Computer controlled guidance of a biopsy needle

• US 6,546,279 B1
• Filed: 10/12/2001
• Issued: 04/08/2003
• Est. Priority Date: 10/12/2001
• Status: Active Grant

• Current Assignee: University of Florida (State University System of Florida)
• Original Assignee: University of Florida (State University System of Florida)
• Inventors: Bova, Frank J., Friedman, William A.
• Primary Examiner(s): Lateef, Marvin M.
• Assistant Examiner(s): Lin, Jeoyuh
• Application Number:
  US09/975,200
• Time in Patent Office: 543 Days
• Field of Search: 600/424, 600/410, 600/407, 600/411, 600/414, 600/417, 600/425, 600/429, 600/437, 600/439, 600/473, 600/476, 600/434, 606/130
• US Class Current: 600/429
• 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 2017/3413 guided by ultrasound
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• 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
• CPC Class Codes: A61B 8/0841 for locating instruments
• 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
• CPC Class Codes: A61B 8/4416 related to combined acquisition of different diagnostic modalities, e.g. combination of ultrasound and X-ray acquisitions
• CPC Class Codes: A61B 90/17 for soft tissue, e.g. breast-holding devices
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

A computer controlled system for guiding the needle device, such as a biopsy needle, by reference to a single mode medical imaging system employing any one of computed tomography imaging (CTI) equipment, magnetic resonance imaging equipment (MRI), fluoroscopic imaging equipment, or 3D ultrasound system, or alternatively, by reference to a multi-modal imaging system, which includes any combination of the aforementioned systems. The 3D ultrasound system includes a combination of an ultrasound probe and both passive and active infrared tracking systems so that the combined system enables a real time image display of the entire region of interest without probe movement.

Claims

1. A method for computer controlled guidance of a needle device configured to move in orthogonal coordinate directions relative to a fixed frame of reference in combination with a 3D imaging device, the method comprising the steps of:

imaging at least a portion of a patient with the imaging device to provide a set of patient imaging data, the set of patient imaging data having a fixed frame of reference relative to the patient;

combining an image of the needle device with the set of patient imaging data to provide a combined image data set;

calculating a desired combined image data set corresponding to a desired position of the needle device relative to the patient and the fixed frame of reference; and

causing relative movement between the patient and the needle device, based on the desired combined image data set, to bring the needle device position data set into registry with the desired position of the needle device.

2. The method of claim 1 wherein the needle device is selected from a group of needle devices including a biopsy needle, a needle configured for injection of toxin into diseased tissue, and an instrument configured for precision placement of a screw, and the needle device 3D image data set is selected from a group of 3D image data sets including a biopsy needle 3D image data set, an injection needle 3D image data set, and an instrument 3D image data set.

3. The method of claim 2 wherein causing relative movement between the patient and the needle device is accomplished by controlling the needle device with a robotic guidance apparatus.

4. A method for computer controlled guidance of a needle device using a needle device 3D image data set including 3D geometry of a needle device, the needle device being configured to be carried by a needle device carrier, the needle device carrier being configured to move in orthogonal coordinate directions relative to a fixed frame of reference so that a current digital positional description of the needle device carrier with respect to the fixed frame of reference can be identified, the method comprising the steps of:

securing a plurality of patient position markers fixed relative to a patient, the patient position markers defining the fixed frame of reference relative to the patient;

imaging at least a part of the patient using an imaging device to provide a set of patient imaging data, the set of patient imaging data being relative to the fixed frame of reference, the set of patient imaging data including positional data of the patient position markers when the patient position markers are image-conspicuous, and combined with telemetry fiduciary data when telemetry readouts are arranged to correspond to successive positions of a patient to be scanned;

identifying the current position description of the needle device carrier with respect to the fixed frame of reference and calculating a needle position data set with respect to the fixed frame of reference;

calculating a composite data set by combining the needle device 3D image data set and the patient image data set, wherein the needle device 3D image data set is adjusted with respect to the fixed frame of reference according to the needle position data set; and

determining from the composite data set a selected set of co-ordinate locations defining a carrier guide path for movement of the needle device carrier with respect to the fixed frame of reference.

5. The method of claim 4 further comprising the step of applying the selected set of co-ordinate locations to the needle device carrier so that the needle device moves along a desired needle device guide path corresponding to the carrier guide path.

6. The method of claim 4 wherein the imaging device is selected from a group of imaging devices including a computerized tomography imaging device, an magnetic resonance imaging device, a fluoroscopic imaging device, or a 3D ultrasound imaging device that produces 3D imaging data without relative movement between the ultrasound imaging device and the patient.

7. The method of claim 4, further comprising the step of causing relative movement between the patient and the needle device to bring the needle device position data set into registry with the determined desired position and orientation of the needle device.

8. The method of claim 4, wherein the patient position markers are selected from a group of markers consisting of patient markers configured to be secured to a scanner table for supporting the patient and patient position markers configured to be secured directly to the patient.

