Patent Application
20100030063
The present disclosure relates generally to navigated surgery, and more specifically, to systems and methods for tracking an instrument, such as an elongated flexible body.
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
Image guided medical and surgical procedures utilize patient images (image data) obtained prior to or during a medical procedure to guide a physician performing the procedure. Recent advances in imaging technology, especially in imaging technologies that produce highly-detailed, two, three, and four dimensional images, such as computed tomography (CT), magnetic resonance imaging (MRI), fluoroscopic imaging (such as with a C-arm device), positron emission tomography (PET), and ultrasound imaging (US) has increased the interest in navigated medical procedures.
Generally, during a navigated procedure, images are acquired by a suitable imaging device for display on a workstation. The navigation system tracks the patient, instruments and other devices in the surgical field or patient space. These tracked devices are then displayed relative to the image data on the workstation in image space. In order to track the patient, instruments and other devices, the patient, instruments and other devices can be equipped with tracking devices.
Typically, tracking devices are coupled to an exterior surface of the instrument, and can provide the surgeon, via the tracking system, an accurate depiction of the location of that instrument in the patient space. In cases where the instrument is an elongated flexible body for insertion into an anatomical structure, it may be difficult to determine the shape of the instrument within the anatomical structure.
A system for tracking an instrument relative to an anatomical structure is provided. The system can include at least one tracking device, which can be coupled to the instrument. The system can also include a shape sensor coupled to the instrument that can determine a shape of the instrument. The system can include a tracking system that can track a position of the at least one tracking device relative to the anatomical structure. The system can further include a navigation system that can determine a position and shape of the instrument relative to the anatomical structure based on the position of the at least one tracking device determined by the tracking system and the shape of the instrument as sensed by the shape sensor.
Further provided is a method for tracking an instrument relative to an anatomical structure. The method can include positioning at least one tracking device on the instrument, coupling a shape sensor to the instrument and tracking the at least one tracking device relative to the anatomical structure. The method can also include sensing a shape of the instrument, and determining, based on the tracking of the at least one tracking device and the shape of the instrument, a position of instrument relative to the anatomical structure. The method can also include displaying the position of the instrument and the shape of the instrument relative to the anatomical structure as an icon superimposed on an image of the anatomical structure.
Also provided is a system for tracking an instrument relative to an anatomical structure. The system can include an elongated flexible body, which can have a proximal end and a distal end for insertion into the anatomical structure. The system can also include at least one tracking device, which can be coupled to the proximal end, the distal end, a portion of the elongated flexible body between the proximal end and the distal end or combinations thereof. The system can include at least one optical fiber coupled to the elongated flexible body that includes a plurality of strain sensors, and a tracking system that can track a position of the tracking device relative to the anatomical structure. The system can further include an optical system that can read the plurality of strain sensors on the at least one optical fiber. The system can include a navigation system that can determine a position of the elongated flexible body based on the tracking of the first tracking device and a shape of the elongated flexible body based on the reading of the plurality of strain sensors. The system can also include a display that can display an image of the anatomical structure with the position and shape of the elongated flexible body superimposed on the anatomical structure.
Further areas of applicability will become apparent from the description provided herein. It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure.
The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way.
The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate like or corresponding parts and features. As indicated above, the present teachings are directed toward providing a system and method for tracking an instrument for use in a navigated surgical procedure. It should be noted, however, that the present teachings could be applicable to any appropriate procedure in which it is desirable to determine a shape of an elongated body within a structure in which the elongated body is flexible and hidden from view. Further, as used herein, the term “module” can refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor (shared, dedicated, or group) and memory that executes one or more software or firmware programs, a combinational logic circuit, and/or other suitable software, firmware programs or components that provide the described functionality. Therefore, it will be understood that the following discussions are not intended to limit the scope of the appended claims.
