Ultrasound system with stereo image guidance or tracking

• US 9,622,720 B2
• Filed: 11/27/2013
• Issued: 04/18/2017
• 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, Foroughi, Pezhman, Rendina, Matthew C., Hager, Gregory Donald, Boctor, Emad Mikhail
• Primary Examiner(s): KISH, JAMES M
• Application Number:
  US14/092,755
• Publication Number:
  US 20150148664A1
• Time in Patent Office: 1,238 Days
• Field of Search: 600407, 600437-472, 600473-480
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• 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 8/0841 for locating instruments
• CPC Class Codes: A61B 8/13 Tomography A61B8/10, A61B8/12 take precedence; tomography for radiation diagnosis A61B6/02
• CPC Class Codes: A61B 8/4254 using sensors mounted on the probe
• CPC Class Codes: A61B 8/4444 related to the probe
• CPC Class Codes: A61B 8/4455 Features of the external shape of the probe, e.g. ergonomic aspects
• CPC Class Codes: A61B 8/461 Displaying means of special interest
• CPC Class Codes: A61B 8/463 characterised by displaying multiple images or images and diagnostic data on one display composite display in devices for short-range imaging with acoustic waves G01S7/52074
• CPC Class Codes: A61B 8/52 Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves image processing per se G06T
• CPC Class Codes: A61B 8/5261 combining images from different diagnostic modalities, e.g. ultrasound and X-ray
• CPC Class Codes: A61B 8/58 Testing, adjusting or calibrating the diagnostic device
• 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

Abstract

An image-guided ultrasound system may include an ultrasound probe, a display configured to communicate with the ultrasound probe to receive ultrasound signals to display images from the ultrasound probe, and an imaging device that may be attached to or integral with the ultrasound probe and configured to communicate with the display to display information derived from images from the imaging device. The imaging device may include a stabilization assembly, an imaging device assembly physically coupled to the stabilization assembly, a plurality of light-sensitive devices physically coupled to the stabilization assembly, and a memory unit physically coupled to the imaging device assembly, the memory unit configured to store calibration or usage information for the image-guided ultrasound system.

Claims

1. An image-guided ultrasound system, comprising:

an ultrasound probe;

a display configured to communicate with the ultrasound probe to receive ultrasound signals to display images from the ultrasound probe; and

an imaging device at least one of removably attached to or integral with said ultrasound probe, the imaging device configured to communicate with an image processing module to process information derived from images from the imaging device, wherein the display receives and displays data from the image processing module,

the imaging device comprising;

a rigid support and stabilization bar comprising a material with a low co-efficient of thermal expansion including a central portion coupled to one or more side portions,

an imaging device housing rigidly coupled to the central portion of the rigid support and stabilization bar,

a plurality of light-sensitive devices physically coupled to the one or more side portions of the rigid support and stabilization bar, a first light-sensitive device of the plurality of light-sensitive devices connected to one side portion of the support and stabilization bar and a second light-sensitive device of the plurality of light-sensitive devices connected to a different side portion of the rigid support and stabilization bar, wherein the rigid support and stabilization bar prevents mechanical and thermal movement between the first light-sensitive device, the second light-sensitive device, and the imaging device housing and forms a single stereo observation device,

at least one light source contained in the imaging device housing, the at least one light source operable to illuminate with light of a particular spectrum one or more tools observed by one or more of the plurality of light-sensitive devices,

a lens mounted in a viewing direction of one or more of the plurality of light-sensitive devices, said lens acting as a filter to allow only light of the particular spectrum into one or more of the plurality of light-sensitive devices, and

electronic memory physically coupled to the imaging device, the electronic memory configured to store at least one of calibration, configuration, and device identification, and further configured to store information for the imaging device, the information including at least one of;

elapsed time or usage since last calibration,

remaining time or usage until next calibration, or

next calibration date.

2. The system of claim 1, wherein the image processing module is configured to receive data from the ultrasound probe, the image processing module containing instructions executable on one or more processors, the instructions comprising:

receiving a selection of a target in the images from the ultrasound probe;

tracking a tool;

displaying the tool in the display;

calculating a distance between the tool and the target;

outputting audio, wherein audio changes are based on the calculated distance between the tool and the target; and

displaying the calculated distance between the tool and the target.

3. The system of claim 2, wherein the tool is a needle and the instructions further comprise:

indicating a needle tip in the display.

4. The system of claim 2, wherein the instructions further comprise:

displaying the tracked tool as a line; and

representing a quality of the tool tracking.

