Patent Application
20170319174
The present disclosure relates to systems and devices for sensing a position of an imaging device. More particularly, the present disclosure relates to sensor mounts for an imaging device of a treatment system during performance of a treatment procedure.
When treating patients, clinicians often rely on patient data including X-ray data, computed tomography (CT) scan data, magnetic resonance imaging (MRI) data, or other imaging data that allows the clinician to view the internal anatomy of a patient. The clinician utilizes the patient data to identify targets of interest and to develop strategies for accessing the targets of interest for the surgical procedure.
This off-line information, however, does not enable a clinician to effectively track a location of a treatment probe through and inside of a patient's body and perform a surgical procedure. Further, relative positional information between the treatment probe and the targets cannot be retrieved from the off-line information during surgical operations. Thus, real-time images are needed to facilitate the surgical procedure and an imaging device is used to image the treatment probe and surrounding tissues during surgical operations.
The present disclosure is directed to systems and devices for sensing a position of an imaging device of a treatment system during surgical procedure are provided herein below.
In one aspect of the present disclosure there is described a system for sensing a position of an ultrasound imaging device includes an ultrasound (US) imaging device, and a position sensor mount, and a position sensor. The position sensor mount includes an elastic body portion, a first rigid shell disposed on a distal portion of the elastic body portion, a second rigid shell disposed on a proximal portion of the elastic body portion, and a first adhesive disposed on the first rigid shell. The position sensor is mounted on the first rigid shell and configured to sense position information of the US imaging device in a coordinate system. The US imaging device is received by the position sensor mount and circumscribed by the first adhesive.
In a further aspect, the first rigid shell includes a first recess and a second recess, which have a same angle with respect to a longitudinal axis of the US imaging device in an opposite direction. The position sensor includes a first sensor and a second sensor, which are 5 degrees of freedom sensors. The first sensor is positioned on the first recess and the second sensor is positioned on the second recess.
In another aspect, the position sensor includes a conductor configured to transmit sensed result. The elastic body portion includes a recess along a longitudinal axis, and the conductor is positioned on the recess of the elastic body portion. The second rigid shell includes a recess along the longitudinal axis of the US imaging device, and the conductor is positioned on the recess of the second rigid shell.
In still another aspect, the coordinate system is based on an electromagnetic field, and the position sensor is an electromagnetic sensor. The position sensor may be located at a first predetermined distance from a distal tip of the US imaging device and the position information of the US imaging device is based on sensed results of the position sensor and the first predetermined distance. Further, the US imaging device may include a notch having an angle along a longitudinal axis of the US imaging device. The system further includes a second adhesive formed on the first rigid shell circumscribes the notch following the angle.
In still another aspect, the US imaging device is capable of bending at a second predetermined distance from the distal end of the US imaging device, which is longer than a distance between a distal tip of the US imaging device and the position sensor. The location for the bending in the US imaging device is positioned in the elastic body portion. The first adhesive may include a releasable tab, and the first adhesive is released by the releasable tab.
In another aspect of the disclosure the ultrasound (US) system includes a treatment probe, a US imaging device; and a position sensor mount. The position sensor includes an elastic body portion, a first shell disposed on a distal portion of the elastic body portion, a second shell disposed on a proximal portion of the elastic body portion, and a first adhesive disposed on the first shell. The US system also includes a position sensor mounted on the first shell and configured to sense position information of the US imaging device in a coordinate system, and a tracking system configured to receive the position information from the position sensor, to track a location of the US imaging device, and to display real-time ultrasound images and a representation of the treatment probe in one or more pre-stored images. The US imaging device is received by the position sensor mount and circumscribed by the first adhesive.
In yet another aspect of the disclosure there is described a method for firmly mounting a position sensor on an ultrasound (US) imaging device, the method includes positioning a sensor mount on a first pattern of an assembly fixture; attaching a position sensor on the sensor mount at a predetermined location; placing a US imaging device over the sensor mount and over a second pattern of the assembly fixture; and fixedly attaching the sensor mount to the US imaging device. The first pattern includes a structural profile of the sensor mount and the second pattern includes a structural profile of the US imaging device.
Any of the above aspects and embodiments of the present disclosure may be combined without departing from the scope of the present disclosure.
