Biopsy guidance by electromagnetic tracking and photonic needle

• US 9,179,985 B2
• Filed: 02/27/2009
• Issued: 11/10/2015
• Est. Priority Date: 03/03/2008
• Status: Active Grant

• Current Assignee: Koninklijke Philips N.V.
• Original Assignee: Koninklijke Philips N.V.
• Inventors: Hendriks, Bernardus Hendrikus Wilhelmus, Shechter, Guy, Babic, Drazenko, Crooijmans, Wim
• Primary Examiner(s): Le, Long V
• Assistant Examiner(s): HOFFA, ANGELA MARIE
• Application Number:
  US12/867,267
• Publication Number:
  US 20100317964A1
• Time in Patent Office: 2,447 Days
• Field of Search: 382/128, 382130-131, 600/424, 600/567
• US Class Current: 1/1
• CPC Class Codes: A61B 10/0275 with sample notch, e.g. on the side of inner stylet
• CPC Class Codes: A61B 10/04 Endoscopic instruments
• 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 17/3421 Cannulas
• CPC Class Codes: A61B 2017/00061 spectrum
• CPC Class Codes: A61B 2017/00066 intensity
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2090/306 using optical fibres
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2576/00 Medical imaging apparatus involving image processing or analysis A61B1/00009, A61B6/52 and A61B8/52 take precedence; image processing per se G06T; details of algorithms for analysing medical images G06T7/0012
• 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 5/0066 Optical coherence imaging
• CPC Class Codes: A61B 5/0075 by spectroscopy, i.e. measuring spectra, e.g. Raman spectroscopy, infrared absorption spectroscopy A61B5/0071 takes precedence
• CPC Class Codes: A61B 5/0084 for introduction into the body, e.g. by catheters A61B5/1459 takes precedence
• CPC Class Codes: A61B 5/6848 Needles

Abstract

A system for providing integrated guidance for positioning a needle in a body has two levels of guidance: a coarse guidance and a fine guidance. The system includes a non-invasive tracking system for tracing the biopsy device in the body, for providing the coarse guidance. Furthermore, the system includes an optical detector mounted on the needle for obtaining optical information discriminating tissue in the body, for providing the fine guidance.

Claims

1. A system for integrated guidance for positioning a biopsy device in a body, the system comprising:

a tracking device for coarse guidance of the biopsy device to a biopsy location in the body; and

an analyze device for fine guidance of the biopsy device to the biopsy location in the body, wherein the fine guidance is a final precise guidance to the biopsy location more precise than the coarse guidance being an initial guidance to the biopsy location, the analyze device comprising an optical detector configured to detect structures of tissues of the body for providing visible images of the structures, and a console configured to perform a spectroscopy to obtain spectral light distributions of the tissues, wherein the visible images from the optical detector include optically obtained image boundaries of the different tissues, wherein the console and the optical detector are connected to each other, wherein the analyze device is configured to provide information for discriminating different tissues including the optically obtained image boundaries of the different tissues of the body from each other based on the visible images of the structures of the tissues combined with the spectral light distributions of the tissues;

a processor configured to combine the information for discriminating the different tissues including the optically obtained image boundaries of the different tissues obtained by the analyze device with non-invasive image-determined boundaries from an image of a non-invasive imaging device providing images of the structures to calculate a scale factor between the optically obtained image boundaries and the non-invasive image-determined boundaries, and using the scale factor to enlarge the non-invasive image-determined boundaries to fully overlap the optically obtained image boundaries to obtain new boundaries of a region of interest; and

the biopsy device comprising an elongate element and a tip portion,

wherein the biopsy device is configured to be traced by the tracking device,

wherein the optical detector is integrated in the tip portion of the biopsy device.

2. The system as claimed in claim 1, wherein the biopsy device is a biopsy needle including a needle base, a needle head and optical fibers without having a lumen, the needle base receiving the optical fibers that extend into the needle head to fiber exit positions at circumferential surface positions of the needle head.

3. The system of claim 2, wherein a first optical fiber of the optical fibers is configured to provide the fine guidance to the region of interest, and a second optical fiber of the optical fibers is configured to provide optical inspection of a portion of the region of interest harvested by the biopsy device.

4. The system of claim 3, wherein the first optical fiber ends at a front surface of the biopsy device and the second optical fiber ends at a side surface of the biopsy device, and wherein the front surface is transverse to side surface.

5. The system of claim 3, further comprising a motor for moving the second optical fiber for scanning the region of interest.

6. The system as claimed in claim 1, wherein the biopsy device comprises a hollow shaft configured to receive a needle for taking a tissue sample.

7. The system as claimed in claim 1, wherein the biopsy device comprises a position sensor configured to transmit a signal to the tracking device, wherein the signal includes position information indicative of a position of the biopsy device relative to body structures.

8. The system as claimed in claim 7, wherein the tracking device is configured to link the position information to the image of the imaging device.