9. The method of claim 4, wherein the needle device is selected from a group of needle devices including a biopsy needle, a needle configured for injection of toxin into diseased tissue, and an instrument configured for precision placement of a screw, and the needle device 3D image data set is selected from a group of 3D image data sets including a biopsy needle 3D image data set, an injection needle 3D image data set, and an instrument 3D image data set.

10. A method for computer controlled guidance of a needle device configured to move in orthogonal coordinate directions relative to a fixed frame of reference, the method comprising the steps of:

imaging at least a portion of a patient with a first imaging technique to provide a first set of imaging data, the first set of imaging data having a fixed frame of reference relative to the patient;

imaging at least a part of the patient with a second imaging technique to provide a second set of imaging data, the part of the patient including at least some of the at least a portion of the patient, the second imaging technique being different than the first imaging technique, the second set of imaging data being data not necessarily being fixed relative to the fixed frame of reference;

registering the second imaging data set with the first imaging data set to provide a first composite set of imaging data;

providing an image data set of the needle device;

combining the image data set of the needle device with the first composite set of image data to produce a second composite set of image data; and

identifying in the second composite set of imaging data the position and orientation of the image of the needle device relative to the image of the at least a portion of the patient and determining therefrom a desired position and orientation of the needle device image corresponding to a desired actual position and orientation of the needle device relative to the patient.

11. The method of claim 10, further comprising the step of causing relative movement between the patient and the needle device to bring the needle device position data set into registry with the determined desired position and orientation of the needle device.

12. The method of claim 10 wherein the first imaging technique is selected from a group consisting of computerized tomography imaging, magnetic resonance imaging, and fluoroscopic imaging and the second imaging technique is a 3D ultrasound imaging technique, wherein the first imaging technique is performed and completed prior to commencement of the second imaging technique.

13. The method of claim 10, wherein the needle device is selected from a group of needle devices including a biopsy needle, a needle configured for injection of toxin into diseased tissue, and an instrument configured for precision placement of a screw, and the needle device 3D image data set is selected from a group of 3D image data sets including a biopsy needle 3D image data set, an injection needle 3D image data set, and an instrument 3D image data set.

14. A method for computer controlled guidance of a needle device configured to move in orthogonal coordinate directions relative to a fixed frame of reference, the method comprising the steps of:

imaging at least a portion of a patient with a first imaging technique to provide a first set of imaging data, the first set of imaging data having a fixed frame of reference;

imaging at least a part of the patient with a second imaging technique to provide a second set of imaging data, the part of the patient including at least some of the portion of the patient, the second imaging technique using an ultrasound device to provide a second set of imaging data, the second set of imaging data being 3D data relative to the ultrasound device and not being fixed relative to the fixed frame of reference, the ultrasound device being operable to provide the second set of imaging data without relative movement between the ultrasound device and the patient, wherein the first set of imaging data is obtained prior to acquisition of the second set of imaging data;

determining position data for the ultrasound device;

using the determined position data and the second set of imaging data to provide a converted set of imaging data corresponding to the second set of imaging data being referenced to the fixed frame of reference;

combining the converted set of image data with at least some of the first set of imaging data to provide a first composite set of imaging data;

providing an image data set of the needle device;

combining the image data set of the needle device with the first composite set of image data to produce a second composite set of image data; and

identifying in the second composite set of imaging data the position and orientation of the image of the needle device relative to the image of the at least a portion of the patient and determining therefrom a desired position and orientation of the needle device image corresponding to a desired actual position and orientation of the needle device relative to the patient.

15. The method of claim 14, further comprising the step of causing relative movement between the patient and the needle device to bring the needle device position data set into registry with the determined desired position and orientation of the needle device.

16. The method of claim 14 wherein the step of determining position data for the ultrasound probe includes determining the position of a plurality of probe position markers on the ultrasound probe, the position of the probe position markers being determined by a technique not including the first and second imaging techniques.

17. The method of claim 14 wherein the position of the ultrasound probe is determined using infrared (IR) imaging.

18. The method of claim 14 further comprising the step of, at least before completion of the first imaging technique, securing a plurality of patient position markers fixed relative to the patient.

19. The method of claim 14, wherein the needle device is selected from a group of needle devices including a biopsy needle, a needle configured for injection of toxin into diseased tissue, and an instrument configured for precision placement of a screw, and the needle device 3D image data set is selected from a group of 3D image data sets including a biopsy needle 3D image data set, an injection needle 3D image data set, and an instrument 3D image data set.

20. A system for computer controlled guidance of a needle device comprising:

a needle device 3D image data set including 3D geometry of the needle device;

an imaging system operable for imaging at least a part of the patient to provide a set of patient imaging data, the set of patient imaging data having a fixed frame of reference relative to the patient;

a first processor configured for combining the needle device 3D image data set with the set of patient imaging data to provide a combined image data set; and

a second processor configured for calculating a desired combined image data set corresponding to a desired position of the needle device relative to the patient and the fixed frame of reference wherein the desired combined image data set is available to cause relative movement between the patient and the needle device to move the needle device to the desired position.