5. The system of claim 1, wherein the image processing module is configured to receive data from the ultrasound probe, the image processing module containing instructions executable on one or more processors, the instructions comprising:

tracking a tool;

displaying the tool in the display; and

outputting visual cues as to an observed length of the tracked tool observed by one or more of the plurality of light-sensitive devices.

6. The system of claim 1, wherein the image processing module is configured to receive data from the ultrasound probe, the image processing module containing instructions executable on one or more processors, the instructions comprising:

tracking a tool;

displaying the tool in the display; and

indicating a loss of visibility of the tracked tool by one or more of the plurality of light-sensitive devices through displaying visual alerts.

7. The system of claim 1, wherein the support and stabilization bar has a co-efficient of thermal expansion equal to or less than 22.2 [10^-6 (m/mK)].

8. The system of claim 1, wherein a surgical tool is registered with the imaging device, and a representation of the surgical tool is presented on the display.

9. A method for performing an image-guided procedure, comprising:

scanning a region of interest with an image-guided ultrasound probe;

receiving ultrasound data from said probe of a peripheral region proximate to said region of interest, wherein an imaging device housing is coupled to said probe, the imaging device housing containing a plurality of light-sensitive devices rigidly attached at fixed positions relative to each other and to the probe;

employing a tool for use within said region of interest and within said peripheral region such that at least a portion of said tool is visible to the plurality of light-sensitive devices;

enhancing visibility of said tool to one or more of the plurality of light-sensitive devices by;

illuminating said tool with light of a particular spectrum from at least one light source contained in the imaging device housing and

filtering light received by the one or more of the plurality of light-sensitive devices to allow only light of the particular spectrum; and

at least one of tracking or guiding said tool during said image-guided procedure based on imaging information from the plurality of light-sensitive devices,

wherein the plurality of light-sensitive devices are attached to a rigid support and stabilization bar comprising a material with a low co-efficient of thermal expansion including a central portion coupled to one or more side portions, the plurality of light-sensitive devices rigidly coupled to the one or more side portions, a first light-sensitive device of the plurality of light-sensitive devices connected to one side portion of the rigid support and stabilization bar and a second light-sensitive device connected to a different side portion of the rigid support and stabilization bar, the central portion rigidly connected to the imaging device housing, the support and stabilization bar preventing mechanical and thermal movement among each of the plurality of light-sensitive devices and between each of the plurality of light-sensitive devices and the imaging device housing, and

wherein said probe further comprises electronic memory physically coupled to the imaging device, the electronic memory configured to store at least one of calibration, configuration, and device identification data, and further configured to store information for the imaging device, the information including at least one of;

elapsed time or usage since last calibration,

remaining time or usage until next calibration, or

next calibration date.

10. The method of claim 9 further comprising:

displaying the ultrasound data from the probe;

receiving a selection of a target in the displayed ultrasound data; and

display positioning assisting information to assist in positioning the tool close to the target and at least one of;

indicating a loss of visibility of the tracked tool by one or more light-sensitive devices of the plurality of light-sensitive devices through the displaying of a visual alert,

indicating audibly or visually a distance of the tool to a target, or

displaying visual cues as to an observed length of the tracked tool within an observation volume of the one or more light-sensitive devices.

11. The method of claim 9, further comprising:

displaying the ultrasound data from the probe;

receiving a selection of a target in the displayed ultrasound data; and

displaying positioning-assisting information to assist in positioning the tool close to the target, wherein the displayed positioning assisting information comprises displaying intersection information between the tool and a non-infinitesimally thin ultrasound imaging plane, wherein a displayed line represents a trajectory of the tool, and a non-zero length intersection of the tool trajectory and the imaging plane is visually represented by on the displayed line, wherein the visual representation denotes an extent of the intersection.

12. The method of claim 9, wherein the plurality of light-sensitive devices comprise one or more cameras, the method of claim 9 further comprising:

preventing interference from shadows by diffusing outputted light from the at least one light source.

13. The method of claim 12, wherein the at least one light source is diffused using a light diffuser, wherein the light diffuser is mounted directly in front of the at least one light source, wherein the at least one light source comprises at least one of LEDs, CFLs, incandescent bulbs, or lasers, and wherein the light diffuser comprises at least one of a pane of frosted transparent material, a pane of shaped transparent material, cellophane, fine mesh, or translucent adhesive tape.

14. The method of claim 9, further comprising at least one of:

retrieving the data on elapsed time or usage since last calibration from the electronic memory, and running a first check on whether said elapsed time or usage is less than a fixed maximum period;

retrieving the data on remaining time or usage until next calibration from the electronic memory, and running a second check on whether said remaining time or usage is greater than zero; and

displaying a calibration alert when the first check or the second check returns false.