WO2020182279A1 - Sensing device with an ultrasound sensor and a light emitting guiding means combined in a probe housing and method for providing guidance - Google Patents

Sensing device with an ultrasound sensor and a light emitting guiding means combined in a probe housing and method for providing guidance Download PDF

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Publication number
WO2020182279A1
WO2020182279A1 PCT/EP2019/055879 EP2019055879W WO2020182279A1 WO 2020182279 A1 WO2020182279 A1 WO 2020182279A1 EP 2019055879 W EP2019055879 W EP 2019055879W WO 2020182279 A1 WO2020182279 A1 WO 2020182279A1
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WO
WIPO (PCT)
Prior art keywords
light
planned path
guiding means
medical
target
Prior art date
Application number
PCT/EP2019/055879
Other languages
French (fr)
Inventor
Amilcar ALZAGA
Alois Regensburger
Original Assignee
Siemens Healthcare Gmbh
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
Application filed by Siemens Healthcare Gmbh filed Critical Siemens Healthcare Gmbh
Priority to PCT/EP2019/055879 priority Critical patent/WO2020182279A1/en
Publication of WO2020182279A1 publication Critical patent/WO2020182279A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3413—Needle locating or guiding means guided by 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
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • 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
    • A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers

Definitions

  • Sensing device with an ultrasound sensor and a light emitting guiding means combined in a probe housing and method for providing guidance
  • the invention relates to a sensing device for providing guid ance for a medical device, in particular a needle.
  • a second aspect of the present invention relates to a guiding means for providing guidance for a medical device.
  • Another aspect of the invention relates to a method for providing guidance for a medical device, in particular a needle.
  • a medical target could in an example be a pa tient or a dummy for simulating the patient.
  • the medical device is a needle it can for example be introduced into the medical target.
  • the medical device, in particular the needle is supposed to follow a previously planned path or trajectory.
  • the trajectory for the medical device, in par ticular the needle can be planned beforehand on the basis of previously gained information about the medical target.
  • Such can for example be an ultrasonic image, an X-ray image, a computer tomography or a magnetic resonance image.
  • the needle is supposed to be introduced to a target within the dummy, wherein the target simulates a tumor inside the dummy.
  • precise positioning of a medical device is crucial in many other use cases as well.
  • Physical guidance for the needle can for example be provided by a mechanical guideline which is first manually aligned to the planned path and then allows a movement of the needle on ly along the planned path.
  • Another way to provide guidance for a needle lies in projecting a laser pattern similar to a crosshair onto the medical target. Both systems are usually arranged at a C-arm X-ray device. Therefore the whole equip ment comprising the C-arm and the guidance means as well as the medical target have to be precisely aligned to each oth er .
  • a first aspect of the invention relates to a sensing device for providing guidance for a medical device, in particular a needle, comprising:
  • -a guidance means arranged at the probe housing for guiding the medical device, in particular the needle, along a planned path relative to the medical target.
  • the guiding means comprises a path acquisition means for ac quiring the planned path, wherein
  • the guiding means comprises a light unit for emitting a light pattern which indicates the planned path.
  • the invention also relates to a method for providing guidance for a medical device, in particular a needle, comprising the steps of :
  • the target information provided by the sensing device may be used for positioning the image device or the probe housing respectively in relation to the medical target.
  • the sensing device or the probe housing respectively may be positioned relative to a desired position for the medical de vice at the medical target.
  • the medical device is a needle the sensing device or the probe housing respectively may be positioned according to a planned trajectory for the needle.
  • a so-called registration may be carried out. In the scope of the registration the target in formation may be compared or matched with previously acquired target information.
  • a two-dimensional or three- dimensional ultrasound image which is part of the target in formation is compared or matched with a previously acquired two-dimensional or three-dimensional image of the medical target.
  • the relative position of the sensing de vice or the probe housing respectively in relation to the de sired position for the medical device in particular the planned trajectory for the needle may be determined.
  • the sensing device or the probe housing respectively can be formed as a handheld device.
  • the probe housing can be configured to directly couple the ultrasound sensor to the medical target.
  • the probe housing may partly be opened to allow acoustical and/or mechanical coupling between the ultrasound sensor and the medical target.
  • the probe hous ing may contain a membrane to allow said coupling.
  • the ultrasound sensor and the guiding means are mounted on the probe housing.
  • the ultrasound sensors are arranged at least partly inside the probe housing.
  • the guiding means may be arranged at the inside or the outside of the probe hous ing.
  • the guiding means is arranged at least partly inside the probe housing.
  • the guiding means can be in direct touch with the probe housing.
  • the position of every part of the guiding means in relation to the ultra sound sensor may be fixed or determined by the probe housing. Additionally or alternatively the position of the guiding means in relation to the probe housing may be fixed. Advanta geously the position of each part of the guiding means in re lation to the probe housing is fixed.
  • the light pat tern emitted by the guiding means can be aligned to a detec tion range of the ultrasound sensor.
  • respec tive coordinate systems of the ultrasound sensor and the guiding means can be aligned to each other.
  • the guiding means can be configured to emit light in a way that the light pattern which indicates the planned path is provided.
  • the light unit may comprise one, two or more light sources for emitting the light pattern. In the case of more light sources each light source may emit a respective part of the light pattern. Light emitted by each of the light sources may combine to the light pattern.
  • the light pat tern may have a shape of a crosshair.