21. A system for computer controlled guidance of a needle device carried by a needle device carrier configured for causing relative movement between a patient and the needle device comprising:

a plurality of patient position markers operable for fixing relative to the patient to define a fixed frame of reference;

a needle device 3D image data set including 3D geometry of the needle device;

an imaging system operable for imaging at least a part of the patient to provide a set of patient imaging data, the set of patient imaging data including positional data of the patient position markers representing a fixed frame of reference when the patient position markers are image-conspicuous, and combined with telemetry fiduciary data when telemetry readouts are arranged to correspond to successive positions of a patient to be scanned;

a position determiner for identifying a current position description of the needle device carrier with respect to the fixed frame of reference;

a first processor for calculating a needle position data set using the current position description;

a second processor for calculating a composite data set by combining the patient image data set and the needle device 3D image data set, wherein the needle device 3D image data set is adjusted with respect to the patient image data set according to the needle position data set; and

a third processor for calculating from the composite data set a selected set of co-ordinate locations defining a carrier guide path for movement of the needle device carrier with respect to the fixed frame of reference so that the needle device moves along a desired needle device guide path corresponding to the carrier guide path.

22. The system of claim 21 further comprising a module to bring the needle device position data set into registry with the desired position and orientation of the needle device to produce a registry data set and a mechanism responsive to the registry data set, the mechanism being operatively attached to the needle carrier to cause relative movement between the patient and the needle device.

23. The system of claim 21 wherein the needle device is selected from a group of needle devices including a biopsy needle, a needle configured for injection of toxin into diseased tissue, and an instrument configured for precision placement of a screw, and the needle device 3D image data set is selected from a group of 3D image data sets including a biopsy needle 3D image data set, an injection needle 3D image data set, and an instrument 3D image data set.

24. A system for computer controlled guidance of a needle device carried by a needle device carrier configured for causing relative movement between a patient and the needle device comprising:

a plurality of patient position markers operable for fixing relative to a patient to define a fixed frame of reference;

a needle device 3D image data set including 3D geometry of the needle device;

a non-ultrasonic imaging subsystem operable for imaging at least a portion of the patient to provide a first patient imaging data set, the first patient imaging data set including positional data of the patient position markers representing a fixed frame of reference when the patient position markers are image-conspicuous, and combined with telemetry fiduciary data when telemetry readouts are arranged to correspond to successive positions of a patient to be scanned;

an imaging subsystem operable for imaging at least a part of the patient to provide a second patient imaging data set, the part of the patient including at least some of the at least a portion of the patient, the imaging subsystem being configured to use an ultrasound device to provide a second patient imaging data set, the ultrasound device including an ultrasound probe that produces 3D imaging data without relative movement between the ultrasound probe and the patient, the second patient imaging data set being relative to the ultrasound device and not being fixed relative to the fixed frame of reference, the ultrasound device being operable to provide the second patient imaging data set without relative movement between the ultrasound device and the patient;

a probe position determiner for determining position data for the ultrasound device;

a second processor operable for using the determined position data and the second set of imaging data to calculate a converted set of imaging data corresponding to the second patient imaging data set being referenced to the fixed frame of reference;

a third processor operable for combining the converted set of image data with at least some of the first patient imaging data set to provide a first composite imaging data set;

a position determiner operable for determining a needle device actual position and orientation data set; and

a fourth processor operable for applying the determined needle device actual position and orientation data set to the needle device 3D image data set and the first composite imaging data set to produce a second composite image data set, the second composite image data set being configured for identification of a position and orientation of the needle device image and determining therefrom a desired position and orientation of the needle device image corresponding to a desired actual position and orientation of the needle device relative to the patient.

25. The system of claim 24 further comprising a module to bring the needle device position data set into registry with the desired position and orientation of the needle device to produce a registry data set and an actuator responsive to the registry data set and operatively attached to the needle carrier for relative movement between the patient and the needle device.

26. The system of claim 24 wherein the needle device is selected from a group of needle devices including a biopsy needle, a needle configured for injection of toxin into diseased tissue, and an instrument configured for precision placement of a screw, and the needle device 3D image data set is selected from a group of 3D image data sets including a biopsy needle 3D image data set, an injection needle 3D image data set, and an instrument 3D image data set.

27. The system of claim 24 wherein the non-ultrasonic imaging subsystem is selected from the group consisting of a computerized tomography system, a magnetic resonance system, and a fluoroscopy system.

28. The system of claim 24 further comprising a plurality of probe position markers on the ultrasound probe.

29. The system of claim 24 wherein the position determiner includes a subsystem to determine the position of the probe position markers and the patient position markers.