The navigation system 10 may include an imaging device 14 that is used to acquire pre-, intra-, or post-operative or real-time image data of a patient 12. Alternatively, various imageless systems can be used or images from atlas models can be used to produce patient images, such as those disclosed in U.S. Patent Pub. No. 2005-0085714, filed Oct. 16, 2003, entitled “Method And Apparatus For Surgical Navigation Of A Multiple Piece Construct For Implantation,” incorporated herein by reference. The imaging device 14 can be, for example, a fluoroscopic x-ray imaging device that may be configured as an O-arm™ or a C-arm 16 having an x-ray source 18, an x-ray receiving section 20, an optional calibration and tracking target 22 and optional radiation sensors 24. It will be understood, however, that patient image data can also be acquired using other imaging devices, such as those discussed above and herein.
In operation, the imaging device 14 generates x-rays from the x-ray source 18 that propagate through the patient 12 and calibration and/or tracking target 22, into the x-ray receiving section 20. This allows real-time visualization of the patient 12 and radio-opaque instruments, via the X-rays. In the example of
When the x-ray source 18 generates the x-rays that propagate to the x-ray receiving section 20, the radiation sensors 24 can sense the presence of radiation, which is forwarded to an imaging device controller 28, to identify whether or not the imaging device 14 is actively imaging. This information can also be transmitted to a coil array controller 48, further discussed herein.
The imaging device controller 28 can capture the x-ray images received at the x-ray receiving section 20 and store the images for later use. Multiple two-dimensional images taken by the imaging device 14 may also be captured and assembled by the imaging device controller 28 to provide a larger view or image of a whole region of the patient 12, as opposed to being directed to only a portion of a region of the patient 12. For example, multiple image data of a leg of the patient 12 may be appended together to provide a full view or complete set of image data of the leg that can be later used to follow contrast agent, such as Bolus tracking. The imaging device controller 28 may also be separate from the C-arm 16 and/or control the rotation of the C-arm 16. For example, the C-arm 16 can move in the direction of arrow A or rotate about the longitudinal axis 12a of the patient 12, allowing anterior or lateral views of the patient 12 to be imaged. Each of these movements involves rotation about a mechanical rotational axis 32 of the C-arm 16. The movements of the imaging device 14, such as the C-arm 16 can be tracked with a tracking device 33.
While the imaging device 14 is shown in
In addition, image datasets from hybrid modalities, such as positron emission tomography (PET) combined with CT, or single photon emission computer tomography (SPECT) combined with CT, could also provide functional image data superimposed onto anatomical data to be used to confidently reach target sites within the patient 12. It should further be noted that the imaging device 14, as shown in
If the imaging device 14 is employed, patient image data 100 can be forwarded from the imaging device controller 28 to a navigation computer and/or processor or workstation 34. It will also be understood that the patient image data 100 is not necessarily first retained in the imaging device controller 28, but may also be directly transmitted to the workstation 34. The workstation 34 can include the display 36, a user input device 38 and a control module 101. The workstation 34 can also include or be connected to an image processor, navigation processor, and memory to hold instruction and data. The workstation 34 can provide facilities for displaying the patient image data 100 as an image on the display 36, saving, digitally manipulating, or printing a hard copy image of the received patient image data 100.
The user input device 38 can comprise any device that can enable a user to interface with the workstation 34, such as a touchpad, touch pen, touch screen, keyboard, mouse, wireless mouse, or a combination thereof. The user input device 38 allows a physician or user 39 to provide inputs to control the imaging device 14, via the imaging device controller 28, adjust the display settings of the display 36, or control a tracking system 44, as further discussed herein.
The control module 101 can determine the location of a tracking device 58 with respect to the patient space, and can determine a position of the instrument 52 in the patient space. The control module 101 can also determine a shape of the instrument 52 relative to the patient space, and can output image data 102 to the display 36. The image data 102 can include the icon 103 that provides an indication of a location of the instrument 52 with respect to the patient space, illustrated on the patient image data 100, as will be discussed herein.
