METHOD AND DEVICE FOR NAVIGATION OF A SURGICAL TOOL

• US 20140073914A1
• Filed: 11/12/2013
• Published: 03/13/2014
• Est. Priority Date: 01/29/2009
• Status: Active Grant

• Current Assignee: Imactis, Co.
• Original Assignee: Imactis, Co.
• Inventors: CARRAT, Lionel, LAVALLEE, Stephane
• Granted Patent: US 9,795,319 B2
• Time in Patent Office: Days
• US Class Current: 600/424
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/3478 Endoscopic needles, e.g. for infusion biopsy needles A61B10/0233; catheters with injection needles A61M25/0067
• CPC Class Codes: A61B 2017/00699 correcting for movement caused by respiration, e.g. by triggering
• CPC Class Codes: A61B 2034/2046 Tracking techniques
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 2090/3995 Multi-modality markers
• 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 6/03 Computed tomography [CT] echo-tomography A61B8/14
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers

Abstract

The invention relates to a method of navigation of a tool to be used in a surgical operation for treating a target region within the body of a patient.

Claims

1. A method of navigation of an instrument to be used in a surgical intervention for treating a target region within the body of a patient, comprising the following steps:

providing a localizing system and an imaging system;

registering data of the localizing system and of the imaging system together;

obtaining image data of a zone of the body of the patient with the imaging system, said zone including the target region to be treated and at least a part of the instrument;

detecting the real position of said part of instrument as a trace visible on the images;

localizing the virtual position of the instrument with the localizing system;

computing a correction matrix to register the virtual position of the instrument to its real position detected on the images;

applying said correction matrix to the construction of further navigation images.

2. The method of claim 1, wherein the computation of the correction matrix comprises

searching for the presence of linear shapes on the image data of the imaged zone,

selecting from said linear shapes the linear shape having the nearest position to the virtual position of the instrument on the navigation image,

wherein the correction matrix is computed so as to make the virtual position of the instrument correspond to the position of the selected linear shape.

3. The method of claim 2, wherein the correction matrix comprises

four degrees of freedom resulting from the registration of the selected linear shape to the virtual position of the instrument, and

two degrees of freedom set to zero.

4. The method of claim 3, wherein one of the degrees of freedom set to zero is a rotation around the axis of the instrument and the other one is a translation along the axis of the instrument.

5. The method of claim 2, wherein the instrument comprises a metal needle.

6. A method of navigation of an instrument to be used in a surgical intervention for treating a target region within the body of a patient, comprising

detecting by an imaging system the image position of a reference marker disposed on the body of the patient in the vicinity of an entry point corresponding to a point through which the instrument should be inserted for reaching the target region, and detecting the spatial position of said reference marker by a localizing system,

calculating a transform matrix between the image coordinate system of the imaging system and the spatial coordinate system associated with the reference marker by using detected image and spatial positions of the reference marker, in order to register data of the localizing system and imaging system together,

applying a correction matrix to said transform matrix so as to determine a corrected transform matrix,

wherein said correction matrix is computed by the following steps:

obtaining image data of a zone of the body of the patient with the imaging system, said zone including the target region to be treated and at least a part of the instrument;

detecting the real position of said part of the instrument as a trace visible on the images;

localizing the virtual position of the instrument with the localizing system;

computing the correction matrix so as to make the position of the instrument on

the navigation image correspond to the position of the selected linear shape;

detecting the spatial position of the instrument by the localizing system,

constructing and displaying a navigation image, wherein a representation of the spatial position of the instrument is displayed on image data from the imaging system using the corrected transform matrix.

7. The method of claim 6, wherein the imaging of the zone of the body of the patient is regularly and automatically performed, and wherein the subsequent steps are performed using the last image data of the imaged zone.

8. The method of claim 6, wherein the localizing system is based on magnetic detection and the imaging system is based on X-ray Computed Tomography.

9. The method of claim 8, wherein the reference marker comprises:

a magnetic element having at least two coils arranged in a manner to define at least two vectors in the coordinate system of the magnetic tracking system; and

a geometric element comprising components visible on image data of the imaging system and having a unique geometry detectable by the imaging system.

10. The method of claim 9, wherein the reference marker comprises magnetic elements having coils arranged in a different manner, and geometric elements having components of different shapes and/or arranged in a different manner.