Objects and features of the presently disclosed systems and devices will become apparent to those of ordinary skill in the art when descriptions of various embodiments thereof are read with reference to the accompanying drawings, of which:
The present disclosure provides a treatment system for tracking and imaging treatment probes, each of which includes a position sensor mounted thereon. While performing a surgical treatment, it is important to know exactly where a treatment probe is located within the patient's body with respect to a target for treatment. In addition, it is beneficial to see an actual image of the treatment probe as it is traversing tissue or entering the target. In this regard, the present disclosure describes a sensor mount configured to mount a position sensor on an imaging device. This enables the system to track relative spatial relationship between the treatment probe and the imaging device and to track the positions of both within the patient's body.
Position sensors are mounted on the imaging device to track the location of the imaging device and to provide an orientation of an imaging plane of the imaging device. The imaging plane of the imaging device is identified by a predetermined distance and orientation between the location of the position sensor and the location of the transducer of the imaging device. Thus, firm mounting of the position sensors is necessary to ensure that the correct location of the imaging device probe and the orientation imaging plane of the imaging device is identified and depicted on a display.
Further, when an imaging device is inserted inside a patient, the imaging device needs to bend or move in order to navigate a pathway in order to be positioned at the proper location to capture desired images of the treatment probe and the surrounding organs. In order to get accurate location information of the treatment probe with respect to the imaging device, a position sensor needs to be securely attached to the imaging device. Also, when the imaging device moves or the distal tip of the imaging device bends to a direction different from movements of the imaging device, the position sensor needs to be secured and not moved relative to the distal tip of the imaging device.
Although the present disclosure will be described in terms of specific illustrative embodiments, it will be readily apparent to those skilled in this art that various modifications, rearrangements and substitutions may be made without departing from the spirit of the present disclosure. The scope of the present disclosure is defined by the claims appended hereto.
A system according to the present disclosure may be a unitary system configured to perform both the planning phase and the treatment phase, or the system may include separate devices and software programs for various phases. An example of the latter may be a system wherein a first computing device with one or more specialized software programs is used during the planning phase, and a second computing device with one or more specialized software programs may import data from the first computing device to be used during the treatment phase.
Referring now to
The EM field generator 121 may rest on or may be built into the table 120 generate an EM field around a portion of the patient's body through which navigation to a target is desired. Alternatively the EM field generator 121 may simply be placed securely near the patient (e.g., using a boom or other support) and generate an EM field around all or a portion of the patient's body through which navigation to a target is desired. Typically, this may be the patient's torso which enables navigation to and treatment of all the major organs of the body. However, the same system could be used to treat other locations on the patient. An example of such an EM field generator is available under the brand name AURORA™ and sold by Northern Digital Inc.
The electrosurgical generator 101 generates electrosurgical energy (e.g., RF or microwave) and provides the generated energy to the treatment probe 130. The treatment probe 130 is a surgical instrument, for example, a microwave ablation antenna used to ablate and treat tissue. Various other surgical instruments or surgical tools, such as electrosurgical pencils, vessel sealers, staplers, resection devices and others, may also be used with EM tracking workstation 100 either with or without the position sensor 137. In one embodiment, the position sensor 137 located is on the treatment probe 130 as will be described in detail below, allowing for the tracking of the location of the treatment probe 130 in the EM field. While the present disclosure describes the use of the system 10 in a surgical environment, it is also envisioned that some or all of the components of system 10 may be used in alternative settings, for example, at a treatment review board or other office setting such as during a post treatment review of the procedure or assessment of progress of the patient.
Along with the EM tracking workstation 100, the system 10 includes the capabilities for patient, target, and the treatment probe 130 visualization using ultrasonic imaging. The imaging device 140, such as an ultrasonic wand, may be used to image the patient's body during the procedure to visualize the location of the surgical instruments, such as the treatment probe 130, inside the patient's body. The imaging device 140 may also have an EM position sensor 141 mounted on the ultrasonic wand via a sensor mount 300 (shown in
The position sensors 141 and 137 may be a six degrees of freedom (DOF) sensor or may be implemented as two five DOF sensors. Examples of such sensors include the AURORA® 5 DOF sensor and the AURORA® mini or micro 6 DOF sensors sold by Northern Digital Inc.
The position sensor 141, as a 6 DOF sensor, senses X-Y-Z location data as well as pitch, roll and yaw of the sensor as it is moved. When the position sensor 141 senses and transmits strengths or variations of the EM field in 6 directions via a sensor wire 142, the EM tracking workstation 100 is capable of calculating the location, translation, and rotation of the position sensor 141 with respect to the imaging device 140. Based on these rotational and translational movements, the ultrasound image plane moves and correspondingly on the display 110. 5 DOF sensors only provide X-Y-Z location data and two of pitch, roll or yaw, but not all three. However, through the use of two such sensors, the missing orientation data can be calculated. This can be particularly useful in scenarios where size is important, such as in laparascopic surgery where tools are typically designed with a maximum trocar inner diameter as the size limit. As a result the addition of a single 6 DOF sensor might be impossible where it has a nominal diameter of 0.8 mm, in contrast a 5 DOF sensor can be as small as 0.5 mm.
