Real-time tracking and navigation system and method for minimally invasive surgical procedures
First Claim
1. A system for telemetrical control of an interventional device for minimally invasive surgical procedure, comprising:
- a Magnetic Resonance Imaging (MRI) scanner sub-system operated to produce substantially in real-time MR images of an operative site comprising a target of interest;
an interventional device disposed at said operative site within said MRI scanner sub-system;
a tracking sub-system operatively coupled to said MRI scanner sub-system and operating concurrently therewith, wherein said tracking sub-system is configured to automatically and continually produce tracking information corresponding to a location of said interventional device within said operative site, said tracking information being produced based on gradient fields of said MRI scanner sub-system;
a processor controlled navigation sub-system operatively coupled to said tracking sub-system, said MRI scanner sub-system, and said interventional device, wherein said navigation sub-system is configured to;
(a) integrate said tracking information with said real-time MR images,(b) display said substantially real-time MR images of said operative site generated by said imaging MRI scanner sub-system, and(c) fluidly interface with a user to present, in a continuous fashion, said real-time MRI images and said tracking information, and to receive the user'"'"'s commands to telemetrically control said interventional device to reach said target of interest in an optimal manner for an intended interaction therewith based on at least said substantially in real-time MR images and said tracking information.
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Accused Products
Abstract
Telemetrical control of a robotic interventional device for minimally invasive surgical procedure is based on an operative interaction between a tracking sub-system, MRI sub-system, navigation sub-system and the robotic interventional device. The tracking sensor sub-system is integrated with the interventional device to produce tracking information corresponding to the robotic interventional device location in the operative site. The navigation sub-system integrates the tracking information with the real-time images of the operative site produced by the MRI sub-system, and displays the integrated information to a user, to enable the telemetrical control of the interventional device for performing an intended procedure (biopsy, tissue resection, etc.). The navigation sub-system, based on the integrated real-time tracking information and real-time images, calculates and dynamically updates coordinates of subsequent imaging slices.
22 Citations
19 Claims
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1. A system for telemetrical control of an interventional device for minimally invasive surgical procedure, comprising:
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a Magnetic Resonance Imaging (MRI) scanner sub-system operated to produce substantially in real-time MR images of an operative site comprising a target of interest; an interventional device disposed at said operative site within said MRI scanner sub-system; a tracking sub-system operatively coupled to said MRI scanner sub-system and operating concurrently therewith, wherein said tracking sub-system is configured to automatically and continually produce tracking information corresponding to a location of said interventional device within said operative site, said tracking information being produced based on gradient fields of said MRI scanner sub-system; a processor controlled navigation sub-system operatively coupled to said tracking sub-system, said MRI scanner sub-system, and said interventional device, wherein said navigation sub-system is configured to; (a) integrate said tracking information with said real-time MR images, (b) display said substantially real-time MR images of said operative site generated by said imaging MRI scanner sub-system, and (c) fluidly interface with a user to present, in a continuous fashion, said real-time MRI images and said tracking information, and to receive the user'"'"'s commands to telemetrically control said interventional device to reach said target of interest in an optimal manner for an intended interaction therewith based on at least said substantially in real-time MR images and said tracking information. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method for telemetrically controlling an interventional device during a minimally invasive surgical procedure, comprising the steps of:
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positioning an operative site containing a target of interest into a Magnetic Resonance Imaging (MRI) scanner sub-system; introducing an interventional device adapted for a surgical procedure to said operative site containing said target of interest; integrating a tracking sub-system with said interventional device, and actuating said tracking sub-system to automatically and continually generate, substantially concurrently with said MRI scanner operation, tracking information corresponding to a location of at least a portion of said interventional device within said operative site; operatively coupling a navigation sub-system to said tracking sub-system, said interventional device, and said imaging MRI scanner sub-system; and configuring said navigation sub-system to operate through the steps of; displaying, substantially in real-time, MR images acquired from said MRI scanner sub-system, integrating said substantially real-time MR images with said tracking information obtained automatically and continually by said tracking sub-system based on gradient fields of said MRI scanner sub-system, and generating coordinates of said tracking sub-system in said operative site, and upon receipt of a command from a user to control the interventional device, issuing a control signal applied to said interventional device to actuate a required motion thereof relative to the target of interest for an intended surgical interaction therewith. - View Dependent Claims (15, 16, 17, 18, 19)
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Specification