With continuing reference to
The tracking device 58 or any appropriate tracking device as discussed herein, can include both a sensor, a transmitter, or combinations thereof and can be indicated by the reference numeral 58. Further, the tracking device 58 can be wired or wireless to provide a signal or emitter or receive a signal from a system. For example, an electromagnetic tracking device 58a can include one or more electromagnetic coil, such as a tri-axial coil, to sense a field produced by the localizing coil array 46 or 47. One will understand that the tracking device(s) 58 can receive a signal, transmit a signal, or combinations thereof to provide information to the navigation system 10, which can be used to determine a location of the tracking device 58. The navigation system 10 can determine a position of the instrument 52 and the DRF 54 based on the location of the tracking device(s) 58 to allow for accurate navigation relative to the patient 12 in the patient space.
With regard to the optical localizer or tracking system 44b, the optical tracking system 44b can transmit and receive an optical signal, or combinations thereof. An optical tracking device 58b can be interconnected with the instrument 52, or other devices such as the DRF 54. As generally known, the optical tracking device 58b can reflect, transmit or receive an optical signal to/from the optical localizer or tracking system 44b that can be used in the navigation system 10 to navigate or track various elements. Therefore, one skilled in the art will understand, that the tracking device(s) 58 can be any appropriate tracking device to work with any one or multiple tracking systems.
The coil arrays 46, 47 can transmit signals that are received by the tracking device(s) 58. The tracking device(s) 58 can then transmit or receive signals based upon the transmitted or received signals from or to the coil arrays 46, 47. The coil arrays 46, 47 are shown attached to the operating table 49. It should be noted, however, that the coil arrays 46, 47 can also be positioned at any other location, as well and can also be positioned in the items being navigated. The coil arrays 46, 47 include a plurality of coils that are each operable to generate distinct electromagnetic fields into the navigation region of the patient 12, which is sometimes referred to as patient space. Representative electromagnetic systems are set forth in U.S. Pat. No. 5,913,820, entitled “Position Location System,” issued Jun. 22, 1999 and U.S. Pat. No. 5,592,939, entitled “Method and System for Navigating a Catheter Probe,” issued Jan. 14, 1997, each of which are hereby incorporated by reference. In addition, representative electromagnetic systems can include the AXIEM™ electromagnetic tracking system sold by Medtronic Navigation, Inc.
The coil arrays 46, 47 can be controlled or driven by the coil array controller 48. The coil array controller 48 can drive each coil in the coil arrays 46, 47 in a time division multiplex or a frequency division multiplex manner. In this regard, each coil can be driven separately at a distinct time or all of the coils can be driven simultaneously with each being driven by a different frequency. Upon driving the coils in the coil arrays 46, 47 with the coil array controller 48, electromagnetic fields are generated within the patient 12 in the area where the medical procedure is being performed, which is again sometimes referred to as patient space. The electromagnetic fields generated in the patient space induce currents in a tracking device(s) 58 positioned on or in the instrument 52 and DRF 54. These induced signals from the instrument 52 and DRF 54 are delivered to the navigation probe interface 50 and can be subsequently forwarded to the coil array controller 48.
In addition, the navigation system 10 can include a gating device or an ECG or electrocardiogram triggering device, which is attached to the patient 12, via skin electrodes, and in communication with the coil array controller 48. Respiration and cardiac motion can cause movement of cardiac structures relative to the instrument 52, even when the instrument 52 has not been moved. Therefore, patient image data 100 can be acquired from the imaging device 14 based on a time-gated basis triggered by a physiological signal or a physiological event. For example, the ECG or EGM signal may be acquired from the skin electrodes or from a sensing electrode included on the instrument 52 or from a separate reference probe (not shown). A characteristic of this signal, such as an R-wave peak or P-wave peak associated with ventricular or atrial depolarization, respectively, may be used as a reference of a triggering physiological event for the coil array controller 48 to drive the coils in the coil arrays 46, 47. This reference of a triggering physiological event may also be used to gate or trigger image acquisition during the imaging phase with the imaging device 14. By time-gating the image data 102 and/or the navigation data, the icon 103 of the location of the instrument 52 in image space relative to the patient space at the same point in the cardiac cycle may be displayed on the display 36. Further detail regarding the time-gating of the image data and/or navigation data can be found in U.S. Patent Pub. Application No. 2004-0097806, entitled “Navigation System for Cardiac Therapies,” filed Nov. 19, 2002, which is hereby incorporated by reference.
