WO2004014246A1 - Medical device positioning system and method - Google Patents
Medical device positioning system and method Download PDFInfo
- Publication number
- WO2004014246A1 WO2004014246A1 PCT/US2003/018359 US0318359W WO2004014246A1 WO 2004014246 A1 WO2004014246 A1 WO 2004014246A1 US 0318359 W US0318359 W US 0318359W WO 2004014246 A1 WO2004014246 A1 WO 2004014246A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- medical device
- medical
- subject
- interest
- imaging
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000012544 monitoring process Methods 0.000 claims abstract description 33
- 238000003384 imaging method Methods 0.000 claims abstract description 32
- 230000000007 visual effect Effects 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 18
- 238000001574 biopsy Methods 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 11
- 230000003213 activating effect Effects 0.000 claims description 10
- 238000002595 magnetic resonance imaging Methods 0.000 claims description 9
- 238000002591 computed tomography Methods 0.000 claims description 8
- 238000002560 therapeutic procedure Methods 0.000 claims description 8
- 238000002059 diagnostic imaging Methods 0.000 claims description 6
- 238000002604 ultrasonography Methods 0.000 claims description 6
- 238000002600 positron emission tomography Methods 0.000 claims description 5
- 239000000523 sample Substances 0.000 claims description 5
- 230000001225 therapeutic effect Effects 0.000 claims description 4
- 238000002679 ablation Methods 0.000 claims description 3
- 230000005284 excitation Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 238000002405 diagnostic procedure Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 210000002307 prostate Anatomy 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 239000013543 active substance Substances 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 150000002222 fluorine compounds Chemical class 0.000 description 1
- 238000011503 in vivo imaging Methods 0.000 description 1
- 238000013152 interventional procedure Methods 0.000 description 1
- 238000013532 laser treatment Methods 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000001208 nuclear magnetic resonance pulse sequence Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 238000009210 therapy by ultrasound Methods 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 238000003325 tomography Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B2034/2046—Tracking techniques
- A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B2034/2072—Reference field transducer attached to an instrument or patient
-
- 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
- A61B2090/374—NMR or MRI
-
- 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
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
-
- 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
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/397—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave
Definitions
- a system to actively monitor the three-dimensional (3D) position of the device, and respond if the device has moved from its target position.
- Device motion is of importance for procedures where a therapy is applied to carefully selected and circumscribed areas.
- Device motion is of equal importance for a procedure where a tissue sample must be obtained from a precise location, such as a biopsy procedure.
- the location of an interventional device is presented to a physician as a graphic symbol superimposed upon a diagnostic image. Due to time constraints, or the constraint of accumulated radiation dose, diagnostic images are acquired intermittently before tracking of the device commences, or are acquired at a much slower rate than the device is tracked. Consequently, if the subject or device moves after the acquisition of the diagnostic image, the representation of the device displayed to the physician may be mis-registered with respect to the diagnostic image.
- Imaging device 120 may be a magnetic resonance imaging (MRI) device, an X-Ray imaging device, a computed tomography (CT) scanner, a Positron Emission Tomography system or an ultrasound scanner, or any other conventional medical imaging device.
- An invasive device 150 shown in Fig 1 as a catheter, is inserted into subject 100, usually by physician 1.
- Device 150 may be a guide wire, a catheter, an endoscope, a laparoscope, a biopsy needle, a laser guide, a device guide, therapeutic laser or similar device.
- Device tracking unit 170 determines the position of element 151 on device 150 relative to a fixed reference point, such as support table 110.
- Position information (subject tracking data) over time from motion detection means 190 is sent to a subject tracking unit 200 for processing.
- Subject tracking unit 200 computes translation and rotation movement of subject 100 from time ti, the time of image acquisition, to time the time of device location measurement. This movement information is passed to a registration unit 160.
- a medical device positioning system for use during a medical procedure on a subject while imaging the subject.
- the system comprises a medical device, such as invasive device 150, and corresponding tracking device for example element 151, an imaging device 120 for acquiring images of the subject and medical device, and a medical device monitoring subsystem 210 for detecting movement of the device relative to a target region of interest on the subject.
- Monitoring subsystem 210 also provides feedback to an interface unit, such as interface 123, to assist operator 1 of the positioning system to position the medical device.
- the medical device 150 is adapted for internal use within the subject for performing the procedure.
- the term medical procedure includes but is not limited to diagnostic procedures such as in vivo imaging, taking biopsies, surgical procedures and therapeutic procedures such as ablation, laser treatments, ultrasonic treatments, bracheatherapy and the like.
- diagnostic procedures such as in vivo imaging, taking biopsies, surgical procedures and therapeutic procedures such as ablation, laser treatments, ultrasonic treatments, bracheatherapy and the like.