The control workstation 102 may interact with and control the electrosurgical generator 101. The control workstation 102 may further combine the ultrasound images from the ultrasound workstation 150 and EM data from the EM tracking workstation 100. The EM data may include spatial relationship between the location of the imaging device 140 and the location of the treatment probe 130 in the EM field. Based on the spatial relationship, the control workstation 102 generates images depicting the location of the treatment probe 130 with respect to pre-stored images illustrating the treatment probe 130 on display 110. In addition the control workstation 102 generates a representation of the location of the treatment probe in relation to the ultrasound images such that the treatment probe 130 is depicted with respect to the imaging device 140 and any pre-planned pathway to a target in the ultrasound image is also displayed allowing the clinician to follow the pathway and achieve the target.
Now referring to
Turning now to
The sensor mount 300 may include three parts, first shell 310, second shell 320, and an elastic body portion 330 such as an elongated body portion. The first and second shells are formed to have an inner surface which contour matches that of the outer surface of the imaging device 140. Further, the rigidity of the first and second shells 310 and 320 provides firm securement of the position sensor 141 to the imaging device 140 as will be described in greater detail below. In an aspect, the first and second shells 310 and 320 may be deflectable and used as a snap-in to form a firm attachment with the imaging device 140. The elastic body portion 330 is formed to flex, for example, it may be made of any suitable elastic material that provides sufficient flexibility so that as the imaging device 140 bends or moves it can do so without the position sensor 141 moving relative to the distal tip of the imaging device 140.
The first shell 310 is firmly connected to the distal end of the elastic body portion 330 and the second shell 320 is also firmly connected to the proximal end of the elastic body portion 330. In an aspect, the first and second shells 310 and 320 may be separate from the elastic body portion 330 and may be assembled together when used. In this manner, elastic body portions of different lengths may be used depending on the desired separation distances for a given imaging device to which the sensor mount 300 is to be attached. Alternatively, one or both of the first and second shells 310 and 320 may be adapted to slide relative the elastic body portion 330, for example, by way of forming a sliding collar, so as to enable selective precise positioning for a particular instrument. Such an arrangement could be indexed with specific separation distances marked for user or instrument needs.
The first shell 310 may include a plurality of recesses for receiving the position sensor 141 and/or a sensor wire 142. The plurality of recesses may include a first sensor path 311a, a second sensor path 311b, and a sensor wire path 312.
The two 5 DOF sensors (e.g., the position sensor 141) may be placed on the first and second sensor paths 311a and 311b, respectively. The recesses of the first and second sensor paths 311a, 311b may secure the two 5 DOF sensors. The first and second sensor paths 311a, 311b may form the same angle with respect to the longitudinal axis of the imaging device 140 in opposite direction with each other. For example, the first sensor path 311a forms an angle, such as 10 or 15 degrees, from the longitudinal axis to its right and the second sensor path 311b forms the same angle from the longitudinal axis to its left. In an aspect, the recess may be filled with adhesive so that the first or second sensor is securely attached in the recess. In another aspect, adhesive may be applied to non-recess area so that, when the sensor mount 300 wholly or partially circumscribes the imaging device 140, the sensor mount 300 fixedly adheres to the imaging device 140 and the position sensor 141 cannot move relatively with respect to the distal end of the imaging device 140.
The sensor wire path 312 of the first shell 310 may extend along the longitudinal axis of the imaging device 140 in the form of a recess. The sensor wire path 312 is located in the middle between the first and second sensor paths 311a and 311b and may receive a sensor wire 142 of the position sensor 141 in a way similar to the first or second sensor path receives the position sensor including two sub-sensors, each of which is capable of sensing 5 DOF. In a case when the position sensor 141 has only one 6 DOF sensor, the position sensor 141 may be positioned in a distal portion of the sensor wire path 312, which is positioned between the first and second sensor paths 311a and 311b.
The first shell 310 may include an adhesive tab 313, which is an elongated tape material coated with an adhesive suitable for surrounding the imaging device 140 to securely attach the sensor mount 300 to the imaging device 140. The adhesive tab 313 may extend in a direction perpendicular to the longitudinal axis of the imaging device 140. The adhesive tab 313 may be formed to extend from the two opposite sides of the first shell 310 to form portions 313a and 313b so as to be able to partially or totally surround the imaging device 140 from both directions.