The navigation probe interface 50 may provide the necessary electrical isolation for the navigation system 10. The navigation probe interface 50 can also include amplifiers, filters and buffers to directly interface with the tracking device(s) 58 in the instrument 52 and DRF 54. Alternatively, the tracking device(s) 58, or any other appropriate portion, may employ a wireless communications channel, such as that disclosed in U.S. Pat. No. 6,474,341, entitled “Surgical Communication Power System,” issued Nov. 5, 2002, herein incorporated by reference, as opposed to being coupled directly to the navigation probe interface 50.
The instrument 52 may be any appropriate instrument, such as an instrument for preparing a portion of the patient 12, an instrument for treating a portion of the patient 12 or an instrument for positioning an implant, as will be discussed herein. The DRF 54 of the tracking system 44 can be coupled to the navigation probe interface 50. The DRF 54 may be coupled to a first portion of the anatomical structure of the patient 12 adjacent to the region being navigated so that any movement of the patient 12 is detected as relative motion between the coil arrays 46, 47 and the DRF 54. For example, the DRF 54 can be adhesively coupled to the patient 12, however, the DRF 54 could also be mechanically coupled to the patient 12, if desired. The DRF 54 may include any appropriate tracking device(s) 58 used by the navigation system 10. Therefore, the DRF 54 can include an optical tracking device or acoustic, etc. If the DRF 54 is used with an electromagnetic tracking device 58a, it can be configured as a pair of orthogonally oriented coils, each having the same centerline or may be configured in any other non-coaxial or co-axial coil configurations, such as a tri-axial coil configuration (not specifically shown).
Briefly, the navigation system 10 operates as follows. The navigation system 10 creates a translation map between all points in the radiological image generated from the imaging device 14 in image space and the corresponding points in the anatomical structure of the patient 12 in patient space. After this map is established, whenever a tracked instrument, such as the instrument 52 is used, the workstation 34 in combination with the coil array controller 48 and the imaging device controller 28 uses the translation map to identify the corresponding point on the pre-acquired image or atlas model, which is displayed on display 36. This identification is known as navigation or localization. The icon 103 representing the localized point or instruments 52 can be shown as image data 102 on the display 36.
To enable navigation, the navigation system 10 must be able to detect both the position of the anatomical structure of the patient 12 and the position of the instrument 52. Knowing the location of these two items allows the navigation system 10 to compute and display the position of the instrument 52 in relation to the patient 12 on the display 36. The tracking system 44 can be employed to track the instrument 52 and the anatomical structure simultaneously.
The tracking system 44, if using an electromagnetic tracking assembly, essentially works by positioning the coil arrays 46, 47 adjacent to the patient space to generate a low-energy electromagnetic field generally referred to as a navigation field. Because every point in the navigation field or patient space is associated with a unique field strength, the tracking system 44 can determine the position of the instrument 52 by measuring the field strength at the tracking device 58 location. The DRF 54 can be fixed to the patient 12 to identify a location of the patient 12 in the navigation field. The tracking system 44 can continuously recompute the relative position of the DRF 54 and the instrument 52 during localization and relate this spatial information to patient registration data to enable image guidance of the instrument 52 within and/or relative to the patient 12.
