System and method for planning treatment of tissue

• US 7,452,357 B2
• Filed: 10/22/2004
• Issued: 11/18/2008
• Est. Priority Date: 10/22/2004
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Schramm, Mary E., Gill, Robert P., Duell, Joyce A., Vlegele, James W.
• Primary Examiner(s): PEFFLEY, MICHAEL F
• Application Number:
  US10/971,419
• Publication Number:
  US 20060089624A1
• Time in Patent Office: 1,488 Days
• Field of Search: 606 32- 34, 606/41, 606 48- 50, 600/439, 600/459
• US Class Current: 606/32
• CPC Class Codes: A61B 18/1477 Needle-like probes
• CPC Class Codes: A61B 2018/1425 Needle
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• 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 2090/034 abutting on parts of the device itself
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• 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 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/92 coded with colour

Abstract

A method and system for treating tissue with a surgical device includes the steps of displaying an image created by collecting imaging data from an imaging device, selecting at least one tissue target from the image, determining the effective treatment volume of the surgical device and determining a treatment modality for treating the tissue target with the surgical device, where the treatment modality is made up of at least one target treatment volume. The method may also include the steps of determining the position and orientation of the imaging device, the image and the surgical device, indicating the trajectory of the surgical device with respect to the image on the display screen, inserting the surgical device in the patient based upon the trajectory and treating the tissue target. The method may further include indicating the target treatment volumes on the display screen.

Claims

1. A method for treating tissue in a body volume with a surgical device, the method comprising the steps of:

collecting image data associated with the body volume using an imaging device;

creating an image from the image data;

displaying the image on a display screen;

selecting at least one tissue target in the body volume for treatment;

determining an effective treatment volume of the surgical device;

determining a treatment modality for treating the tissue target with the surgical device, wherein the treatment modality is made up of a set of target treatment volumes;

displaying the set of target treatment volumes with the image during treatment of the at least one tissue target, and

updating the display of the set of target treatment volumes to indicate target treatment volumes that have already been treated, and target treatment volumes yet to be treated.

2. The method of claim 1, farther including the steps of:

determining the position and orientation of the imaging device with respect to a reference point;

determining the relationship of the image to the reference point;

determining the position and orientation of the surgical device with respect to the reference point; and

indicating a trajectory of the surgical device with respect to the image on the display screen.

3. The method of claim 2, further including positioning the surgical device in the body volume based upon the trajectory, and treating the tissue target with the surgical device.

4. The method of claim 3, wherein positioning the surgical device includes placing the surgical device in a surgical device guide.

5. The method of claim 3, wherein the steps of sensing the position and orientation of the imaging device and the surgical device include:

affixing a first positional indicator to a predetermined point associated with the imaging device; and

affixing a second positional indicator to a predetermined point associated with the surgical device.

6. The method of claim 5, wherein the first and second positional indicators are magnetic sensors.

7. The method of claim 5, wherein the first and second positional indicators are optical sensors.

8. The method of claim 3, wherein treating the tissue target includes:

providing a surgical device guide having an adjustable stop for limiting the distance the surgical device may be inserted in the body volume;

placing a positional indicator at a first position associated with the surgical device guide;

placing the positional indicator at a second position associated with the adjustable stop;

determining the position of the positional indicator in the first and second positions; and

setting the adjustable stop so that the surgical device can be inserted a predetermined distance.

9. The method of claim 3, further including the steps of:

collecting additional image data associated with the body volume using the imaging device;

creating an updated image from the additional image date; and

displaying the updated image on the display screen.

10. The method of claim 2, further including indicating the treatment volume on the display screen.

11. The method of claim 2, wherein the step of determining the position and orientation of the imaging device further includes the steps of:

sensing the position and orientation of the imaging device with respect to a reference point;

transmitting data indicative of the position and orientation of the imaging device with respect to the reference point to a control device;

and the step of determining the position and orientation of the surgical device further includes the steps of;

sensing the position and orientation of the surgical device with respect to the reference point; and

transmitting data indicative of the position and orientation of the surgical device with respect to the reference point to the control device.

