WO2000069335B1 - Medical positioning system - Google Patents

Medical positioning system

Info

Publication number
WO2000069335B1
WO2000069335B1 PCT/IL2000/000279 IL0000279W WO0069335B1 WO 2000069335 B1 WO2000069335 B1 WO 2000069335B1 IL 0000279 W IL0000279 W IL 0000279W WO 0069335 B1 WO0069335 B1 WO 0069335B1
Authority
WO
WIPO (PCT)
Prior art keywords
location
orientation
detector
dimensional
ultrasound
Prior art date
Application number
PCT/IL2000/000279
Other languages
French (fr)
Other versions
WO2000069335A1 (en
Inventor
Gera Strommer
Uzi Eichler
Original Assignee
Elbit Systems Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=23220098&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2000069335(B1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Elbit Systems Ltd filed Critical Elbit Systems Ltd
Priority to AU46076/00A priority Critical patent/AU4607600A/en
Priority to JP2000617795A priority patent/JP5005128B2/en
Priority to CA2373295A priority patent/CA2373295C/en
Priority to EP00927691A priority patent/EP1185199A4/en
Priority to IL14652600A priority patent/IL146526A0/en
Publication of WO2000069335A1 publication Critical patent/WO2000069335A1/en
Publication of WO2000069335B1 publication Critical patent/WO2000069335B1/en
Priority to IL146526A priority patent/IL146526A/en

Links

Classifications

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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
    • A61B8/461—Displaying means of special interest
    • A61B8/463—Displaying means of special interest characterised by displaying multiple images or images and diagnostic data on one display
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0062—Arrangements for scanning
    • A61B5/0066—Optical coherence imaging
    • A—HUMAN NECESSITIES
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    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
    • A61B5/061—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
    • A61B5/062—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 using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
    • A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
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    • A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
    • A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
    • A61B8/0841—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating instruments
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    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
    • A61B8/4254—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient using sensors mounted on the probe
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    • A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
    • A61B8/5238—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image
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    • A61B34/25—User interfaces for surgical systems
    • A61B2034/256—User interfaces for surgical systems having a database of accessory information, e.g. including context sensitive help or scientific articles
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    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A61B2090/306—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure using optical fibres
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    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
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    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/367—Correlation of different images or relation of image positions in respect to the body creating a 3D dataset from 2D images using position information
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • A61B2090/3782—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • A61B2090/3782—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument
    • A61B2090/3784—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument both receiver and transmitter being in the instrument or receiver being also transmitter
    • A—HUMAN NECESSITIES
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    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3954—Markers, e.g. radio-opaque or breast lesions markers magnetic, e.g. NMR or MRI
    • A61B2090/3958—Markers, e.g. radio-opaque or breast lesions markers magnetic, e.g. NMR or MRI emitting a signal
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    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/01—Measuring temperature of body parts ; Diagnostic temperature sensing, e.g. for malignant or inflamed tissue
    • A61B5/015—By temperature mapping of body part
    • A—HUMAN NECESSITIES
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    • A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
    • A61B5/316—Modalities, i.e. specific diagnostic methods
    • A61B5/318—Heart-related electrical modalities, e.g. electrocardiography [ECG]
    • A61B5/346—Analysis of electrocardiograms
    • A61B5/349—Detecting specific parameters of the electrocardiograph cycle
    • A61B5/352—Detecting R peaks, e.g. for synchronising diagnostic apparatus; Estimating R-R interval
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    • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras

Abstract

System (100) includes a position, and orientation processor (102), a super imposing processor (104), a sensor interface (106), a main sensor (110), an auxiliary sensor (112), a 3D electromagnetic field generator (108), an image interface (116), a3D database (120), and a display unit (114). It is noted that system (100) can include additional 3D electromagnetic field generators.

