Head Registration Using a Personalized Gripper

• US 20180110567A1
• Filed: 10/25/2016
• Published: 04/26/2018
• Est. Priority Date: 10/25/2016
• Status: Active Grant

• Current Assignee: Biosense Webster Incorporated (Johnson & Johnson)
• Original Assignee: Biosense Webster Incorporated (Johnson & Johnson)
• Inventors: Amit, Matityahu
• Granted Patent: US 10,631,935 B2
• Time in Patent Office: Days
• CPC Class Codes: A61B 17/24 for use in the oral cavity, larynx, bronchial passages or nose for medical inspection of cavities or tubes in the body A61B1/00; Tongue scrapers
• CPC Class Codes: A61B 2017/00526 Methods of manufacturing
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/108 Computer aided selection or customisation of medical implants or cutting guides
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/3762 using computed tomography systems [CT]
• CPC Class Codes: A61B 2090/3764 with a rotating C-arm having a cone beam emitting source
• CPC Class Codes: A61B 2090/3991 having specific anchoring means to fixate the marker to the tissue, e.g. hooks
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• 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 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 6/04 Positioning of patients; Tiltable beds or the like operating tables A61G13/00; operating chairs A61G15/00
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: B33Y 80/00 Products made by additive manufacturing

Abstract

A method includes acquiring an anatomical image of at least part of a head of a specific patient, the anatomical image capturing at least a selected location in the head. A personalized gripper, which is shaped based on the anatomical image to personally fit an organ of the specific patient at the selected location, and which includes a first position sensor of a position-tracking system, is fitted. The anatomical image is registered with a coordinate system of the position-tracking system, by identifying the selected location in the anatomical image and measuring a first position of the first position sensor using the position-tracking system. A medical device that includes a second position sensor of the position-tracking system, is navigated in the head of the specific patient by displaying a second position of the medical device in the head on the registered anatomical image.

Claims

1. A method, comprising:

acquiring an anatomical image of at least part of a head of a specific patient, wherein the anatomical image captures at least a selected location in the head;

fitting a personalized gripper, which is shaped based on the anatomical image to personally fit an organ of the specific patient at the selected location, and which comprises a first position sensor of a position-tracking system;

registering the anatomical image with a coordinate system of the position-tracking system, by identifying the selected location in the anatomical image and measuring a first position of the first position sensor using the position-tracking system; and

navigating in the head of the specific patient a medical device that comprises a second position sensor of the position-tracking system, by displaying a second position of the medical device in the head on the registered anatomical image.

2. The method according to claim 1, wherein acquiring the anatomical image comprises acquiring one or more images using modality selected from a list consisting of computerized tomography (CT), cone beam computed tomography (CBCT), and magnetic resonance imaging (MRI).

3. The method according to claim 1, wherein the selected location comprises one or more teeth of the specific patient.

4. The method according to claim 1, wherein the selected location comprises at least part of an upper jaw and at least part of a lower jaw of the specific patient, and wherein fitting the personalized gripper comprises fitting a bite bar, which is shaped to personally fit the at least part of the upper jaw and the at least part of the lower jaw of the specific patient.

5. The method according to claim 1, wherein the selected location comprises at least part of a nose of the specific patient.

6. The method according to claim 1, wherein the selected location comprises at least part of a cranium of the specific patient.

7. The method according to claim 1, wherein fitting the personalized gripper comprises coupling the first position sensor to the personalized gripper, and subsequently attaching the personalized gripper to the organ.

8. The method according to claim 1, wherein the personalized gripper is provided with the first position sensor embedded therein.

9. The method according to claim 1, wherein navigating the medical device comprises navigating the medical device into a nasal-sinus of the head.

10. The method according to claim 1, wherein navigating the medical device comprises navigating the medical device into a neural-system of the head.

11. The method according to claim 1, wherein the medical device comprises a suction catheter.

12. The method according to claim 1, wherein the medical device comprises a guidewire.

13. The method according to claim 1, wherein the position-tracking system comprises a magnetic position-tracking system, and wherein the first and second position sensors comprise magnetic position sensors.

14. The method according to claim 1, wherein the position-tracking system comprises an optical position-tracking system, and wherein the first and second position sensors comprise optical markers.

15. A method for producing a gripper, the method comprising:

receiving an anatomical image of at least part of a head of a specific patient, wherein the anatomical image captures at least a selected location in the head;

deriving from the anatomical image instructions for producing a personalized gripper that is shaped to personally fit an organ at the selected location;

producing the personalized gripper based on the instructions; and

coupling a position sensor to the personalized gripper.

16. The method according to claim 15, wherein receiving the anatomical image comprises receiving one or more images of a modality selected from a list consisting of computerized tomography (CT), cone beam computed tomography (CBCT), and magnetic resonance imaging (MRI).

17. The method according to claim 15, wherein receiving the anatomical image comprises receiving the anatomical image of one or more teeth of the specific patient.

18. The method according to claim 17, wherein deriving the instructions comprises estimating, from the anatomical image, the shape of the one or more teeth of the specific patient, and producing instructions for manufacturing the gripper in accordance with the estimated shape.

19. The method according to claim 15, wherein producing the personalized gripper comprises printing the personalized gripper by a three-dimensional (3D) printer in accordance with the instructions.

20. The method according to claim 19, wherein producing the personalized gripper comprises printing the personalized gripper from at least one biocompatible material.

21. The method according to claim 15, wherein receiving the anatomical image comprises receiving an image of at least part of a nose of the specific patient, and wherein producing the personalized gripper comprises producing a nose gripper.

22. An article of manufacture, comprising:

a personalized gripper body, which is shaped to personally fit an organ at a selected location in a head of a specific patient, based on an anatomical image of at least part of the head of the specific patient; and

a position sensor coupled to the personalized gripper body.

23. The article of manufacture according to claim 22, wherein the gripper body comprises a groove, which is shaped to fit a distal tip of a catheter.

24. The article of manufacture according to claim 22, wherein the organ comprises one or more teeth of the specific patient.

25. The article of manufacture according to claim 22, wherein the personalized gripper is made of at least one biocompatible material.

26. The article of manufacture according to claim 22, wherein the position sensor is configured to be coupled to the personalized gripper by gluing the position sensor to the personalized gripper.