Locating target in human body

• US 5,197,476 A
• Filed: 10/11/1991
• Issued: 03/30/1993
• Est. Priority Date: 03/16/1989
• Status: Expired due to Term

• Current Assignee: Bank of Montreal
• Original Assignee: Christopher Nowacki, Mart T. Horbal
• Inventors: Horbal, Mart T., Nowacki, Christopher
• Primary Examiner(s): Cohen, Lee S.
• Assistant Examiner(s): ZELE, KRISTA MICHELLE
• Application Number:
  US07/777,432
• Time in Patent Office: 536 Days
• Field of Search: 128/24 AA, 128/916, 128/915, 128/660.01, 128/660.03, 128/24 EL
• US Class Current: 600/439
• CPC Class Codes: A61B 17/2255 Means for positioning patient, shock wave apparatus or locating means, e.g. mechanical aspects, patient beds, support arms, aiming means positioning of patients for radiation diagnosis A61B6/04; positioning of locating means inside shock wave apparatus A61B17/2256
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/371 with simultaneous use of two cameras
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• 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 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 8/08 Detecting organic movements or changes, e.g. tumours, cysts, swellings A61B8/02 - A61B8/06 take precedence
• CPC Class Codes: A61B 8/4245 involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient

Abstract

Apparatus and methods for locating a target in a living body are provided. A three-dimensional frame carries a plurality of infrared light emitting diodes, and this frame is placed on a table. The infrared LEDs are strobed by a computer. The position of the infrared LEDs is monitored by a pair of infrared sensitive cameras and stored in a computer. The frame is then removed and a living body is placed within or closely adjacent to the volume. An ultrasonic probe is hand held within the volume and is provided with a plurality of infrared LEDs so that the probe can be monitored by the cameras. The positions of the probe LEDs are compared in the computer with the initial position of the frame LEDs so that the position of the probe can be determined quite accurately, and the position of the target in the body can be displayed on a computer monitor.

Claims

1. The method of locating an ultrasonic probe in order to locate a target in a living body which comprises disposing a plurality of first electrically operated radiation emitting devices about a reference volume, monitoring said devices with three-dimensional camera means sensitive to the radiation emitted by said devices, strobing said first radiation emitting devices with a computer to cause said devices to emit radiation sequentially, storing information from said camera means in said computer as to respective positions of said radiation emitting devices, removing said first radiation emitting devices from their disposition about said reference volume, placing a living body having the target therein at least in part in said reference volume and holding the ultrasonic probe substantially within said volume and scanning said living body ultrasonically with said probe, displaying the scanned portion of the body including the target on a display screen and observing the display, said probe having a second plurality of electrically operated radiation emitting devices thereon, strobing said second plurality of radiation emitting devices with said computer, and monitoring the second plurality of radiation emitting devices with said three-dimensional camera means to detect the position of said probe within said volume.

2. The method as set forth in claim 1 wherein said first and said second plurality of electrically operated radiation emitting devices comprise infrared light emitting devices, and said camera means is sensitive to the infrared light.

3. The method as set forth in claim 1 wherein said first plurality of radiation emitting devices are disposed on a rigid three-dimensional frame wherein the step of disposing said devices about the reference volume comprising locating said frame about said volume, wherein the step of removing said first radiation emitting devices before said living body is placed at least in part in said referenced volume comprises removing said frame.

4. The method as set forth in claim 3 which includes placing said frame on an examining table to dispose said first plurality of radiation emitting devices about said volume, the further step of removing said frame from said examining table, and subsequently placing said living body on said table.

5. The method as set forth in claim 1 and further including means for therapeutically, treating said target, and positioning said treating means in accordance with a target location as determined by said ultrasonic probe.

6. The method as set forth in claim 5 wherein the step of positioning the treating means comprises utilizing said computer to position said treating means.

7. Apparatus for locating an ultrasonic probe in order to locate a target in a living body comprising a first plurality of radiation emitting devices, means for supporting said first plurality of radiation emitting devices about a reference volume, three-dimensional camera means sensitive to the radiation emitted by said first plurality of radiation emitting devices, means for mounting said camera means in position to monitor said first plurality of radiation emitting devices, computer means for sequentially strobing said first plurality of radiation emitting devices, means interconnecting said computer means, said camera means and said first plurality of radiation emitting devices, table means for supporting the living body having a target therein at least in part in said volume, wherein said first radiation emitting devices are adapted to be removed from their disposition about said reference volume, an ultra sound probe, a second plurality of radiation emitting devices on said probe and of the same type as the first plurality of radiation emitting devices connected to said computer means, said probe being adapted to be supported manually substantially within said volume for ultrasonic scanning of the body including the target, said computer means for sequentially strobing said second plurality of radiation emitting devices to detect the position of said probe within said volume, and a display screen connected to said computer means for displaying an image related to said scanned body.

8. Apparatus as set forth in claim 7 wherein the means for supporting said first plurality of radiation emitting devices comprises a three-dimensional rigid frame placed on said table means and removed therefrom prior to placing a living body on said table.

9. Apparatus as set forth in claim 7 wherein said probe has an elongated body with some of said second plurality of radiation emitting devices thereon, and means for mounting others of said second plurality of radiation emitting devices outwardly of said probe body.

10. Apparatus as set forth in claim 7 wherein said first and second radiation emitting devices comprise infrared light emitting devices.

11. Apparatus as set forth in claim 7 and further including means for therapeutically treating said target, and means for positioning said treating means in accordance with a position of the target as determined by said ultrasonic probe.

12. Apparatus as set forth in claim 11 wherein the means for positioning said target treating means is interconnected with and controlled by said computer means.

13. Apparatus for locating an ultrasonic probe to locate a target in a human body comprising three dimensional camera means, means for supporting said camera means at an elevated location, a patient examining table and shock wave generating means being disposed within the aspect seen by said three dimensional camera means, means for moving said shock wave generating means being horizontally and vertically, the ultrasound probe and an ultrasound scan screen apparatus being interconnected with one another, a plurality of radiation sources carried by said probe, said three dimensional camera means for viewing said plurality of radiation sources, and computer means,

said computer means, said ultrasound probe radiation sources, and said ultrasound scan screen apparatus being electrically interconnected, said computer means for strobing said probe radiation sources sequentially, said ultrasound scan screen apparatus having means for displaying X, Y and Z coordinates and angular positioning of said probe relative to said target to determine the positioning of said probe relative to said target and to determine the desirable amount, direction and elevation of movement of said shock wave generating means to position said target as located by said probe and said scan screen apparatus at a desired location.

14. Apparatus as set forth in claim 13 wherein said radiation sources comprise devices for emitting infrared light, and wherein said camera means is sensitive to said infrared light.