Claims

AMENDED CLAIMS[received by the International Bureau on 11 December 2000 (11.12.00); original claims 1-53 replaced by amended claims 1-58 (10 pages)]
1 . Apparatus for determining the position and orientation of a surgical tool relative to a reference frame, in association with an image, comprising: a magnetic field transmitter, including at least one magnetic field generating element; a detection probe including at least one magnetic field detector; a signal generation module, connected to said at least one magnetic field generating element; a detection processor, connected to said detection probe; and mounting means, for mounting onto said surgical tool, said signal generation module determining a multiple frequency transmit signal and providing said multiple frequency transmit signal to said magnetic field transmitter, said detection processor receiving a detected signal from said detection probe, at least a portion of said detected signal corresponding to said multiple frequency transmitted signal, determining the location and orientation of said detection probe from the power of said at least a portion of said detected signal, and indicating the location of said surgical tool within said image.
2. The apparatus according to claim 1 , wherein said detection probe includes at least three magnetic field detectors.
3. The apparatus according to claim 1 , wherein the number of said at least one magnetic generating element is at least three.
4. The apparatus according to claim 1 , wherein said signal generation module comprises a digital to analog converter and a signal processor connected thereto, said signal processor determining a digital transmit signal, said digital to analog converter converting said digital signal to a respective analog signal, and providing said analog signal to said magnetic field transmitter.
5. The apparatus according to claim 4, wherein said digital signal includes at least one channel.
6. The apparatus according to claim 5, wherein each said at least one channel includes at least one frequency.
7. The apparatus according to claim 1 , wherein transmit signal includes at least one frequency.
8. The apparatus according to claim 5, wherein each said at least one channel includes at least three frequencies.
9. The apparatus according to claim 1 , further comprising: an ultra-sound detector, connected to said detection processor,
said ultrasound detector capturing a plurality of ultrasound frames;
and
an image location and orientation detector, mounted on said
ultrasound detector, and connected to said detection processor, said
image location and orientation detector detecting the location and
orientation of each said ultrasound frames,
wherein said detection processor constructs said image from
said ultrasound frames and the detected location and orientation of
each said frames with respect to the detected location and orientation
of said surgical tool.
10. The apparatus according to claim 1 , wherein said detection probe is wirelessly connected to said detection processor.
11. The apparatus according to claim 5, wherein each said at least one channel includes a plurality of frequencies and wherein said frequencies are transmitted in accordance with a predetermined sequence.
12. A medial device comprising: a housing a magnetic detection probe, for detecting a plurality of magnetic fields; a biometric unit; and a controller, connected to said magnetic detection probe, said biometric unit and to a storage unit, wherein said controller receives magnetic field detection information from said magnetic detection probe, wherein said controller operates said biometric unit in association with said magnetic field detection information.
13. The medial device according to claim 12, further comprising a transmitter connected to said controller for transmitting said magnetic field detection information.
14. The medial device according to claim12, wherein said biometric unit includes at least one of the devices in the list consisting of: an image detection unit; a substance releasing unit; and a biometric sampling unit.
15. The medial device according to claim 12 further comprising a storage unit, connected to said controller, for storing said magnetic field detection information.
16. The medial device according to claim 15, wherein said biometric unit comprises a biomedical sensor, wherein said biometric unit provides said controller detected biometric information and wherein said controller produces a plurality of records, each said records including a portion of said biometric information and a respective portion of said detected magnetic field information.
17. The medial device according to claim 16 further comprising a storage unit, wherein said controller stores said records in said storage unit.
18. The medial device according to claim 16 further comprising a wireless transmitter, connected to said controller, wherein said controller provides said records to said wireless transmitter and wherein said wireless transmitter transmits said records to an external receiver.
19. The medial device according to claim 12 wherein said plurality of magnetic fields are generated by an external transmitter.
20. The medial device according to claim 19 wherein said plurality of magnetic fields are generated by said external transmitter in accordance with a predetermined sequence.
21. The medial device according to claim 19 wherein said plurality of magnetic fields are generated by said external transmitter, continuously.
22. Method for calibrating a reference image onto a volume, from which the image is produced, the method comprising the steps of: determining a plurality of locations in said volume, said locations being visible, said locations being present in said reference image; detecting a magnetic field reading in each said locations; and calibrating said reference image with respect to said magnetic field readings, onto said volume.
23. The method according to claim 22, further comprising the steps of: receiving additional magnetic field readings, each in an additional location within said volume; and determining the location and orientation of said additional location, within said reference frame.
24. Imaging system comprising: an inner body ultrasound detector; and a location and orientation detector, located in proximity of said inner body ultrasound detector, wherein said inner body ultrasound detector detects a plurality of two-dimensional images, wherein said location and orientation detector detects the location and orientation of each said two-dimensional images.
25. The imaging system according to claim 24, further comprising a three dimensional image generator, connected to said inner body ultrasound detector and to said location and orientation detector, wherein said three dimensional image generator processes said two-dimensional images, each with its respecting location and orientation information, thereby producing a three dimensional image.
