METHODS AND SYSTEMS FOR PERFORMING NAVIGATION-ASSISTED MEDICAL PROCEDURES

• US 20190321065A1
• Filed: 07/02/2019
• Published: 10/24/2019
• Est. Priority Date: 11/20/2014
• Status: Active Grant

• Current Assignee: Ohio State Innovation Foundation (Ohio State University)
• Original Assignee: Ohio State Innovation Foundation (Ohio State University)
• Inventors: Yilmaz, Alper, Martin, Edward W., Povoski, Stephen P., Hitchcock, Charles L., Ozer, Enver, Xu, Ronald
• Granted Patent: US 11,350,965 B2
• Time in Patent Office: Days
• CPC Class Codes: A61B 17/3211 Surgical scalpels, knives; Accessories therefor
• CPC Class Codes: A61B 2010/045 Needles pointed biopsy devices with vacuum aspiration A61B10/0283
• CPC Class Codes: A61B 2017/00115 with audible or visual output
• CPC Class Codes: A61B 2017/008 Removal of tumors
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/3762 using computed tomography systems [CT]
• CPC Class Codes: A61B 2090/3908 Soft tissue, e.g. breast tissue
• CPC Class Codes: A61B 2090/392 Radioactive markers
• CPC Class Codes: A61B 2090/502 Headgear, e.g. helmet, spectacles
• 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 34/30 Surgical robots
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 5/0077 Devices for viewing the surface of the body, e.g. camera, magnifying lens
• CPC Class Codes: A61B 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• 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 5/067 using accelerometers or gyroscopes
• CPC Class Codes: A61B 6/032 : Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/037 : Emission tomography
• CPC Class Codes: A61B 6/12 : Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/4258 : for detecting non x-ray radiation, e.g. gamma radiation A61B6/037 takes precedence
• CPC Class Codes: A61B 6/462 : characterised by constructional features of the display
• CPC Class Codes: A61B 6/466 : adapted to display 3D data
• CPC Class Codes: A61B 6/502 : for diagnosis of breast, i.e. mammography
• CPC Class Codes: A61B 6/5235 : combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT
• CPC Class Codes: A61B 90/11 : with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: B25J 9/1664 : characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1694 : characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: G05B 2219/40121 : Trajectory planning in virtual space
• CPC Class Codes: G05B 2219/40131 : Virtual reality control, programming of manipulator
• CPC Class Codes: Y10S 901/09 : Closed loop, sensor feedback controls arm movement

Abstract

Systems and methods are described for performing navigation-assisted medical procedures such as biopsies, surgeries and pathology procedures by obtaining location information of an item of interest located within at least a portion of a subject; sensing position information of a moveable device; determining a relative position of the moveable device to the item of interest using the location information of the item of interest and the position information of the moveable device; and providing feedback based on the relative position of the moveable device to the item of interest that can be used to change the relative position of the moveable device to the item of interest.

Claims

1. A method of performing navigation-assisted medical procedures comprising:

estimating location information of an item of interest located within at least a portion of a subject using an algorithmic deformation model based on acquired image information to estimate unobserved motion of the item of interest within at least the portion of the subject;

sensing position information of a moveable device;

determining a relative position of the moveable device to the item of interest using the estimated location information of the item of interest and the position information of the moveable device; and

providing directional and distance active feedback based on the relative position of the moveable device to the item of interest that can be used to change the relative position of the moveable device to the item of interest during a navigation-assisted medical procedure, wherein the active feedback changes as the moveable device moves closer to or further away from the item of interest, and wherein the distance active feedback comprises distance encoded vibration frequencies provided through the moveable device.

2. The method of claim 1, wherein estimating location information of the item of interest comprises obtaining an image of at least a portion of the item of interest.

3. The method of claim 1, wherein estimating location information of an item of interest located within at least a portion of a subject comprises estimating location information of a tumor within at least a portion of a subject, cancerous tissue within at least a portion of a subject, or an organ within a body of the subject.

4. The method of claim 1, wherein estimating location information of an item of interest located within at least a portion of a subject comprises estimating location information of the item of interest within a body of the subject estimating location information of the item of interest within an organ of the subject, or estimating location information of the item of interest within a tissue specimen.

5. The method of claim 1, further comprising inserting the moveable device into the item of interest, wherein the feedback indicates a depth that the moveable device has been inserted into the item of interest.

6. The method of claim 1, wherein providing feedback based on the relative position of the moveable device to the item of interest that can be used to change the relative position of the moveable device to the item of interest further comprises:

acquiring a real-time image of the at least a portion of the subject, wherein the acquired real-time image is referenced to the same coordinate system as the location information of the item of interest and the position information of the moveable device; and

displaying the real-time image of the at least a portion of the subject further comprising the estimated location information of the item of interest and the position information of the moveable device super-imposed on the real-time image of the at least a portion of the subject.

7. The method of claim 1, wherein providing feedback based on the relative position of the moveable device to the item of interest that can be used to change the relative position of the moveable device to the item of interest comprises providing one or more of visual, audible or haptic feedback that is used to move the moveable device closer to the item of interest.

8. The method of claim 1, wherein providing feedback based on the relative position of the moveable device to the item of interest that can be used to change the relative position of the moveable device to the item of interest comprises providing a control signal that is used to provide robotic control of the moveable device.

9. The method of claim 1, wherein sensing position information of the moveable device comprises actively or passively sensing position information of a biopsy needle, a scalpel, a pathology wand, a locator wand, or a bone segment.

10. The method of claim 1, wherein sensing position information of the moveable device comprises obtaining position information of the moveable device using a three-dimensional sensor.

11. The method of claim 1, wherein determining the relative position of the moveable device to the item of interest using the estimated location information of the item of interest and the position information of the moveable device is performed using a computing device.

12. The method of claim 1, further comprising re-registration of the estimated location information of the item of interest located within at least a portion of a subject.

13. The method of claim 1, further comprising estimating movement or deformation of the item of interest caused by movement or palpation of the at least a portion of the subject, wherein the estimated location information of the item of interest is modified by the estimated movement or deformation of the item of interest.

14. (canceled)

15. (canceled)

16. (canceled)

17. (canceled)

18. (canceled)

19. (canceled)

20. (canceled)

21. (canceled)

22. (canceled)

23. (canceled)

24. (canceled)

25. (canceled)

26. (canceled)

27. (canceled)

28. (canceled)