Patient registration is the process of determining how to correlate the position of the instrument 52 relative to the patient 12 to the position on the diagnostic or pre-acquired images. To register the patient 12, a physician or user 39 may use point registration by selecting and storing particular points from the pre-acquired images and then touching the corresponding points on the anatomical structure of the patient 12 with a pointer probe. The navigation system 10 analyzes the relationship between the two sets of points that are selected and computes a match, which correlates every point in the patient image data 100 with its corresponding point on the anatomical structure of the patient 12 or the patient space, as discussed herein. The points that are selected to perform registration are the fiducial markers, such as anatomical landmarks. Again, the landmarks or fiducial markers are identifiable on the images and identifiable and accessible on the patient 12. The fiducial markers can be artificial markers that are positioned on the patient 12 or anatomical landmarks that can be easily identified in the patient image data 100. The artificial landmarks, such as the fiducial markers, can also form part of the DRF 54, such as those disclosed in U.S. Pat. No. 6,381,485, entitled “Registration of Human Anatomy Integrated for Electromagnetic Localization,” issued Apr. 30, 2002, herein incorporated by reference.
The navigation system 10 may also perform registration using anatomic surface information or path information as is known in the art. The navigation system 10 may also perform 2D to 3D registration by utilizing the acquired 2D images to register 3D volume images by use of contour algorithms, point algorithms or density comparison algorithms, as is known in the art. An exemplary 2D to 3D registration procedure, is set forth in U.S. patent Ser. No. 10/644,680, entitled “Method and Apparatus for Performing 2D to 3D Registration,” filed on Aug. 20, 2003, hereby incorporated by reference.
In order to maintain registration accuracy, the navigation system 10 continuously tracks the position of the patient 12 during registration and navigation. This is because the patient 12, DRF 54 and coil arrays 46, 47 may all move with respect to one another during the procedure, even when this movement is not desired. Alternatively the patient 12 may be held immobile once the registration has occurred, such as with a head frame (not shown). Therefore, if the navigation system 10 did not track the position of the patient 12 or area of the anatomical structure, any patient movement after image acquisition would result in inaccurate navigation within that image. The DRF 54 allows the tracking system 44 to register and track the anatomical structure. Because the DRF 54 can be coupled to the patient 12, any movement of the anatomical structure of the patient 12 or the coil arrays 46, 47 can be detected as the relative motion between the coil arrays 46, 47 and the DRF 54. Both the relative motion of the coil arrays 46, 47 and the DRF 54 can be communicated to the coil array controller 48, via the navigation probe interface 50, which can update the registration correlation to thereby maintain accurate navigation.
The navigation system 10 can be used according to any appropriate method or system. For example, pre-acquired images, atlas or 3D models may be registered relative to the patient 12 and the patient space. Generally, the navigation system 10 allows the images on the display 36 to be registered and to accurately display the real time location of the various instruments, such as the instrument 52, and other appropriate items, such as DRF 54. In addition, the DRF 54 may be used to ensure that any planned or unplanned movement of the patient 12 or the coil arrays 46, 47 can be determined and used to correct the image data 102 on the display 36.
Referring now to
The proximal end 202 of the elongated flexible body 200 can generally extend outside of the anatomical structure of the patient 12 when the elongated flexible body 200 is used during the surgical procedure. In some cases, the proximal end 202 can include a graspable portion, generally indicated as 214, to enable the physician or user to manipulate or direct the movement of the distal end 204 of the elongated flexible body 200 within the anatomical structure.
The distal end 204 can comprise a treatment end for treating the anatomical structure. The exterior surface 206 can be configured to be received within the anatomical structure. The exterior surface 206 can be composed of one or more layers of material, and the tracking device 210 and/or the shape sensing means 212 can be coupled to the exterior surface 206, as will be discussed. The interior surface 208 can be configured to enable instruments 52 to pass through the elongated flexible body 200, or could be configured to enable treatment devices or fluids to be directed to the distal end 204. In addition, the tracking device 210 and/or the shape sensing means 212 can be coupled to the interior surface 208, as will be discussed.