26. The imaging system according to claim 25, further comprising a storage unit connected between said three dimensional image generator and said inner body ultrasound detector and said location and orientation detector, for intermediately storing said two-dimensional images, each with its respecting location and orientation information.
27. The imaging system according to claim 25, further comprising a combining processor, connected to said three dimensional image, and interfacing at least one additional location and orientation detector, wherein said combining processor receives additional location and orientation information from said at least one additional location and orientation detector, and wherein said combining processor produces an indication of said additional location and orientation information onto said three-dimensional image.
28. The imaging system according to claim 24, wherein said inner body ultrasound detector includes an angular ultrasound transceiver.
29. The imaging system according to claim 24, wherein said inner body ultrasound detector includes a radial ultrasound transceiver.
30. The imaging system according to claim 24, wherein said inner body ultrasound detector includes an inner vascular ultrasound transceiver.
31. The imaging system according to claim 24, wherein said location and orientation detector includes at least one axial magnetic detector.
32. The imaging system according to claim 24, wherein said location and orientation detector detects magnetic field in at least one axial magnetic direction.
33. The imaging system according to claim 24, wherein said location and orientation detector detects magnetic field in at least one frequency.
34. The imaging system according to claim 32, wherein said location and orientation detector detects magnetic field in at least one frequency in each said at least one axial magnetic direction.
35. The imaging system according to claim 24, wherein said location and orientation detector is mounted on said inner body ultrasound detector.
36. The imaging system according to claim 24, wherein said inner body ultrasound detector is mounted on a catheter and wherein said location and orientation detector is mounted on the tip of said catheter, in the vicinity of said inner body ultrasound detector.
37. The imaging system according to claim 24, wherein said inner body ultrasound detector includes an inner vascular ultrasound transceiver.
38. The imaging system according to claim 24, further comprising a surgical tool location and orientation detector, to be mounted on a surgical tool, said surgical tool location and orientation detector detecting the location and orientation of said surgical tool, in the coordinate system of said location and orientation detector.
39. The imaging system according to claim 24, further comprising a processor, for reconstructing a three dimensional image from said two dimensional images, by placing said two dimensional images in a three dimensional volume, each according to its respective detected location and orientation.
40. The imaging system according to claim 39, further comprising a surgical tool location and orientation detector, to be mounted on a surgical tool, said surgical tool location and orientation detector detecting the location and orientation of said surgical tool, in the coordinate system of said location and orientation detector.
41. The imaging system according to claim 40, wherein said processor further adds a representation of said surgical tool onto said three dimensional volume, according to detected location and orientation of said surgical tool.
42. Method for producing a three dimensional image, comprising the steps of: detecting a plurality of two-dimensional ultrasound images, from the inner section of a scanned volume; detecting the location and orientation of a selected vector in each said two dimensional ultrasound images; and determining a three dimensional representation for each said two-dimensional images, according to the location and orientation thereof.
43. The method according to claim 42, further comprising the step of producing a three-dimensional image from said three-dimensional representations.
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44. The method according to claim 43, further comprising the step of receiving additional location and orientation information and producing an indication thereof onto said three-dimensional image.
45. The method according to claim 44, further comprising the step of producing a visible representation of said three-dimensional image and said indication.
46. The method according to claim 42, further comprising the step of inserting an ultrasound detector into said inner section of said scanned volume.
47. The method according to claim 42, wherein said two-dimensional ultrasound images include angular two-dimensional ultrasound images.
48. The method according to claim 42, wherein said two-dimensional ultrasound images include radial two-dimensional ultrasound images.
49. Apparatus according to any of claims 1-11 substantially as described herein above.
50. Apparatus according to any of claims 1-11 substantially as illustrated in any of the drawings.
51. Medical device according to any of claims 12-21 substantially as described herein above.
52. Medical device according to any of claims 12-21 substantially as illustrated in any of the drawings.
-51 -
53. A method according to any of claims 22-23 substantially as described herein above.
54. A method according to any of claims 22-23 substantially as illustrated in any of the drawings.
55. Image system according to any of claims 24-41 substantially as described herein above.
56. Image system according to any of claims 24-41 substantially as illustrated in any of the drawings.
57. Method as described in any of claims 42-48 substantially as described herein above.
58. Method as described in any of claims 42-48 substantially as illustrated in any of the drawings.
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PCT/IL2000/000279 1999-05-18 2000-05-18 Medical positioning system WO2000069335A1 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
AU46076/00A AU4607600A (en) 1999-05-18 2000-05-18 Medical positioning system
JP2000617795A JP5005128B2 (en) 1999-05-18 2000-05-18 Medical positioning system
CA2373295A CA2373295C (en) 1999-05-18 2000-05-18 Medical positioning system
EP00927691A EP1185199A4 (en) 1999-05-18 2000-05-18 Medical positioning system
IL14652600A IL146526A0 (en) 1999-05-18 2000-05-18 Medical positioning system
IL146526A IL146526A (en) 1999-05-18 2001-11-15 Medical positioning system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US09/314,474 US6233476B1 (en) 1999-05-18 1999-05-18 Medical positioning system
US09/314,474 1999-05-18

Publications (2)

Publication Number Publication Date
WO2000069335A1 WO2000069335A1 (en) 2000-11-23
WO2000069335B1 true WO2000069335B1 (en) 2001-02-08

Family

ID=23220098

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AU4607600A (en) 2000-12-05
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CA2373295A1 (en) 2000-11-23
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