Free-hand aiming of a needle guide

• US 6,216,029 B1
• Filed: 04/02/1998
• Issued: 04/10/2001
• Est. Priority Date: 07/16/1995
• Status: Expired due to Term

• Current Assignee: Trig Medical Ltd.
• Original Assignee: Ultraguide Ltd.
• Inventors: Paltieli, Yoav
• Primary Examiner(s): Lateef, Marvin M.
• Assistant Examiner(s): SHAW, SHAWNA JEANNINE
• Application Number:
  US08/983,100
• Time in Patent Office: 1,104 Days
• Field of Search: 600/407, 600/427, 600/417, 600/429, 600/439, 600/446, 600/459, 600/461, 128/899, 128/916, 606/130
• US Class Current: 600/427
• CPC Class Codes: A61B 17/3403 Needle locating or guiding means guides for suture needles A61B17/0482; guiding or tracking by nuclear magnetic resonance G01R33/285
• 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 2034/2055 Optical tracking systems
• 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 8/0833 involving detecting or locating foreign bodies or organic structures

Abstract

A method for free-hand directing of a needle towards a target located in a body volume. The method includes the steps of producing an image of the target and the body volume, transmitting the image by means of an imaging detector to a display screen which communicates with a position sensing controller, sensing spatial orientation data of the imaging detector with respect to a reference, transmitting the spatial orientation data onto the display screen, placing the needle with a point thereof substantially pointing at the target sensing spatial orientation data of the needle with respect to the reference, transmitting the spatial orientation data of the needle to the position sensing controller, causing the position sensing controller, based on the spatial orientation data of the imaging detector and of the needle, to indicate on the display screen a trajectory of the needle point, and inserting the needle into the body volume towards the target in accordance with the trajectory indicated on the display screen.

Claims

1. A method for free-hand directing of a needle towards a target located in a body volume, the method comprising the steps of:

producing an image of said target and said body volume from an imaging detector;

transmitting said image produced by said imaging detector to a display screen which communicates with a position sensing controller;

sensing spatial orientation data of said imaging detector with respect to a reference;

transmitting said spatial orientation data of said imaging detector to said position sensing controller;

determining the position of said image in accordance with said spatial orientation data of said imaging detector;

placing said needle with at least a portion thereof substantially pointing at said target;

sensing spatial orientation data of said needle with respect to said reference;

transmitting said spatial orientation data of said needle to said position sensing controller;

causing said position sensing controller, based on said spatial orientation data of said imaging detector and of said needle, to indicate on said display screen at least one of the trajectory or the position of at least a portion of said needle with respect to said displayed image of said body volume.

2. The method according to claim 1 and further comprising the step of indicating on said display screen an actual progressive motion of said needle towards said target.

3. The method according to claim 1 and further comprising the step of indicating on said display screen a deviation of said needle from said trajectory.

4. The method according to claim 1 and further comprising the step of adjusting a planar direction of the image so as to cause it to coincide with the position of the needle point entering the target.

5. The method according to claim 1 and further comprising the step of indicating to said position sensing controller the position of said target by marking said target on said display screen.

6. The method according to claim 1 wherein said steps of transmitting said spatial orientation data of said imaging detector and said needle to said position sensing controller are performed by means of wired communication.

7. The method according to claim 1 wherein said steps of transmitting said spatial orientation data of said imaging detector and said needle to said position sensing controller are performed by means of wireless communication.

8. The method according to claim 1 wherein said position sensing controller indicates on said display screen a two-dimensional trajectory of said needle point.

9. The method according to claim 1 wherein said position sensing controller indicates on said display screen a three-dimensional trajectory of said needle point.

10. The method according to claim 1 and further comprising the step of displaying said spatial orientation data of said needle onto said display screen.

11. The method according to claim 1 wherein said step of producing an image is performed by ultrasound imaging equipment.

12. The method according to claim 1, wherein said step of producing an image is performed by X-Ray equipment.

13. The method according to claim 1, wherein said step of producing an image is performed by computerized tomography equipment.

14. The method according to claim 1, wherein said step of producing an image is performed by magnetic resonance imaging equipment.

