Method for ultrasound guidance during clinical procedures

• US 6,019,724 A
• Filed: 10/28/1997
• Issued: 02/01/2000
• Est. Priority Date: 02/22/1995
• Status: Expired due to Term

• Current Assignee: Sonowand AS
• Original Assignee: Aage Gronningsaeter, Bjorn Olstad, Geirmund Unsgaard
• Inventors: Olstad, Bjorn, Gronningsaeter, Aage, Unsgaard, Geirmund
• Primary Examiner(s): Jaworski, Francis J.
• Application Number:
  US08/894,229
• Time in Patent Office: 826 Days
• Field of Search: 600/437, 600/439, 600/443, 600/414, 600/417, 600/424, 600/426, 600/427, 600/429, 600/461, 128/916, 606/130
• US Class Current: 600/439
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2063 Acoustic tracking systems, e.g. using ultrasound
• CPC Class Codes: A61B 2090/378 using ultrasound
• 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 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 8/0808 for diagnosis of the brain
• 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 8/0858 involving measuring tissue layers, e.g. skin, interfaces
• CPC Class Codes: A61B 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/4218 characterised by articulated arms
• CPC Class Codes: A61B 8/483 involving the acquisition of a 3D volume of data
• CPC Class Codes: A61B 8/5238 for combining image data of patient, e.g. merging several images from different acquisition modes into one image for image registration algorithms G06T7/30
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61N 5/1001 using radiation sources introduced into or applied onto the body; brachytherapy

Abstract

A method for generating quasi-realtime feedback for the purpose of guiding surgical, therapeutic or diagnostic procedures by means of ultrasound imaging, wherein the location of a surgical tool, therapeutic radiation field or a diagnostic energy field is related to the coordinate system of an intraoperative 2D and/or 3D ultrasound imaging system and, optionally, to pre-operative MR/CT/X-ray data, thus allowing synchronized relations between data acquisition, tool movement and image visualizations.

Claims

1. A method for generating quasi real-time feedback information about tissue characteristics and the position of anatomical objects relative to at least one tool used during clinical procedures in living biological structures, employing an ultrasound transducer and comprising:

acquiring at least one 2D and/or 3D ultrasonic image of anatomical objects in a living biological structure during a clinical procedure,

freely moving said at least one tool and/or said ultrasound transducer,

localizing said at least one tool and/or tool trajectory thereof in an imaged scene covered by said ultrasonic image,

computing visualizations of the imaged scene by utilizing the geometric localizations of said at least one tool in the processing and/or visualization of said ultrasonic images, and

displaying the resulting visualizations on a display unit in order to provide quasi real-time feedback to the operator.

2. Method according to claim 1, wherein said localization is utilized to adjust the acquisition to optimize the resolution of the image in certain regions of a 3D data set.

3. Method according to claim 1, wherein said localization is utilized to adjust the acquisition such that the orientation of a 2D scan plane changes with movement of said at least one tool.

4. Method according to claim 1, wherein said localization is utilized to process said ultrasonic images in order to compensate for artifacts like shadowing effects caused by said at least one tool and/or modify the signature caused in the ultrasonic images by the at least one tool itself.

5. Method according to claim 4, wherein the artifacts are detected by a geometric computation utilizing information about profiles of an emitted ultrasonic beam (the point-spread function), and tool position to determine the spatial locations that might be affected by the at least one tool.

6. Method according to claim 4, wherein the artifacts are removed by substituting image data from a prior acquiring step.

7. Method according to claim 4, wherein the artifacts are made transparent in said visualizations.

8. Method according to claim 1, wherein said ultrasonic images include a 3D ultrasonic image that is visualized by assigning an opacity function which depends on said localization of said at least one tool and/or tool trajectory thereof.

9. Method according to claim 8, wherein said opacity function is computed by preselecting a spatial neighborhood relative to the localization of said at least one tool and/or tool trajectory thereof and increasing the transparency of values outside this neighborhood in the visualization of the 3D scene, and wherein the resulting visualization emphasizes ultrasonic measurements in the vicinity of said at least one tool and/or tool trajectory thereof.

10. Method according to claim 1, wherein said ultrasonic images include a 3D ultrasonic image that is visualized by extracting at least one 2D plane from a 3D dataset such that the position of the 2D plane is related to the localization of said at least one tool and/or tool trajectory thereof.

11. Method according to claim 10, wherein said 2D plane is related to the at least one tool direction or tool trajectory thereof by using said direction as a normal to a set of parallel 2D planes or as a rotation axis for a set of rotated 2D planes.

12. Method according to claim 11, wherein the 2D plane is used as a starting point for a raytracing process creating a 3D visualization perpendicular to the 2D plane.

13. Method according to claim 11, wherein said visualization of a 3D ultrasonic dataset is viewed from a direction that is fixed relative to the position and direction of the at least one tool.

14. Method according to claim 1, wherein said acquisition of a 2D ultrasonic image is performed in a way that ensures a longitudinal cross sectional image of said too during movement of said at least one tool.

15. Method according to claim 14, wherein said acquisition of a 2D ultrasonic image is performed by tilting and/or rotating the 2D plane by a mechanical motion.

16. Method according to claim 1, wherein said 3D acquisition is realized by a tilting movement of a 2D scan lane, and the resolution is optimized in a narrow sector which surrounds said at least one tool and follows the movement of said at least one tool.

17. A method for generating quasi real-time feedback information about tissue characteristics and the position of anatomical objects relative to at least one tool used during clinical procedures in living biological structures, employing an ultrasound transducer and comprising:

acquiring at least one 2D and/or 3D ultrasonic image of anatomical objects in a living biological structure during a clinical procedure,

freely moving said at least one tool and/or said ultrasound transducer,

controlling ultrasonic viewing scan plane selection by the position and orientation of the at least one tool so as to retain viewing of the at least one tool superimposed into the scan plane while the at least one tool is moved relative to the ultrasound transducer,

localizing said at least one tool and/or tool trajectory thereof in an imaged scene covered by said ultrasonic image,

computing visualizations of the imaged scene by utilizing the geometric localizations of said at least one tool in the processing and/or visualization of said ultrasonic images, and

displaying the resulting visualizations on a display unit in order to provide quasi real-time feedback to the operator.

18. Apparatus for generating quasi real-time feedback information about tissue characteristics and the position of anatomical objects relative to at least one tool used during clinical procedures in living biological structures, employing an ultrasound transducer and comprising:

means for acquiring at least one 2D and/or 3D ultrasonic image of anatomical objects in a living biological structure during a clinical procedure,

means for freely moving said at least one tool and/or said ultrasound transducer,

means for localizing said at least one tool and/or tool trajectory thereof in an imaged scene covered by said ultrasonic image,

means for computing visualizations of the imaged scene by utilizing the geometric localizations of said at least one tool in the processing and/or visualization of said ultrasonic images, and

means for displaying the resulting visualizations on a display unit in order to provide quasi real-time feedback to the operator.