of said cryoprobe within said tissue. - View Dependent Claims (2, 3, 6)
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- 4. The system of claim 4, wherein said navigation determination module further comprises a temperature module for determining temperature map of an ice ball formed by said cryoprobe.
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7. A method for performing a virtual cryotherapy procedure on a tissue of a patient using at least one cryoprobe, each cryoprobe featuring a needle, the method being performed by a computer featuring a computer display for a user, the method comprising:
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receiving three-dimensional data regarding the tissue of the patient by the computer; selecting a virtual needle through the computer; determining an ablation ellipsoid through the computer; determining a therapeutic procedure for using the cryoprobe; calculating a trajectory for the needle by the computer; determining an outcome of the therapeutic procedure according to said trajectory, said virtual needle, said ablation ellipsoid and said therapeutic procedure by a calculation module operated by said computer; and displaying said outcome through the display to the user. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A method of virtually performing a cryotherapy procedure, comprising:
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selecting a target object and its boundaries from imaging data; selecting a three-dimensional ablation zone; selecting, from a library of virtual cryoprobe needles, a cryoprobe needle with a three-dimensional ablation zone that corresponds to the selected ablation zone, each virtual cryoprobe needle having a respective three dimensional ablation zone; encompassing the target object with the selected ablation zone, the location of the ablation zone encompassing the target object to the greatest extent being an optimal location; determining, via a processor, a virtual trajectory for the virtual cryoprobe needle that extends from an entry site to the target object and that brings the ablation zone of the virtual cryoprobe needle into the optimal position by (i) calculating a main (longitudinal) axis of the virtual cryoprobe needle, and (ii) calculating a guiding axis that extends along the main axis from the virtual cryoprobe needle to the entry point, the guiding axis being the virtual trajectory; and calculating a result of the procedure based on the target object, the selected ablation zone, the selected virtual cryoprobe needle, and a duration of treatment. - View Dependent Claims (26)
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27. A system for virtually performing a cryotherapy procedure, comprising:
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an input section that receives a defined ablation zone; a selection of a target object and its boundaries from image data displayed in three dimensions, a selection of a three-dimensional ablation zone, and a selection, from a library of virtual cryoprobe needles, of a cryoprobe needle with a three-dimensional ablation zone that corresponds to the selected ablation zone, each virtual cryoprobe needle having a respective three dimensional ablation zone; a display section that displays the target object and its boundaries in three-dimensions and displays encompassing of the displayed target object with the selected ablation zone, the location of the ablation zone encompassing the target object to the greatest extent being an optimal location; a processing section that determines a virtual trajectory for the virtual cryoprobe needle that extends from an entry site to the target object and that brings the ablation zone of the virtual cryoprobe needle into the optimal position by (i) calculating a main (longitudinal) axis of the virtual cryoprobe needle, and (ii) calculating a guiding axis that extends along the main axis from the virtual cryoprobe needle to the entry point, the guiding axis being the virtual trajectory; and calculates a result of the virtual procedure based on the target object, the selected ablation zone, the selected needle, and a duration of treatment; and a control section that causes the comparative display to be displayed by the display and causes the virtual trajectory and the calculated result of the virtual procedure to be displayed on the display. - View Dependent Claims (28, 29)
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30. An improved cryotherapy method, comprising:
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performing a cryotherapy procedure in a virtual environment by determining a three-dimensional ablation zone, and selecting, from a library of virtual cryoprobe needles, a cryoprobe needle with a three-dimensional ablation zone that corresponds to the selected ablation zone, each virtual cryoprobe needle having a respective three dimensional ablation zone, the selected cryoprobe needle being the suitable cryoprobe needle; comparing the target object with the selected ablation zone, the location of the ablation zone encompassing the target object to the greatest extent being an optimal location, determining, via a processing module, an optimal trajectory for the virtual cryoprobe needle, the optimal trajectory extending from an entry site to the target object and bringing the ablation zone of the selected virtual cryoprobe needle into the optimal position by (i) calculating a main axis of the virtual cryoprobe needle, and (ii) calculating a guiding axis that extends along the main axis from the virtual cryoprobe needle to the entry point, the guiding axis being the optimal trajectory; and calculating a result of the procedure based on the target object, the selected ablation zone, the selected needle, and a duration of treatment; receiving, in real time, orientation and position information of a selected cryoprobe being used in a cryotherapy procedure, the selected cryoprobe corresponding to the identified optimal cryoprobe; and displaying the optimal trajectory, the received orientation information, and the received position information on the display in a manner that permits visual comparison of the orientation the cryoprobe needle to the optimal trajectory. - View Dependent Claims (31, 32, 33, 34, 35, 36)
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Specification