Method and apparatus for invasive device tracking using organ timing signal generated from MPS sensors

• US 9,956,049 B2
• Filed: 02/09/2017
• Issued: 05/01/2018
• Est. Priority Date: 05/18/1999
• Status: Expired due to Term

• Current Assignee: ST JUDE MEDICAL INTERNATIONAL HOLDING S. R.L.
• Original Assignee: MediGuide Ltd (Abbott Laboratories)
• Inventors: Shmarak, Itzhak, Strommer, Gera, Eichler, Uzi
• Primary Examiner(s): Peng, Bo J
• Application Number:
  US15/428,497
• Publication Number:
  US 20170151023A1
• Time in Patent Office: 446 Days
• CPC Class Codes: A61B 2017/00699 correcting for movement caused by respiration, e.g. by triggering
• CPC Class Codes: A61B 2017/00703 correcting for movement of heart, e.g. ECG-triggered
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/256 having a database of accessory information, e.g. including context sensitive help or scientific articles
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/367 creating a 3D dataset from 2D images using position information
• CPC Class Codes: A61B 2090/372 Details of monitor hardware
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3958 emitting a signal
• CPC Class Codes: A61B 2505/05 Surgical care
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• 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 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/061 : Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body A61B1/00158 takes precedence
• CPC Class Codes: A61B 5/066 : Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
• CPC Class Codes: A61B 5/0816 : Measuring devices for examining respiratory frequency measuring frequency of electric signals G01R23/00
• CPC Class Codes: A61B 5/11 : Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb for measuring pulse A61B5/02 ;A61B5/1038 takes precedence; motion detection to correct for motion artifacts in physiological signals A61B5/721
• CPC Class Codes: A61B 5/1102 : Ballistocardiography
• CPC Class Codes: A61B 5/1107 : Measuring contraction of parts of the body, e.g. organ, muscle apparatus for measuring work or force in general G01L
• CPC Class Codes: A61B 5/1128 : using image analysis A61B5/1127 takes precedence
• CPC Class Codes: A61B 5/113 : occurring during breathing
• CPC Class Codes: A61B 5/352 : Detecting R peaks, e.g. for synchronising diagnostic apparatus; Estimating R-R interval
• CPC Class Codes: A61B 5/7207 : of noise induced by motion artifacts
• CPC Class Codes: A61B 5/721 : using a separate sensor to detect motion or using motion information derived from signals other than the physiological signal to be measured
• CPC Class Codes: A61B 5/7275 : Determining trends in physiological measurement data; Predicting development of a medical condition based on physiological measurements, e.g. determining a risk factor
• CPC Class Codes: A61B 5/7289 : Retrospective gating, i.e. associating measured signals or images with a physiological event after the actual measurement or image acquisition, e.g. by simultaneously recording an additional physiological signal during the measurement or image acquisition
• CPC Class Codes: A61B 5/742 : using visual displays A61B5/339 takes precedence
• CPC Class Codes: A61B 6/032 : Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/037 : Emission tomography
• CPC Class Codes: A61B 6/12 : Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/503 : for diagnosis of the heart
• CPC Class Codes: A61B 6/504 : for diagnosis of blood vessels, e.g. by angiography
• CPC Class Codes: A61B 6/527 : using data from a motion artifact sensor
• CPC Class Codes: A61B 6/541 : involving acquisition triggered by a physiological signal
• CPC Class Codes: A61B 6/547 : involving tracking of position of the device or parts of the device
• CPC Class Codes: A61B 8/02 : Measuring pulse or heart rate
• CPC Class Codes: A61B 8/0833 : involving detecting or locating foreign bodies or organic structures
• CPC Class Codes: A61B 8/0841 : for locating instruments
• CPC Class Codes: A61B 8/0883 : for diagnosis of the heart
• CPC Class Codes: A61B 8/0891 : for diagnosis of blood vessels
• CPC Class Codes: A61B 8/12 : in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/4245 : involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
• CPC Class Codes: A61B 8/4254 : using sensors mounted on the probe
• CPC Class Codes: A61B 8/5276 : due to motion
• CPC Class Codes: A61B 90/10 : for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61N 5/1067 : in real time, i.e. during treatment

