Systems and methods for guiding a medical instrument

• US 20120143029A1
• Filed: 12/23/2011
• Published: 06/07/2012
• Est. Priority Date: 11/26/2007
• Status: Active Grant

• Current Assignee: C.R. Bard, Inc. (Becton, Dickinson & Co)
• Original Assignee: BARD Access Systems Incorporated (Becton, Dickinson & Co)
• Inventors: Silverstein, Fred E., Golden, Robert N.
• Granted Patent: US 9,521,961 B2
• Time in Patent Office: Days
• US Class Current: 600/374
• 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 guidance system for assisting with the insertion of a needle into a patient body is disclosed. The guidance system utilizes ultrasound imaging or other suitable imaging technology. In one embodiment, the guidance system comprises an imaging device including a probe for producing an image of an internal body portion target, such as a vessel. One or more sensors are included with the probe. The sensors sense a detectable characteristic related to the needle, such as a magnetic field of a magnet included with the needle. The system includes a processor that uses data relating to the sensed characteristic to determine a 3-D position of the needle. The system includes a display for depicting the position of the needle. In other embodiments, a guidance system for guiding rigid or other medical instruments is disclosed, together with various example implementations thereof.

Claims

1. A tracking system for a medical device, the medical device including a distal portion for insertion into the body of a patient and a proximal portion remaining external to the patient body, the proximal portion of the medical device at least temporarily associated with a magnetic element, the system comprising:

a tracking circuit to track movement of the medical device, the tracking circuit including;

a processor that computes position data of the medical device according to detection of the magnetic element; and

a memory for storing the position data;

a first medical imaging system for imaging a first body portion of the patient, the first medical imaging system including an interface for communicating information relating to the position data of the medical device; and

a second medical imaging system for imaging a second body portion of the patient.

2. The tracking system as defined in claim 1, wherein the interface includes a display of a first medical imaging system, and wherein the information communicated by the display includes an image of a distal portion of the medical device with respect to the imaged first body portion.

3. The tracking system as defined in claim 2, wherein the body portions imaged by the first and second medical devices are similar in location within the patient.

4. The tracking system as defined in claim 3, wherein at least two of the images of the medical device, the first body portion, and the second body portion are superimposed atop one another.

5. The tracking system as defined in claim 3, wherein the first medical imaging system is ultrasound based and wherein the second medical imaging system is radiographically based and capable of producing a three dimensional image of the body portion.

6. The tracking system as defined in claim 3, wherein the first medical imaging system is configured to track the position of a first medical device and wherein the second medical imaging system is configured to track the position of a second medical device, the positions of the first and second medical devices being depicted on a single display.

7. The tracking system as defined in claim 1, wherein at least a distal tip of the medical device as tracked by the tracking circuit is depicted by a display of the first medical imaging system, wherein the interface includes a display of an ultrasound imaging system, and wherein the tracking circuit further includes at least one reception component for detecting the magnetic element.

8. The tracking system as defined in claim 7, wherein the medical device includes a needle and wherein at least one reception component is integrated with an ultrasound probe of the ultrasound imaging system.

9. The tracking system as defined in claim 8, wherein the needle includes one of a straight, curved, and spiral shape, and wherein the needle further includes an ergonomically shaped handle to ease grasping by user.

10. The tracking system as defined in claim 8, wherein the needle includes at least two spaced apart permanent magnets, the needle further being configured to deposit fiducial markers or markers in the body of the patient.

11. The tracking system as defined in claim 8, wherein the needle includes at least one marker that is detectable by an encoder disposed proximate the needle.

12. The tracking system as defined in claim 8, wherein the needle include at least one of a biomarker, and ultrasound transceiver, a camera, and an RFID identification chip.

13. The tracking system as defined in claim 8, wherein the needle include at least one of an electrode for detecting ECG signals, a tissue removal blade and cavity, an anchor for securing the needle to tissue, a thermal ablation component, and a pressure sensor.

14. A method for tracking a distal portion of a medical device with respect to a body of a patient, the medical device including a proximal portion that remains external to the patient and a distal portion for insertion into the body of the patient, the method comprising:

imaging a first body portion with a first medical imaging system for depiction on a display;

detecting a magnetic element associated with the proximal portion of the medical device;

determining a position of the distal portion of the medical device according to the detected magnetic element;

depicting on the display the position of the distal portion of the medical device together with the first body portion;

imaging a second body portion with a second medical imaging system; and

depicting the second body portion together with the position of the distal portion of the medical device and the first body portion.

15. The method for tracking as defined in claim 14, wherein the first and second body portions are substantially the same and the images thereof are superimposed atop one another in an interlaced manner.

16. The method for tracking as defined in claim 14, wherein a first medical device is imaged by the first medical imaging system and wherein a second medical device is imaged by the second medical imaging system.

17. The method for tracking as defined in claim 16, wherein the second medical device is employed to produce an image of a virtual distal portion of the second medical device within the body of the patient.

18. The method for tracking as defined in claim 14, wherein the method is iteratively performed so as to track advancement of the medical device within the body of the patient.

19. A virtual tracking system for a virtual medical device, the virtual medical device including a tangible proximal portion that is at least temporarily associated with a magnetic element, the system comprising:

a tracking circuit to track movement of the virtual medical device, the tracking circuit including;

at least one a reception component that detects the magnetic element; and

a processor that iteratively computes position data of a virtual distal portion of the virtual medical device according to detection of the magnetic element so as to simulate insertion of a distal portion of a medical device into the body of a patient; and

a display for depicting an image relating to the position data of the virtual distal portion of the virtual medical device.

20. The virtual tracking system as defined in claim 19, wherein the system is also capable of guiding a tangible medical device into a body of a patient.

21. The virtual tracking system as defined in claim 20, wherein the display can depict the image of the virtual distal portion of the virtual medical device and an image of the distal portion of a tangible medical device that is also tracked by the system.

22. The virtual tracking system as defined in claim 21, wherein the image of the virtual distal portion is saved from a previous procedure and wherein the image of the tangible medical device is displayed in real time.

23. The virtual tracking system as defined in claim 19, wherein the display is included in an ultrasound imaging system, and wherein the reception component includes a plurality of sensors disposed in a handheld probe of the ultrasound imaging system, the sensors detecting a field associated with the magnetic element.

24. The virtual tracking system as defined in claim 19, wherein the tangible proximal portion includes a permanent magnet disposed therewith.