The tracking device 210 can comprise any suitable tracking device 58 that can be tracked by the tracking system 44, such as the electromagnetic tracking device 58a or the optical tracking device 58b, however, it should be understood that that tracking device 58 could comprise any suitable device capable of indicating a position and/or orientation of the elongated flexible body 200, such as electrodes responsive to a position sensing unit, for example, the LocaLisa® Intracardiac Navigation System, provided by Medtronic, Inc. In addition, it should be noted that the tracking device 210 could comprise an additional shape sensing means 212, which could extend along a length of the elongated flexible body 200 and could be fixedly coupled to a known reference point.
Generally, the tracking device 210 can be fixed to the elongated flexible body 200 at a known location and can be fixed such that the tracking device 210 does not substantially move relative to the elongated flexible body 200. As the tracking device 210 can be fixed to a portion of the elongated flexible body 200, the tracking device 210 can provide a location and/or orientation of the portion of the elongated flexible body 200 in the patient space. As will be discussed, the position (location and/or orientation) of the portion of the elongated flexible body 200 determined from the tracking device 210 can be used in combination with data from the shape sensing means 212 to determine a configuration of the elongated flexible body 200 within the anatomical structure substantially in real-time.
In one example, as shown in
In one example, as shown in
In one example, as illustrated in
In addition, the use of the plurality of tracking devices 210 can ensure that the plurality of tracking devices 210 and the shape sensing means 212 are working properly. In this regard, if the position of the distal end 204 as determined by the shape sensing means 212 and the tracking device 210a does not correlate with the position of the distal end 210b, then the control module 101 can flag an error to notify the user 39 to service the elongated flexible body 200. Further, if the position of the portion of the elongated flexible body 200 coupled to the tracking device 210c does not correlate with the position of the portion of the elongated flexible body 200 determined from the tracking device 210a and the shape sensing means 212, then the control module 101 can also flag an error to notify the user to service the elongated flexible body 200.
It should also be noted that the tracking device 210 could also comprise at least one or a plurality of objects that are responsive to the imaging device 14 to generate positional data, such as one or more radio-opaque markers. Further, if the tracking devices 210 are radio-opaque markers, then the imaging device 14 can be used to track the position of the portion of the elongated flexible body 200 coupled to the tracking device 210. If the tracking device 210 comprises a radio-opaque marker, then the tracking device 210 can be coupled to the interior surface 208, or could be secured between one or more layers that comprise the exterior surface 206. In addition, the radio-opaque markers could be placed on an exterior surface 206 of the elongated flexible body 200.
With continued reference to
Briefly, however, in one example, as illustrated in
In one example, as illustrated in
In one example, each spine 252 includes a corresponding optical fiber 216a, and the distal end 204a can also include a tracking device 210. As each spine 252 includes a corresponding optical fiber 216a, the position and shape of each spine 252 can be determined, and thus, the position of at least one electrode 253 associated with the spine 252 can be determined without requiring the spine 252 to have a rigid fixed shape or without requiring the use of a plurality of tracking devices. It should be further noted that the basket catheter 250a can comprise any suitable basket catheter having any desired number of electrodes 253, and thus, for the sake of clarity, the basket catheter 250a is illustrated herein with a select number of electrodes 253.
Thus, the use of optical fibers 216a with each spine 252 can enable the use of dynamic and flexible spines 252, which can provide the user with additional freedom in treating the patient 12, such as in performing an ablation procedure. For example, as a position of the electrode 253 can be determined from the shape of the spines 252 and the tracking of the tracking device 210, the user 39 may use the navigation system 10 to plan a procedure on the anatomy, such as an ablation procedure. Given the position of the electrode 253 of each of the spines 252, the user 39 can more accurately determine a location of an arrhythmia, and can more precisely plan to treat the arrhythmia for example, by returning to a location identified by one of the electrodes 253 to perform an ablation procedure. Moreover, the use of a tracking device 210 at the distal end 204a can increase the accuracy of the position and shape obtained by the optical fibers 216a.