Abstract

Apparatus for generating an organ timing signal relating to an inspected organ within the body of a patient, including a medical positioning system, and a processor coupled with the medical positioning system, the medical positioning system including at least one reference electromagnetic transducer placed at a reference location, at least one inner electromagnetic transducer attached to a surgical tool inserted in a blood vessel in the vicinity of the inspected organ, and a medical positioning system processor coupled with the reference electromagnetic transducer and the inner electromagnetic transducer, the medical positioning system processor determining the three-dimensional position of the inner electromagnetic transducer, by processing transmitted electromagnetic signals transmitted from one of the reference electromagnetic transducer and the inner electromagnetic transducer with detected electromagnetic signals detected by the other of the reference electromagnetic transducer and the inner electromagnetic transducer, the medical positioning system processor further generating medical positioning system data sets, each of the medical positioning system data sets including a collection of three-dimensional position coordinate readings demonstrating the motion trajectory of the surgical tool over time, the processor generating the organ timing signal from the medical positioning system data sets by detecting and identifying periodic motion frequencies in the medical positioning system data sets, and filtering the periodic motion frequencies from the medical positioning system data sets.

Claims

1. An apparatus for generating an organ timing signal relating to an organ within a body of a patient, said apparatus comprising:

a medical positioning system (MPS) including an electromagnetic sensor configured to be attached to an external area of the patient body, said MPS being configured to determine a three-dimensional position of said sensor and thereby the external area of the patient body by processing transmitted electromagnetic signals transmitted by the MPS with detected electromagnetic signals detected by the sensor, said MPS further generating time-tagged MPS data sets, each of said MPS data sets comprising a collection of three-dimensional position coordinate readings wherein each of the readings is associated with a respective time at which the reading was obtained, said readings demonstrating the overall motion trajectory of said sensor over time; and

a processor coupled with said MPS, generating said organ timing signal from said MPS data sets by detecting and identifying periodic motion frequencies in said time-tagged MPS data sets, and filtering said periodic motion frequencies from said MPS data sets so as to separate out said periodic motion frequencies corresponding to said organ timing signal from said overall motion trajectory of said sensor.

2. The apparatus according to claim 1 wherein said MPS determines the three-dimensional position of said sensor with respect to a reference location.

3. The apparatus according to claim 2 wherein said reference location is stationary with respect to said body of the patient.

4. The apparatus according to claim 1 wherein said three-dimensional position of said sensor is for movement compensation.

5. The apparatus according to claim 1, further comprising at least one additional electromagnetic sensor attached to a known area on the surface on which said patient rests, said electromagnetic sensor obtaining three-dimensional position information of said area, for compensating for movement of said patient.

6. The apparatus according to claim 1, wherein said processor reconstructs a respiratory trajectory from said MPS data sets and said filtered periodic motion frequencies, said respiratory trajectory representing a mechanical movement of said patient originating from respiratory motion.

7. The apparatus according to claim 6, wherein said processor detects phase information of said organ by identifying a plurality of phases on said reconstructed respiratory trajectory.

8. The apparatus according to claim 7, wherein said organ is a lung.

9. The apparatus according to claim 7, wherein said sensor is a first sensor and wherein said time-tagged MPS data sets are first time-tagged MPS data sets;

and

said MPS being configured to determine a three-dimensional position of a second electromagnetic sensor attached to a surgical tool configured to be inserted in the body of the patient, said MPS further generating second time-tagged MPS data sets, each of said second MPS data sets comprising a collection of three-dimensional position coordinate readings wherein each of the readings is associated with a respective time at which the reading was obtained and which demonstrate the overall motion trajectory of said surgical tool over time.

10. The apparatus according to claim 9, wherein said processor constructs trajectories of said surgical tool within said patient body, according to said second time-tagged MPS data sets, respective of different phases of said respiratory trajectory.

11. The apparatus according to claim 9, wherein said organ is a first organ and said organ timing signal is a first organ timing signal, said surgical tool being inserted in a blood vessel in the patient'"'"'s body in a vicinity of a second, inspected organ different from said first organ, said processor generating a second organ timing signal from said second time-tagged MPS data sets by detecting and identifying periodic motion frequencies in said second time-tagged MPS data sets, and filtering said periodic motion frequencies from second time-tagged said MPS data sets so as to separate out said periodic motion frequencies corresponding to said second organ timing signal from said overall motion trajectory of said surgical tool.

