Surgical needle for a surgical system with optical recognition

• US 8,880,151 B1
• Filed: 11/27/2013
• Issued: 11/04/2014
• Est. Priority Date: 11/27/2013
• Status: Active Grant

• Current Assignee: Clear Guide Medical, Llc
• Original Assignee: Clear Guide Medical, Llc
• Inventors: Stolka, Philipp Jakob, Hager, Gregory Donald, Foroughi, Pezhman, Rendina, Matthew C., Boctor, Emad Mikhail
• Primary Examiner(s): Cattungal, Sanjay
• Application Number:
  US14/092,843
• Time in Patent Office: 342 Days
• Field of Search: 600437-469, 600473-480, 600/424, 606/130
• US Class Current: 600/424
• CPC Class Codes: A61B 1/3132 for laparoscopy
• CPC Class Codes: A61B 10/04 Endoscopic instruments
• CPC Class Codes: A61B 2017/3413 guided by ultrasound
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2090/062 penetration depth
• CPC Class Codes: A61B 2090/3937 Visible markers
• 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 5/0082 adapted for particular medical purposes
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 8/0841 for locating instruments
• CPC Class Codes: A61B 8/4254 using sensors mounted on the probe
• CPC Class Codes: A61B 8/4455 Features of the external shape of the probe, e.g. ergonomic aspects
• CPC Class Codes: A61B 8/464 involving a plurality of displays
• CPC Class Codes: A61B 90/30 Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61M 5/427 Locating point where body is to be pierced, e.g. vein location means using ultrasonic waves, injection site templates
• CPC Class Codes: A61M 5/46 having means for controlling depth of insertion

Abstract

A system for image-guided surgery may include a visual imaging system, a medical tool comprising a shaft and a tip, wherein the shaft of the tool includes an optically detectable feature that allows a position of the tip to be determined, and a display configured to display a real-time representation of the medical tool including the position of the tip regardless of whether the tip is obstructed or visible.

Claims

1. A system for image-guided surgery comprising:

a medical tool comprising a shaft and a tip, wherein the shaft of the tool includes an optically detectable non-uniform and non-repeating pattern that allows a position of the tip to be determined, the non-uniform and non-repeating pattern comprising a sequence of dashes with non-uniform and non-repeating spaces and widths, wherein the sequence has at least 3 or more sub sequences, wherein the pattern of each subsequence appears only once;

an optical imaging system configured to detect and track a position of the medical tool independent of which segment of the non-uniform and non-repeating pattern is visible; and

a display configured to display a real-time representation of the medical tool including the position of the tip based on data received from the optical imaging system.

2. The system of claim 1, wherein the medical tool comprises one of a needle, a pointer, a biopsy tool, a laparoscope, an ablation device, a surgical instrument, or an elongated tool.

3. The system of claim 1, wherein the optical imaging system is configured to calculate an insertion depth of the medical tool and at least one candidate tip location.

4. The system of claim 1, wherein the non-uniform and non-repeating pattern is detectable by the optical imaging system,

wherein the optical imaging system is configured to at least one of calculate or track an insertion depth of said tip of said medical tool based on said non-uniform and non-repeating pattern upon being detected, and

wherein the non-uniform and non-repeating pattern is based on a sequence in which each subsequence of a given minimal length appears only once.

6. The system of claim 1, wherein the non-uniform and non-repeating pattern is one of marked, printed, etched, or applied to the shaft of the medical tool.

7. The system of claim 1, wherein the optical imaging system correctly calculates the insertion depth when only a portion of said minimum length of the non-uniform and non-repeating pattern is viewable by the visual imaging system.

8. The system of claim 3, wherein the optical imaging system correctly calculates the insertion depth when at least n/kⁿ of the non-uniform and non-repeating pattern is viewable by the visual imaging system, wherein each distinct element of the non-uniform and non-repeating pattern can have k different values and the non-uniform and non-repeating pattern is kⁿ elements long.

9. The system of claim 1, further comprising:

an attachment coupled to the medical tool.

10. The system of claim 9, wherein a distance from the attachment to the tip is calculated by the optical imaging system, and the optical imaging system is calibrated to the actual distance from the attachment to the tip.

11. The system of claim 9, wherein the attachment comprises at least one of:

a clip-on ring, wherein the clip-on ring is one of circular, oval, cylindrical, or handle shaped;

or

a reflective material.

12. The system of claim 9, wherein attachment includes a pattern detectable by the optical imaging system, the pattern used by the visual imaging system to calculate and track insertion depth, the pattern being initially created using a cyclic sequence in which each subsequence of a given minimal length appears only once.

13. The system of claim 1, wherein the optical imaging system further comprises:

one or more light sensitive devices, the one or more light sensitive devices being sensitive to light of a specific wavelength and restricting light of other wavelengths; and

one or more light emitting devices, the one or more light emitting devices illuminating a coating on the medical tool, the coating, in response to the illumination, producing or reflecting a light of the specific wavelength.