Each optical fiber 216 can include a plurality of strain sensors, such as fiber Bragg gratings 220 (schematically illustrated for the sake of clarity in
With reference now to
The tracking system 44 can comprise the electromagnetic tracking system 44, the optical tracking system 44b, or any other suitable tracking system, such as a position sensing unit, and will generally be referred to as the tracking system 44. The tracking system 44 can receive start-up data 302 from the navigation control module 300. In the case of an electromagnetic tracking system 44, based on the start-up data 302, the tracking system 44 can set activation signal data 304 that can activate the coil arrays 46, 47 to generate an electromagnetic field to which the tracking device(s) 210 coupled to the instrument 52 can respond. The tracking system 44 can also set tracking data 308 for the navigation control module 300, as will be discussed. The tracking data 308 can include data regarding the coordinate position (location and orientation) of the tracking device(s) 210 coupled to the instrument 52 in the patient space as computed from data received from the tracking device(s) 210 or sensor data 310.
When the tracking device(s) 210 are activated, the tracking device(s) 210 can transmit sensor data 310 indicative of a position of the tracking device 210 in the patient space to the tracking system 44. Based on the sensor data 310 received by the tracking system 44, the tracking system 44 can generate and set the tracking data 308 for the navigation control module 300.
The optical system 218 can also receive start-up data 302 from the navigation control module 300. Based on the start-up data 302, the optical system 218 can set read data 312 for the optical fiber(s) 216, which can read the fiber Bragg gratings 220 on each optical fiber 216. The optical system 218 can also set shape data 314 for the navigation control module 300, as will be discussed. The shape data 314 can include data regarding the shape of the instrument 52 in the patient space as computed from data received from the optical fiber(s) 216 or strain data 316.
When the optical fiber(s) 216 are read, any strain on the optical fiber(s) 216 can be read by the optical system 218 as strain data 316, which can be indicative of a shape of the instrument 52 in the patient space. Based on the strain data 316 received by the optical system 218, the optical system 218 can generate and set the shape data 314 for the navigation control module 300.
The navigation control module 300 can receive the tracking data 308 from the tracking system 44 and the shape data 314 from the optical system 218 as input. The navigation control module 300 can also receive patient image data 100 as input. The patient image data 100 can comprise images of the anatomical structure of the patient 12 obtained from a pre- or intra-operative imaging device, such as the images obtained by the imaging device 14. Based on the tracking data 308, the shape data 314 and the patient image data 100, the navigation control module 300 can generate image data 102 for display on the display 36. The image data 102 can comprise the patient image data 100 superimposed with an icon 103 of the instrument 52, with a substantially real-time indication of the position and a shape of the instrument 52 in patient space, as shown in
For example, as shown in
In one example, as shown in
In one example, as shown in
With reference now to
The tracking control module 320 can receive as input the start-up data 302 from the navigation control module 300 and sensor data 310 from the tracking device(s) 210. Upon receipt of the start-up data 302, the tracking control module 320 can output the activation signal data 304 for the tracking device(s) 210. Upon receipt of the sensor data 310, the tracking control module 320 can set the tracking data 308 for the navigation control module 300. As discussed, the tracking data 308 can include data regarding the coordinate positions (locations and orientations) of the instrument 52.
The optical control module 322 can receive as input the start-up data 302 from the navigation control module 300 and strain data 316 from the optical fiber(s) 216. Upon receipt of the start-up data 302, the optical control module 322 can output the read data 312 to the optical fiber(s) 216. Upon receipt of the strain data 316, the optical control module 322 can set the shape data 314 for the navigation control module 300. As discussed, the shape data 314 can include data regarding the shape of the instrument 52 in the patient space.