In an aspect, the adhesive tab 313 may include a releasable tab, which makes it easier to release or peel away the adhesive tab 313 from the imaging device 140 after a surgical operation. The releasable tab may protrude from the distal end of the adhesive tab 313. In another aspect, the adhesive tab 313 may include a recess at the distal end of the adhesive tab 313 so that the adhesive tab 313 can be easily released or peeled off. In this case, the distal portion of the adhesive tab 313 has a surface area sufficient to provide firm attachment to the imaging device 140.
The second shell 320 may be similar or identical to the first shell 310 and includes a first sensor path 321a, a second sensor path 321b, and a wire path 322. In the embodiment shown in
The second shell 320 also includes an adhesive tab 323, which surrounds the imaging device 140. Thus, the adhesive tab 313 and the adhesive tab 323 are used to firmly attach the sensor mount 300 to the imaging device 140 at the distal end and at the proximal end of the imaging device 140, respectively. The adhesive tab 323 may be formed to extend from the two opposite sides of the second shell 320 to form portions 323a and 323b so as to be able to partially or totally surround the imaging device 140 from both directions. These adhesive tabs 313, 323 prevent both axial and rotational movement of the sensor mount 300 with respect to the longitudinal axis of the imaging device 140. In this way, the position sensor 141, which is fixedly mounted on the sensor mount 300, maintains a predetermined distance from the transducer 210, and the EM tracking workstation 100 can determine the location, movement, and rotation of the imaging device 140.
The second shell 320 may extend toward the proximal end of the imaging device 140 along the longitudinal axis. In an aspect, the second shell 320 may have the same length as the first shell 310. In another aspect, the sensor mount 300 may further include a third shell 340, which is connected to the proximal portion of the second shell 320 or formed unitarily therewith. The third shell 340 may include one long recess (e.g., a sensor wire path) 345 along the longitudinal axis, which receives a sensor wire 142. In an aspect, adhesive may be applied to the sensor wire path 345 so that the sensor wire 142 can be fixedly secured in the sensor wire path 345. In another aspect, adhesive may be applied to areas other than the sensor wire path 345 so that the third shell 340 is securely attached to the imaging device 140.
The elastic body portion 330 is flexible to allow for flexure of the imaging device 140. As described above, the imaging device 140 may be a 4-way ultrasound probe and thus bend in four separate directions from the longitudinal axis of the imaging device and as much as 90 degrees in each direction. As the imaging device 140 bends, the length of the one side of the imaging device increases by the degree of bend, similarly the length on the opposite side (e.g., inside of the bend) decreases. As a result, in order to maintain the position of the first and second shells 310 and 320 the elastic backing material must extend to accommodate the movements. So, when the imaging device 140 bends, the elastic body portion 330 stretches without affecting the position of the mounted position sensor 141 with respect to the distal tip of the imaging device 140.
The elastic body portion 330 may include a recess 335 to receive a sensor wire or other means to hold the sensor wire, such as an adhesive, hook and loop fasteners, a retaining loop of materials similar to that of the elastic body portion 330 and others. Thus, when the position sensor(s) 141 is mounted on the first shell 310 of the sensor mount 300 the sensor wire extends along the elastic body portion 330 and through recess 335 and is placed over the second shell 320 and the elastic body portion 330, the position sensor 141 can be connected to the sensor wire.
In an aspect, the sensor mount 300 may be made of any suitable materials which do not pose any significant interference with the EM field generated by the EM field generator 121 and signals generated by the imaging device 140.
Even if the sensor mount 300 prevents the position sensor 141 from rotational and translational movements relative to imaging device 140 after it is attached to the device, it is also important to attach the sensor mount 300 at a proper location of the imaging device 140 to keep the predetermined distance between the position sensor 141 and the transducer 210 constant.
In one embodiment, the sensor mount 300 may include an additional adhesive tab 314 connected at an angle to the first shell 310, as shown in
After the imaging device 140 is located over the pattern 410, the adhesive tabs 313a, 313b surround the imaging device 140 to fixedly attach the sensor mount 300 to the imaging device 140 as shown in
In an aspect, the imaging device 140 and the sensor mount 300 may be covered by a sterilized cover (e.g., a prophylactic) to prevent contamination, or infection in a patient while imaging.