- "adapted to”, “configured” and the like refer to mechanical or structural connections between elements to allow the elements to cooperate to provide a described effect; these terms also refer to operation capabilities of electrical elements such as analog or digital computers or application specific devices (such as an application specific integrated circuit (ASIC)) that are programmed to perform a sequel to provide an output in response to given input signals.
- ASIC application specific integrated circuit
- device monitoring subsystem 210 is also adapted to provide advisory feedback, desirably through interface 123 to provide feedback to the operator of the system regarding relative position of the medical device relative to the target region of interest.
- This capability allows an operator to target the two-dimensional (2D) or three-dimensional (3D) position adjusted for proper delivery of device and also to monitor a current 2D or 3D position of the device guide, in real-time.
- the advisory feedback is responsive to input from the monitoring subsystem and wherein the output is feedback to the operator for use in navigating or positioning of the device to reach the target location.
- the feedback may comprise audio instructions such as "rotate guide ten degrees clockwise", text output on a display screen (interface 123) such as "advance probe one inch” or visual output to show relative position of target and device guide on reference images.
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Robotics (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
- Laser Surgery Devices (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004527564A JP4455995B2 (en) | 2002-08-13 | 2003-06-11 | Medical device positioning system and method |
DE60317358T DE60317358T2 (en) | 2002-08-13 | 2003-06-11 | System for positioning a medical device |
EP03734536A EP1545365B1 (en) | 2002-08-13 | 2003-06-11 | Medical device positioning system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/064,749 US20040034297A1 (en) | 2002-08-13 | 2002-08-13 | Medical device positioning system and method |
US10/064,749 | 2002-08-13 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004014246A1 true WO2004014246A1 (en) | 2004-02-19 |
Family
ID=31713836
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2003/018359 WO2004014246A1 (en) | 2002-08-13 | 2003-06-11 | Medical device positioning system and method |
Country Status (6)
Country | Link |
---|---|
US (1) | US20040034297A1 (en) |
EP (1) | EP1545365B1 (en) |
JP (1) | JP4455995B2 (en) |
CN (1) | CN100391414C (en) |
DE (1) | DE60317358T2 (en) |
WO (1) | WO2004014246A1 (en) |
Cited By (3)
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US10528840B2 (en) | 2015-06-24 | 2020-01-07 | Stryker Corporation | Method and system for surgical instrumentation setup and user preferences |
US12029500B2 (en) | 2018-05-07 | 2024-07-09 | Koninklijke Philips N.V. | System for affecting a subject |
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Citations (4)
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2003
- 2003-06-11 CN CNB038169967A patent/CN100391414C/en not_active Expired - Fee Related
- 2003-06-11 DE DE60317358T patent/DE60317358T2/en not_active Expired - Lifetime
- 2003-06-11 JP JP2004527564A patent/JP4455995B2/en not_active Expired - Fee Related
- 2003-06-11 WO PCT/US2003/018359 patent/WO2004014246A1/en active IP Right Grant
- 2003-06-11 EP EP03734536A patent/EP1545365B1/en not_active Expired - Fee Related
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US6400980B1 (en) * | 1996-11-05 | 2002-06-04 | Jerome Lemelson | System and method for treating select tissue in a living being |
US6119033A (en) * | 1997-03-04 | 2000-09-12 | Biotrack, Inc. | Method of monitoring a location of an area of interest within a patient during a medical procedure |
EP0930046A2 (en) * | 1997-11-26 | 1999-07-21 | Picker International, Inc. | Method of, and apparatus for, imaging |
US20010036245A1 (en) * | 1999-02-10 | 2001-11-01 | Kienzle Thomas C. | Computer assisted targeting device for use in orthopaedic surgery |
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US10528840B2 (en) | 2015-06-24 | 2020-01-07 | Stryker Corporation | Method and system for surgical instrumentation setup and user preferences |
US11367304B2 (en) | 2015-06-24 | 2022-06-21 | Stryker Corporation | Method and system for surgical instrumentation setup and user preferences |
EP3566670A1 (en) * | 2018-05-07 | 2019-11-13 | Koninklijke Philips N.V. | Safety system for surgical robot |
US12029500B2 (en) | 2018-05-07 | 2024-07-09 | Koninklijke Philips N.V. | System for affecting a subject |
Also Published As
Publication number | Publication date |
---|---|
EP1545365A1 (en) | 2005-06-29 |
EP1545365B1 (en) | 2007-11-07 |
CN100391414C (en) | 2008-06-04 |
CN1668254A (en) | 2005-09-14 |
JP2005535382A (en) | 2005-11-24 |
DE60317358D1 (en) | 2007-12-20 |
US20040034297A1 (en) | 2004-02-19 |
JP4455995B2 (en) | 2010-04-21 |
DE60317358T2 (en) | 2008-08-21 |
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