The navigation control module 300 can receive as input the tracking data 308, the shape data 314 and patient image data 100. Based on the tracking data 308 and the shape data 314, the navigation control module 300 can determine the appropriate patient image data 100 for display on the display 36, and can output both the tracking data 308, shape data 314 and the patient image data 100 as image data 102. Further, depending upon the number of tracking device(s) 210 employed, the navigation control module 300 can determine if the shape sensing means 212 is working properly, and can output a notification message to the display 36 if the tracking data 308 does not correspond with the shape data 314. In addition, the navigation control module 300 could override or correct the shape data 314 if the shape data 314 does not correspond with the tracking data 308, or could override or correct the tracking data 308 if the tracking data 308 does not correspond with the shape data 314, if desired.
With reference now to
At block 406, the method can compute the position and shape of the instrument 52 in patient space based on the sensor data 310 and the strain data 316. In this regard, the sensor data 310 can provide a position of the tracking device(s) 210 in patient space, and the strain data 316 can provide a shape of the instrument 52 in the patient space based on the strain observed by the optical fiber(s) 216. At block 408, the method can output the tracking data 308 and the shape data 314. At block 410, the method determines the relevant patient image data 100 for display on the display 36 based on the tracking data 308 and the shape data 314. Then, at block 412, the method can output the image data 102 that includes the icon 103 of the instrument 52 superimposed on the patient image data 100 based on the patient image data 100, the tracking data 308 and the shape data 314. At decision block 414, the method can determine if the surgical procedure has ended. If the surgical procedure has ended, then the method can end at 416. Otherwise, the method can loop to block 402.
Therefore, the instrument 52 of the present disclosure, for example, the elongated flexible body 200, can provide a user, such as a surgeon, with an accurate representation of the position and shape of the instrument 52 within the patient space during the surgical procedure. In this regard, the use of a shape sensing means 212 along with the tracking device(s) 210 can enable an accurate depiction of the position and shape of an elongated instrument, such as the elongated flexible body 200, within the anatomical structure of the patient 12. In addition, if multiple tracking devices 210 are employed with the shape sensing means 212, then the navigation system 10 can update the user regarding the accuracy of the instrument 52. Thus, if the elongated flexible body 200 or optical fiber(s) 216 are dropped, bent or otherwise damaged during the procedure, the use of multiple tracking devices 210 at a known location on the elongated flexible body 200 can enable the navigation system 10 to verify the accuracy of the instrument 52 throughout the surgical procedure.
While specific examples have been described in the specification and illustrated in the drawings, it will be understood by those of ordinary skill in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the present disclosure as defined in the claims. Furthermore, the combination of features, elements and/or functions between various examples is expressly contemplated herein so that one of ordinary skill in the art would appreciate from this disclosure that features, elements and/or functions of one example may be incorporated into another example as appropriate, unless described otherwise, above. Moreover, many modifications may be made to adapt a particular situation or material to the teachings of the present disclosure without departing from the essential scope thereof. Therefore, it is intended that the present disclosure not be limited to the particular examples illustrated by the drawings and described in the specification as the best mode presently contemplated for carrying out this disclosure, but that the scope of the present disclosure will include any embodiments falling within the foregoing description and the appended claims.
For example, while the instrument 52, such as the elongated flexible body 200 has been described as including a tracking device 210, those of skill in the art will appreciate that the present disclosure, in its broadest aspects, may be constructed somewhat differently. In this regard, the elongated flexible body 200 could only include the shape sensing means 212. If the elongated flexible body 200 included only the shape sensing means 212, then in order to register the position of the elongated flexible body 200 relative to the anatomical structure, the entry position of the elongated flexible body 200 could be marked on the patient 12, with a radio-opaque marker for example. Then, the imaging device 14 can acquire an image of the patient 12 that includes the marked entry position. If gating is desired, multiple images of the patient 12 can be acquired by the imaging device 14. As the entry position is known to the navigation system 10, via the acquired image, and the length of the elongated flexible body 200 is known, the shape and position of the elongated flexible body 200 within the anatomical structure can be determined by the control module 101, and outputted at image data 102 substantially in real-time.