15. The method of claim 1, additionally comprising, inserting said needle into said body volume in accordance with said position or said trajectory of said at least a portion of said needle indicated on said display screen.

16. The method of claim 1, wherein said at least a portion of said needle includes a predetermined point along said needle.

17. The method of claim 1, wherein said at least a portion of said needle includes the tip of said needle.

18. The method of claim 1, wherein said at least a portion of said needle includes at least substantially all of said needle.

19. Apparatus for free-hand directing of a needle towards a target located in a body volume, said needle being manipulated only by a hand of a user, said apparatus comprising:

a position sensing controller which communicates with a display screen;

an imaging apparatus for producing an image of said body volume and said target;

an imaging detector for transmitting said image onto said display screen;

a probe orientation sensor attached to said imaging detector for sensing spatial orientation data of said imaging detector with respect to a reference; and

a needle orientation sensor attached to said needle for sensing spatial orientation data of said needle with respect to said reference; and

said position sensing controller configured for determining the position of said displayed image from said spatial orientation data of said imaging detector and configured for indicating on said display screen at least one of the trajectory or the position of at least a portion of said needle with respect to said displayed image of said body volume, based on said spatial orientation data of said imaging detector and of said needle.

20. Apparatus according to claim 19 wherein said imaging apparatus is ultrasound imaging apparatus and said imaging detector is an ultrasound transducer.

21. Apparatus according to claim 19 wherein said probe orientation sensor communicates with said position sensing controller via a triggering code.

22. Apparatus according to claim 19 wherein said needle orientation sensor communicates with said position sensing controller via a triggering code.

23. Apparatus according to claim 19, wherein said probe orientation sensor and said needle orientation sensor are electro-optical sensors.

24. Apparatus according to claim 19, wherein said probe orientation sensor and said needle orientation sensor are magnetic sensors.

25. Apparatus according to claim 19 and comprising a three-dimensional viewing device for three-dimensionally viewing said needle and said trajectory on said display screen.

26. Apparatus according to claim 19, wherein said imaging apparatus is computerized tomography apparatus and said imaging detector is a computerized tomography scanning head comprising a CT radiation source and a CT detector.

27. Apparatus according to claim 19, wherein said imaging apparatus is magnetic resonance imaging apparatus and said imaging detector is a magnetic resonance imaging scanning head comprising a MRI radiation source and a MRI detector.

28. Apparatus according to claim 19, wherein said imaging apparatus is X-Ray apparatus and said imaging detector is a X-Ray scanning head comprising a X-Ray radiation source and a X-Ray detector.

29. The apparatus of claim 19, wherein said at least a portion of said needle includes a point along said needle.

30. The apparatus of claim 19, wherein said at least a portion of said needle includes the tip of said needle.

31. The apparatus of claim 19, wherein said at least a portion of said needle includes at least substantially all of said needle.

32. The apparatus of claim 19, additionally comprising:

a connector adapted for attachment to said needle, said connector for connection to a sampling device.

33. An apparatus for directing of a needle with respect to a target located in a body volume, comprising:

a needle;

a needle orientation sensor attached to said needle which senses orientation of said needle with respect to a reference;

an imaging detector for transmitting an image to a display device;

a probe orientation sensor attached to said imaging detector for sensing orientation of said imaging detector with respect to said reference; and

a position sensing controller in operative communication with said needle orientation sensor and said probe orientation sensor configured for determining the position of said displayed image from said spatial orientation data of said imaging detector and configured for placing a representation of at least one of the trajectory or the position of at least a portion of said needle on said image on said display device, based on said orientations of said imaging detector and said needle with respect to said reference.

34. The apparatus of claim 33, wherein said at least a portion of said needle includes a predetermined point along said needle.

35. The apparatus of claim 33, wherein said at least a portion of said needle includes the tip of said needle.

36. The apparatus of claim 33, wherein said at least a portion of said needle includes at least substantially all of said needle.

37. The apparatus of claim 33, additionally comprising:

a connector adapted for attachment to said needle, said connector for connection to a sampling device.