14. The system of claim 13, wherein the one or more light sensitive devices comprise one or more cameras.

15. The system of claim 13, wherein the coating exhibits a pattern on illumination, the pattern detectable by the visual imaging system, the pattern used by the visual imaging system to calculate and track insertion depth, the pattern being created using a cyclic sequence in which each subsequence of a given minimal length appears only once.

5. A system for image-guided surgery comprising:

a medical tool comprising a shaft and a tip, wherein the shaft of the tool includes an optically detectable non-repeating pattern that allows a position of the tip to be determined, wherein the non-repeating pattern comprises one of a De Bruijn sequence or a pseudo random binary code sequence;

an optical imaging system configured to detect and track a position of the medical tool independent of which segment of the non-repeating pattern is visible; and

a display configured to display a real-time representation of the medical tool including the position of the tip based on data received from the optical imaging system.

16. A tool for use with an image-guided medical system comprising:

a tip; and

a shaft at least one of integral with or attached to the tip,

wherein the shaft includes an optically detectable non-uniform and non-repeating pattern at least one of marked, printed, etched, or applied to the shaft of the tool, the non-uniform and non-repeating pattern comprising a sequence of dashes with non-uniform and non-repeating spaces and widths, wherein the sequence has at least 3 or more sub sequences, wherein the pattern of each subsequence appears only once, and

wherein the non-uniform and non-repeating pattern is suitable to be used by said image-guided medical system to determine positions of said tip in real-time independent of which segment of the non-uniform and non-repeating pattern is visible and irrespective of whether said tip is obscured in corresponding images.

17. A method for image guided surgery comprising:

receiving, by one or more processors, input from one or more optical devices, the input including light reflected from a shaft of a tool, wherein the shaft of the tool includes an optically detectable non-uniform and non-repeating pattern, the non-uniform and non-repeating pattern comprising a sequence of dashes with non-uniform and non-repeating spaces and widths, wherein the sequence has at least 3 or more sub sequences, wherein the pattern of each subsequence appears only once;

detecting and tracking, by the one or more processors, a position of the tool, wherein tracking includes calculating, by the one or more processors, one or more candidate tip locations in a three dimensional space using the non-uniform and non-repeating pattern independent of which segment of the non-uniform and non-repeating pattern is visible; and

displaying, by the one or more processors, an insertion depth of the tip and the one or more candidate tip locations.

18. The method of claim 17, wherein the non-uniform and non-repeating pattern minimizes false-positive-detections.

19. The method of claim 17, further comprising:

determining a tool type based on the non-uniform and non-repeating pattern.

20. The method of claim 19, further comprising:

determining whether the determined tool type is suitable for a current use; and

displaying one or more warnings if an inappropriate tool is used.

21. The method of claim 17, further comprising:

verifying a calibration between a first light-sensitive device and a second light-sensitive device of the one or more light-sensitive devices, wherein verification comprises comparing the measured height of the non-uniform and non-repeating pattern in data sets from the first light-sensitive device and a second light-sensitive device of the one or more light-sensitive devices; and

rejecting the calibration if the measured heights differ.

22. The method of claim 17, further comprising:

processing only observed objects that exhibit the non-uniform and non-repeating pattern.

23. The method of claim 17, wherein the non-uniform and non-repeating pattern is created using cyclic sequence in which each subsequence of a given minimal length appears only once, wherein the non-uniform and non-repeating pattern is one of marked, printed, etched, or applied to the shaft of the tool.

24. The method of claim 17, further comprising calculating an insertion depth of the tip of the tool using the non-uniform and non-repeating pattern on the shaft of the tool.

25. The method of claim 24, wherein calculating an insertion depth of the tip of the tool is correctly calculated even when a portion of the non-uniform and non-repeating pattern is not viewable by the one or more light sensitive devices.

26. The method of claim 17, wherein an attachment is coupled to the shaft of the tool.

27. The method of claim 26, further comprising:

calculating a distance from the attachment to the tip of the tool; and

calibrating a visual imaging system based on the calculated distance from the attachment to the tip of the tool.

28. The method of claim 26, wherein the attachment comprises at least one of:

a clip-on ring, wherein the clip-on ring is one of circular, oval, cylindrical, or handle shaped;

a reflective material;

or

a detectable pattern, the detectable pattern used in calculating an insertion depth of the tip of the tool, the detectable pattern being initially created using a cyclic sequence in which each subsequence of a given minimal length appears only once.

29. The method of claim 17, further comprising:

receiving light waves by the one or more light sensitive devices to allow light of a specific wavelength and restricting light of other wavelengths;

illuminating a coating on the tool; and

producing or reflecting a light of the specific wavelength by the coating.

30. The method of claim 29, further comprising:

displaying, by the coating, the non-repeatable pattern on illumination; and

calculating an insertion depth of the tip of the tool based on the displayed non-repeatable pattern, the non-uniform and non-repeatable pattern being initially created using a cyclic sequence in which each subsequence of a given minimal length appears only once.