Surgical needle for a surgical system with optical recognition

• US 9,668,819 B2
• Filed: 10/07/2014
• Issued: 06/06/2017
• 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): Cattungal, Sanjay
• Application Number:
  US14/508,223
• Publication Number:
  US 20150148668A1
• Time in Patent Office: 973 Days
• Field of Search: 600437-469, 600473-480, 600424, 606130
• 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:

an imaging probe;

a medical tool comprising a tip, wherein the medical tool includes an optically detectable non-repeating pattern extending along a sufficient portion of said tool such that at least a portion of said optically detectable non-repeating pattern remains visible outside of a patient during surgery so as to allow a position of the tip to be determined based on said visible portion;

a visual imaging system in communication with the imaging probe, the visual imaging system comprising a plurality of light-sensitive devices to be arranged outside of the patient, the light-sensitive devices being configured to generate an input and detect said portion of said optically detectable non-repeating pattern that is visible outside of said patient during surgery based on said input, the visual imaging system being configured to resolve the optically detectable non-repeating pattern to identify the medical tool and to track the medical tool; and

a display configured to display an image from the imaging probe and to overlay a real-time representation of the medical tool and tracking information over and registered to said image including the position of the tip, based on the resolved pattern, regardless of whether the tip is obstructed or visible.

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 visual 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 3, wherein the visual imaging system correctly calculates the insertion depth when at least n/kⁿ of the optically detectable pattern is viewable by the visual imaging system, wherein each distinct element of the pattern can have k different values and the complete pattern is kⁿ elements long.

5. The system of claim 1, wherein the visual 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 pattern upon being detected, and wherein the pattern is based on a sequence in which each subsequence of a given minimal fraction appears only once.

6. The system of claim 5, wherein the visual imaging system correctly calculates the insertion depth when only a portion of said minimum fraction of the pattern is viewable by the visual imaging system.

7. The system of claim 1, wherein the pattern comprises one of a De Bruijn sequence or a pseudo random binary code sequence.

8. The system of claim 1, wherein the pattern is one of marked, printed, etched, or applied to the medical tool.

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 visual imaging system, and the visual imaging system is calibrated to an 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 the attachment includes the optically detectable pattern, 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 visual imaging system further comprises:

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 a specific wavelength,

wherein the plurality of light sensitive devices are sensitive to light of the specific wavelength.

14. The system of claim 13, wherein the coating exhibits the 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.

15. The system of claim 1, wherein the plurality of light sensitive devices comprise one or more cameras.

16. A method for image guided surgery comprising:

receiving, by one or more processors, input from one or more light-sensitive devices mounted on an imaging probe and arranged outside of a patient, the input being based on light reflected from a tool, wherein the tool includes an optically detectable non-repeating pattern extending along a sufficient portion of said tool such that at least a portion of said optically detectable non-repeating pattern remains visible outside of a patient during surgery;

detecting, by the one or more processors, the optically detectable non-repeating pattern extending along the tool based on said input from one or more light-sensitive devices;

identifying, by the one or more processors, the tool based on the optically detectable non-repeating pattern;

tracking, by the one or more processors, the tool based on the portion of said optically detectable non-repeating pattern that remains visible outside of said patient during surgery;

calculating, by the one or more processors, one or more candidate tip locations in a three dimensional space using the portion of said optically detectable non-repeating pattern that remains visible outside of said patient during surgery;

receiving, by the one or more processors, images from the imaging probe; and

displaying, by the one or more processors, output from the imaging probe and overlaying a real-time representation of the tool and an insertion depth of the tip and the one or more candidate tip locations.

17. The method of claim 16, wherein the one or more visible features minimize false-positive-detections.

18. The method of claim 16, further comprising:

determining a tool type based on the one or more visible features.

19. The method of claim 18, 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.