9. The system as claimed in claim 8, wherein the information provided by the analyze device is registered in the image of the imaging device, making use of the position information.

10. The system as claimed in claim 1, wherein the optical detector of the analyze device comprises an optical fiber.

11. The system as claimed in claim 1, wherein the spectroscopy is selected from one of a group consisting of differential path length spectroscopy, Raman spectroscopy, optical coherence tomography, and light scattering spectroscopy.

12. The system as claimed in claim 1, wherein the tracking device is a non-invasive tracking modality based on an electromagnetic field.

13. The system of claim 1, wherein the optical detector is configured to provide cellular imaging with micron resolution allowing cellular structures of the structures to become visible, and wherein the processor is configured to combine the cellular imaging with spectroscopy performed by the console for tissue characterization without using staining.

14. A biopsy device comprising:

a position sensor configured to provide information indicative of a position of the biopsy device for providing a coarse guidance of the biopsy device to a biopsy location in a body;

an optical fiber integrated in a tip portion of the biopsy device and configured to emit and receive light for providing a fine guidance of the biopsy device to the biopsy location in the body, wherein the fine guidance is a final precise guidance to the biopsy location more precise than the coarse guidance being an initial guidance to the biopsy location; and

an analyze device for the fine guidance of the biopsy device to the biopsy location in the body, the analyze device comprising an optical detector configured to detect structures of tissues of the body for providing visible images of the structures, and a console configured to perform a spectroscopy to obtain spectral light distributions of the tissues, wherein the visible images from the optical detector include optically obtained image boundaries of the different tissues, wherein the console and the optical detector are connected to each other, wherein the analyze device is configured to provide information for discriminating different tissues including the optically obtained image boundaries of the different tissues of the body from each other based on the visible images of the structures of the tissues combined with the spectral light distributions of the tissues; and

a processor configured to combine the information for discriminating the different tissues including the optically obtained image boundaries of the different tissues obtained by the analyze device with non-invasive image-determined boundaries from an image of an imaging device providing images of the structures to calculate a scale factor between the optically obtained image boundaries and the non-invasive image-determined boundaries, and using the scale factor to enlarge the non-invasive image-determined boundaries to fully overlap the optically obtained image boundaries to obtain new boundaries of a region of interest.

15. The biopsy device as claimed in claim 14, wherein the biopsy device is a biopsy needle including a needle base, a needle head and optical fibers without having a lumen, the needle base receiving the optical fibers that extend into the needle head to fiber exit positions at circumferential surface positions of the needle head.

16. The biopsy device as claimed in claim 14, wherein the biopsy device comprises a hollow shaft configured to receive a needle for taking a tissue sample.

17. The biopsy device of claim 14, further comprising a further optical fiber ending at a side portion of the biopsy device, wherein the side portion is transverse to the tip portion, and wherein the further optical fiber is configured to provide optical inspection of a portion of the region of interest harvested by the biopsy device.

18. The biopsy device of claim 14, wherein the optical detector is configured to provide cellular imaging with micron resolution allowing cellular structures of the structures to become visible, and wherein the processor is configured to combine the cellular imaging with spectroscopy performed by the console for tissue characterization without using staining.

19. A method of positioning a biopsy device in a body, the method comprising the acts of:

introducing the biopsy device into the body, the biopsy device comprising an optical fiber integrated in a tip of the biopsy device and configured to emit and receive light;

tracing the biopsy device in the body by a non-invasive electromagnetic tracking device for providing a coarse guidance of the biopsy device to a biopsy location in the body;

fine positioning the biopsy device assisted by an analyze device included in the biopsy device, the analyze device comprising the optical fiber device for providing a fine guidance of the biopsy device to the biopsy location in the body, wherein the fine guidance is a final precise guidance to the biopsy location more precise than the coarse guidance being an initial guidance to the biopsy location, the analyze device further comprising an optical detector configured to detect structures of tissues of the body for providing visible images of the structures, wherein the visible images from the optical detector include optically obtained image boundaries of the different tissues;

obtaining by a console spectroscopy optical information including spectral light distributions of the tissues;

discriminating different tissues including the optically obtained image boundaries of the different tissues in front of the tip of the biopsy device from information provided by the analyze device based on the visible images of the structures of the tissues combined with the spectral light distributions of the tissues; and

combining the information for discriminating the different tissues including the optically obtained image boundaries of the different tissues obtained by the analyze device with non-invasive image-determined boundaries from an image of an imaging device providing images of the structures to calculate a scale factor between the optically obtained image boundaries and the non-invasive image-determined boundaries, and using the scale factor to enlarge the non-invasive image-determined boundaries to fully overlap the optically obtained image boundaries to obtain new boundaries of a region of interest.

20. The method of claim 19, wherein the optical detector is configured to provide cellular imaging with micron resolution allowing cellular structures of the structures to become visible, and wherein the processor is configured to combine the cellular imaging with spectroscopy performed by the console for tissue characterization without using staining.