12. The method of claim 2, wherein the surgical device is a radio frequency ablation probe.

13. The method of claim 2, wherein the surgical device is a cryogen ablation probe.

14. The method of claim 2, wherein the surgical device is a microwave ablation probe.

15. The method of claim 2, wherein the surgical device is a heated element.

16. The method of claim 2, wherein the surgical device is an ultrasound ablation probe.

17. The method of claim 2, wherein the imaging device is an ultrasound transducer.

18. The method of claim 1, wherein the treatment modality is determined by a control device.

19. The method of claim 1, further including the steps of determining a volume of the tissue target and increasing the volume of the tissue target by a margin offset.

20. The method of claim 1, further including inputting information regarding the surgical device for determining the treatment volume.

21. The method of claim 1, further includes indicating an order in which each of the set of target treatment volumes are to be treated, and wherein the surgical device is sequentially positioned to treat each of the set of target treatment volumes in the indicated order.

22. The method of claim 1, further including the step of dynamically color-coding the set of target treatment volumes to indicate a next target treatment volume to be treated, the target treatment volumes that have already treated, and the target treatment volumes yet to be treated.

23. The method of claim 1, further including the step of indicating a target point for at least one of the set of target treatment volumes on the display screen, where the target point indicates a position of the surgical device to effect treatment of the at least one of the set of target treatment volumes.

24. The method of claim 23, farther including the steps of adjusting the trajectory and indicating the intersection of the trajectory and the target point of at least one of the set of target treatment volumes.

25. The method of claim 1, wherein the step of displaying the image further includes displaying an orthogonal view of the image, a simulated three dimensional view of the image or a combination thereof.

26. The method of claim 1, further including removing portions of the image outside of the tissue target from the display screen.

27. The method of claim 1, further including the step of storing the image, the treatment modality or a combination thereof in a storage medium.

28. A system for treating tissue in a body volume with a surgical device, the system comprising:

an imaging device;

a control device; and

a display screen;

wherein the control device is programmed to perform the steps of;

creating an image from image data associated with the body volume collected by the imaging device;

displaying the image on the display screen;

selecting at least one tissue target in the body volume for treatment;

determining an effective treatment volume of the surgical device;

determining a treatment modality for treating the tissue target with the surgical device,

wherein the treatment modality is made up of a set of target treatment volumes each to be treated in sequence by a discrete application of the surgical device; and

displaying the set of treatment volumes on the image during treatment, the set of target treatment volumes indicating the treatment status of each of the target treatment volumes.

29. The system of claim 28, further including a surgical device guide.

30. The system of claim 29, wherein the imaging device includes a first positional indicator and the surgical device guide includes a second positional indicator.

31. The system of claim 30, wherein the surgical device guide further includes:

an adjustable stop for limiting the distance the surgical device can be inserted into the body;

a first fixture for the second positional indicator associated with the surgical device guide; and

a second fixture for the second positional indicator operatively associated with the stop, wherein by determining the position of the second positional indicator in the first and second fixtures, the stop can be set so that the surgical instrument can be inserted a predetermined distance into the body.

32. A system for treating tissue in a body volume with a surgical device, the system comprising:

an imaging device;

a control device;

a display screen; and

a surgical device guide including an adjustable stop for limiting the distance the surgical device may be inserted in the body volume

wherein the control device is programmed to perform the steps of;

creating an image from image data associated with a body volume collected using the imaging device;

displaying the image on a display screen;

displaying a set of treatment volumes that are updated dynamically to indicate the treatment status of each of the set of target treatment volumes during a treatment session;

determining an insertion distance for the surgical device, such that the surgical device may be used to treat a selected tissue target in the body volume; and

determining a position of the adjustable stop such that the adjustable stop can be set so that the surgical device may be inserted the insertion distance.