12. The apparatus according to claim 11 wherein said processor further reconstructs a cardiac trajectory from said second time-tagged MPS data sets and said filtered periodic motion frequencies, said cardiac trajectory representing a mechanical movement of a blood vessel originating from cardiac motion.

13. The apparatus according to claim 12 wherein said processor further detects phase information of said second, inspected organ by identifying a plurality of phases on said reconstructed cardiac trajectory.

14. The apparatus according to claim 13 wherein said first organ is a lung and said second, inspected organ is a heart.

15. The apparatus according to claim 13, further comprising:

a database coupled with said MPS and with said processor, said database storing at least said first and second MPS data sets; and

a medical imaging device coupled with said database, said medical imaging device including an image detector, said medical imaging device acquiring a plurality of two-dimensional images of said second, inspected organ via said image detector, said database further storing at least said plurality of two-dimensional images,

wherein said processor further associates between said acquired two-dimensional images, said first and second MPS data sets, and said cardiac phase information, and constructs trajectories of said surgical tool guided within said blood vessel, respective of different phases of said second, inspected organ.

16. The apparatus according to claim 15, wherein said medical imaging device includes an image acquisition system selected from the group comprising:

ultrasound;

intra-vascular ultrasound;

X-ray;

C-arm machine;

fluoroscopy;

angiography;

computerized tomography;

nuclear magnetic resonance;

positron-emission tomography; and

single-photon-emission tomography.

17. The apparatus according to claim 13, further comprising a display coupled with said processor, said display presenting a motion picture of said second, inspected organ, said motion picture presenting the trajectory of said surgical tool guided within said blood vessel, respective of different phases of said second, inspected organ.

18. The apparatus according to claim 1, further comprising a database coupled with said MPS and with said processor, said database storing at least said MPS data sets.

19. The apparatus according to claim 18, further comprising a medical imaging device coupled with said database, said medical imaging device including an image detector, said medical imaging device acquiring a plurality of two-dimensional images of said organ via said image detector, said database further storing at least said plurality of two-dimensional images.

20. A method for generating an organ timing signal relating to an organ within a body of a patient, the method comprising:

determining a three-dimensional position of an electromagnetic sensor configured to be attached to an external area of the patient'"'"'s body to thereby determine the three-dimensional position of the external area, by processing transmitted electromagnetic signals transmitted by a medical positioning system with detected electromagnetic signals detected by the sensor;

generating time-tagged MPS data sets comprising a collection of time-tagged three-dimensional position coordinate readings wherein each of the readings is associated with a respective time at which the reading was obtained, the readings demonstrating the overall motion trajectory of the sensor over time;

detecting and identifying periodic motion frequencies in said time-tagged MPS data sets; and

filtering said periodic motion frequencies from said MPS data sets so as to separate said periodic motion frequencies corresponding to said organ timing signal from said overall motion trajectory of said sensor.

21. An apparatus for generating an organ timing signal relating to an organ within a body of a patient, said apparatus comprising:

a medical positioning system (MPS) including an electromagnetic sensor configured to be attached to an invasive surgical tool configured to be inserted into the patient body, said MPS being configured to determine a three-dimensional position of said sensor and thereby said surgical tool by processing transmitted electromagnetic signals transmitted by the MPS with detected electromagnetic signals detected by the sensor, said MPS further generating time-tagged MPS data sets, each of said MPS data sets comprising a collection of three-dimensional position coordinate readings wherein each of the readings is associated with a respective time at which the reading was obtained, said readings demonstrating the overall motion trajectory of said surgical tool over time; and

a processor coupled with said MPS, generating said organ timing signal from said MPS data sets by detecting and identifying periodic motion frequencies in said time-tagged MPS data sets, and filtering said periodic motion frequencies from said MPS data sets so as to separate out said periodic motion frequencies corresponding to said organ timing signal from said overall motion trajectory of said surgical tool.