Turning now to
Memory 502 includes any non-transitory computer-readable storage media for storing data and/or software that is executable by processor 504 and which controls the operation of the computing device 500. In an embodiment, memory 502 may include one or more solid-state storage devices such as flash memory chips. Alternatively or in addition to the one or more solid-state storage devices, memory 502 may include one or more mass storage devices connected to the processor 504 through a mass storage controller (not shown) and a communications bus (not shown). Although the description of computer-readable media contained herein refers to a solid-state storage, it should be appreciated by those skilled in the art that computer-readable storage media can be any available media that can be accessed by the processor 504. That is, computer readable storage media includes non-transitory, volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules or other data. For example, computer-readable storage media includes RAM, ROM, EPROM, EEPROM, flash memory or other solid state memory technology, CD-ROM, DVD, Blu-Ray or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by the computing device 500.
Memory 502 may store application 516 and/or CT data 514. Application 516 may, when executed by processor 504, cause the display 506 to present user interface 518.
Processor 504 may be a general purpose processor, a specialized graphics processing unit (GPU) configured to perform specific graphics processing tasks while freeing up the general purpose processor to perform other tasks, and/or any number or combination of such processors.
The display 506 may be touch-sensitive and/or voice-activated, enabling the display 506 to serve as both an input and output device. Alternatively, a keyboard (not shown), mouse (not shown), or other data input devices may be employed.
Network interface 508 may be configured to connect to a network such as a local area network (LAN) consisting of a wired network and/or a wireless network, a wide area network (WAN), a wireless mobile network, a Bluetooth network, and/or the internet. For example, the computing device 500 may receive computed tomographic (CT) image data of a patient from a server, for example, a hospital server, internet server, or other similar servers, for use during surgical ablation planning. Patient CT image data may also be provided to the computing device 500 via a removable memory 502. The computing device 500 may receive updates to its software, for example, application 516, via network interface 508. The computing device 500 may also display notifications on the display 506 that a software update is available.
Input device 510 may be any device by means of which a user may interact with the computing device 500, such as, for example, a mouse, keyboard, foot pedal, touch screen, and/or voice interface.
Output module 512 may include any connectivity port or bus, such as, for example, parallel ports, serial ports, universal serial busses (USB), or any other similar connectivity port known to those skilled in the art.
Application 516 may be one or more software programs stored in memory 502 and executed by processor 504 of the computing device 500. During a planning phase, application 516 guides a clinician through a series of steps to identify a target, size the target, size a treatment zone, and/or determine an access route to the target for later use during the procedure phase. In some embodiments, application 516 is loaded on computing devices in an operating room or other facility where surgical procedures are performed, and is used as a plan or map to guide a clinician performing a surgical procedure, but without any feedback from the treatment probe 130 used in the procedure to indicate where the treatment probe 130 is located in relation to the plan
Application 516 may be installed directly on the computing device 500, or may be installed on another computer, for example a central server, and opened on the computing device 500 via network interface 508. Application 516 may run natively on the computing device 500, as a web-based application, or any other format known to those skilled in the art. In some embodiments, application 516 will be a single software program having all of the features and functionality described in the present disclosure. In other embodiments, application 516 may be two or more distinct software programs providing various parts of these features and functionality. For example, application 516 may include one software program for use during the planning phase, and a second software program for use during the treatment phase. In such instances, the various software programs forming part of application 516 may be enabled to communicate with each other and/or import and export various settings and parameters relating to the navigation and treatment and/or the patient to share information. For example, a treatment plan and any of its components generated by one software program during the planning phase may be stored and exported to be used by a second software program during the procedure phase.
Application 516 communicates with a user interface 518 which generates a user interface for presenting visual interactive features to a clinician, for example, on the display 506 and for receiving clinician input, for example, via a user input device. For example, user interface 518 may generate a graphical user interface (GUI) and output the GUI to the display 506 for viewing by a clinician.
The computing device 500 may be linked to the display 110, thus enabling the computing device 500 to control the output on the display 110 along with the output on the display 506. The computing device 500 may control the display 110 to display output which is the same as or similar to the output displayed on the display 506. For example, the output on the display 506 may be mirrored on the display 110. Alternatively, the computing device 500 may control the display 110 to display different output from that displayed on the display 506. For example, the display 110 may be controlled to display guidance images and information during the surgical procedure, while the display 506 is controlled to display other output, such as configuration or status information of an electrosurgical generator 101 as shown in
Although embodiments have been described in detail with reference to the accompanying drawings for the purpose of illustration and description, it is to be understood that the inventive processes and apparatus are not to be construed as limited thereby. It will be apparent to those of ordinary skill in the art that various modifications to the foregoing embodiments may be made without departing from the scope of the disclosure.
