Methods, systems and computer program products for positioning a guidance apparatus relative to a patient

• US 8,340,743 B2
• Filed: 11/19/2008
• Issued: 12/25/2012
• Est. Priority Date: 11/21/2007
• Status: Active Grant

• Current Assignee: Clearpoint Neuro, Inc.
• Original Assignee: MRI Interventions, Inc. (Clearpoint Neuro, Inc.)
• Inventors: Jenkins, Kimble, Beatty, David D.
• Primary Examiner(s): Cattungal, Sanjay
• Application Number:
  US12/273,827
• Publication Number:
  US 20090131783A1
• Time in Patent Office: 1,497 Days
• Field of Search: 600407-429, 606/130
• US Class Current: 600/429
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints

Abstract

A method for positioning a guide device for placement of an interventional object in a body, the guide device having a guide axis, includes: determining a target point in the body and a reference point, wherein the target point and the reference point define a planned trajectory line (PTL) extending through each; determining a visualization plane, wherein the PTL intersects the visualization plane at a sighting point; mounting the guide device relative to the body to move with respect to the PTL, wherein the guide device does not intersect the visualization plane; determining a point of intersection (GPP) between the guide axis and the visualization plane; and aligning the GPP with the sighting point in the visualization plane.

Claims

1. A method for positioning a guide device for placement of an interventional object in a body, the guide device having a guide axis, the method comprising:

determining a target point in the body and a reference point, wherein the target point and the reference point define a planned trajectory line (PTL) extending through each;

determining a visualization plane, wherein the PTL intersects the visualization plane at a sighting point;

mounting the guide device relative to the body to move with respect to the PTL, wherein the guide device does not intersect the visualization plane;

acquiring at least one MRI scan along the visualization plane;

determining an acquisition plane, wherein the guide device intersects the acquisition plane;

tracking a position of the guide device in the acquisition plane and determining therefrom a corresponding position and/or orientation of the guide axis, wherein tracking the position of the guide device in the acquisition plane includes acquiring at least one MRI scan along the acquisition plane;

determining a point of intersection (GPP) between the guide axis and the visualization plane; and

aligning the GPP with the sighting point in the visualization plane.

2. The method of claim 1 wherein the reference point is a pivot point, and mounting the guide device includes mounting the guide device relative to the body to pivot the guide axis about the pivot point.

3. The method of claim 1 wherein the target point is located in a brain of the body, the method including inserting an interventional object into the brain along the PTL to a position adjacent the target point.

4. A method for positioning a guide device for placement of an interventional object in a body, the guide device having a guide axis, the method comprising:

determining a target point in the body and a pivot point, wherein the target point and the pivot point define a planned trajectory line (PTL) extending through each;

determining a visualization plane, wherein the PTL intersects the visualization plane at a sighting point, and wherein the sighting point is located on a segment of the PTL on a side of the pivot point proximate the target point;

mounting the guide device relative to the body to pivot about the pivot point with respect to the PTL;

acquiring at least one MRI scan along the visualization plane;

determining an acquisition plane, wherein the guide device intersects the acquisition plane;

tracking a position of the guide device in the acquisition plane and determining therefrom a corresponding position and/or orientation of the guide axis, wherein tracking the position of the guide device in the acquisition plane includes acquiring at least one MRI scan along the acquisition plane;

determining a point of intersection (GPP) between the guide axis and the visualization plane; and

aligning the GPP with the sighting point in the visualization plane.

5. The method of claim 4 wherein the sighting point is substantially coincident with the target point.

6. A method for positioning a guide device for placement of an interventional object in a body, the guide device having a guide axis, the method comprising:

determining a target point in the body and a reference point, wherein the target point and the reference point define a planned trajectory line (PTL) extending through each;

determining a visualization plane, wherein the PTL intersects the visualization plane at a sighting point, and wherein the sighting point is located within the body;

mounting the guide device relative to the body to move with respect to the PTL;

acquiring at least one MRI scan along the visualization plane;

determining an acquisition plane, wherein the guide device intersects the acquisition plane;

tracking a position of the guide device in the acquisition plane and determining therefrom a corresponding position and/or orientation of the guide axis, wherein tracking the position of the guide device in the acquisition plane includes acquiring at least one MRI scan along the acquisition plane;

determining a point of intersection (GPP) between the guide axis and the visualization plane; and

aligning the GPP with the sighting point in the visualization plane.

7. The method of claim 6 wherein the sighting point is substantially coincident with the target point.

8. The method of claim 6 wherein the reference point is an entry point located at or proximate a point of intersection between the PTL and an entry surface of the body.

9. The method of claim 6 wherein the reference point is a pivot point and mounting the guide device includes mounting the guide device relative to the body to pivot about the pivot point.

10. The method of claim 6 including programmatically determining the GPP using the position of the guide device in the acquisition plane.

11. A method for positioning a guide device for placement of an interventional object in a body, the guide device having a guide axis, the method comprising:

determining a target point in the body and a reference point, wherein the target point and the reference point define a planned trajectory line (PTL) extending through each;

determining a visualization plane, wherein the PTL intersects the visualization plane at a sighting point, and wherein the PTL is orthogonal to the visualization plane;

mounting the guide device relative to the body to move with respect to the PTL, wherein the guide device does not intersect the visualization plane;

acquiring at least one MRI scan along the visualization plane;

determining an acquisition plane, wherein the guide device intersects the acquisition plane;

tracking a position of the guide device in the acquisition plane and determining therefrom a corresponding position and/or orientation of the guide axis, wherein tracking the position of the guide device in the acquisition plane includes acquiring at least one MRI scan along the acquisition plane;

determining a point of intersection (GPP) between the guide axis and the visualization plane; and

aligning the GPP with the sighting point in the visualization plane.

12. The method of claim 11 wherein the reference point is a pivot point and mounting the guide device includes mounting the guide device relative to the body to pivot about the pivot point.

13. A method for positioning a guide device for placement of an interventional object in a body, the guide device having a guide axis, the method comprising:

determining a target point in the body and a reference point, wherein the target point and the reference point define a planned trajectory line (PTL) extending through each;

determining a visualization plane, wherein the PTL intersects the visualization plane at a sighting point;

mounting the guide device relative to the body to translate the guide axis with respect to the PTL;

acquiring at least one MRI scan along the visualization plane;

determining an acquisition plane, wherein the guide device intersects the acquisition plane;

tracking a position of the guide device in the acquisition plane and determining therefrom a corresponding position and/or orientation of the guide axis, wherein tracking the position of the guide device in the acquisition plane includes acquiring at least one MRI scan along the acquisition plane;

determining a point of intersection (GPP) between the guide axis and the visualization plane; and

aligning the GPP with the sighting point in the visualization plane.