  • the sensing device comprises a movement ac quisition means which is configured to measure a movement of the sensing device and/or the medical target, wherein the guiding means is configured to emit the light pattern depend ing on said movement.
  • the movement acquisition means can for example comprise an acceleration sensor to measure an accel eration of the sensing device or the probe housing respec tively.
  • the movement acquisition means can be configured to measure a distance to one or more fixed points or invari ant point in a surrounding of the sensing device.
  • the one or more fixed points can for example be provided by a wall of a room in which the sensing device is located.
  • the movement of the medical target can advantageously be measured on the ba sis of additional target information acquired by the ultra sound sensor.
  • the additional target information can for exam ple be acquired while the light pattern is emitted.
  • the additional target information is acquired continuously or periodically.
  • the additional target information may contain additional ultrasound images of the medical target. These ultrasound images can be acquired con tinuously or periodically.
  • On the basis of the additional ul trasound images of the medical target at least one additional registration can be carried out. Such additional registra tions can be carried out continuously or periodically. In an other embodiment such an additional registration is carried out only once directly before a puncture of the medical tar get with the medical device is supposed to take place.
  • the additional registration can be done analogously to the above- mentioned registration.
  • the guiding means is configured to emit the light pat tern depending on the movement of the sensing device and/or the medical target. In doing so said movements can be compen sated while emitting the light pattern.
  • the guiding means can be configured to compensate the movement of the sensing device and/or the medical target. This compensa tion can be carried out by shifting the light pattern such that it maintains a constant spatial relationship to the med ical target. In other words the position, pose or orientation of the light pattern relative to the medical target is held constant by the compensation. Three examples for such move ments are described in the following.
  • the medical target performs a movement relative to the sensing device and/or the sensing device performs a movement relative to the medical target.
  • the compensation is achieved by shifting the light pattern in the same direction and/or by the same amount as the medical target.
  • both the sensing device and the medical target per form a similar movement, for example relative to a fixed point. In this case no shifting of the light pattern may be required.
  • both the sensing device and the medical target perform a movement, which is partly similar and partly different. In this case the shifting of the light pattern may be required, but with respect to the relative movement between the sensing device and the medical target.
  • Especially a breathing of the medical target can be compen sated. The breathing can cause both the movement of the sens ing device or the probe housing respectively and the movement of the medical target as well. Also the movement of parts in side the medical target, for example organs, against other parts of the medical target can be compensated this way.
  • the path acquisition means is con figured to receive the planned path from a user input or from an external computing means. Therefore the path acquisition means may comprise an interface for receiving either the user input or the planned path from the external computing means.
  • the sensing device may also comprise a memory unit for stor ing the planned path. By this an easy way to prepare the sensing device is given.
  • the path acquisition means is additionally configured to receive the previous imaging based on which the planned path was deter mined. Thereby, a registration of the ultrasound signal to this previous imaging allows for determination of the move ment of the medical target.
  • the light unit is configured to emit two light lines as the light pattern, in a way that the light lines span a respective light plane each and the re spective light planes intersect in a line of intersection that indicates the planned path.
  • the line of intersection may at least partly be identical to the planned path.
  • the two light lines can be emitted by different light sources of the light unit.
  • the light unit can be formed as laser unit to emit a laser pattern as the light pattern.
  • the one, two or more light sources of the light unit may then be formed as laser diodes or laser scanner.
  • the light pattern comprises one or more light planes each of the light planes can be emitted by a respective laser scanner.
  • Each of the laser scanners scans its respective laser along the respective light plane.
  • Another aspect of the invention relates to a guiding means for providing guidance for a medical device, in particular a needle, comprising:
  • -a position acquiring means for acquiring a position of the medical device, in particular the needle, relative to the planned path
  • the light unit is configured to emit the light pat tern depending on both the planned path and the position of the medical device.
  • a method for providing guidance for a medi cal device, in particular a needle comprising the following steps :
  • the guiding means can feature mounting means for mounting it at an apparatus, for example at the sensing device or at an op erating table or an X-ray C-arm.
  • Another aspect of the invention is a computer program which is comprising instructions which, when the program is execut ed by a computer, cause the computer to carry out the follow ing steps :
  • the light pattern is emitted in a way that the light pattern depends on both the planned path and the posi tion of the medical device.
  • the computer program may be stored on a computer readable me dium, for example a hard disc, a flash medium or an optical storage medium.
  • the computer readable medium may additionally or alternatively comprise instructions which, when the com puter program is executed by a computer, cause the computer to execute the above-mentioned method.
  • the relative position of the ultrasound sensor and the guiding means can be stored on the computer readable medium as a part of the computer program .
  • the path acquisition means can be formed in the same way as the path acquisition means described in the context of the sensing device. Therefore embodiments disclosed relating to the path acquisition means of the sensing device also apply to the path acquisition means of the guiding means.
  • the position acquiring means may comprise a camera, a stereo camera, a camera-based tracking system, a LIDAR-sensor, a time of light camera (TOF-camera) , or an electromagnetic tracking system which is widely known within the scope of medical technology.
  • the position acquiring means the rela tive position of the medical device, an orientation of the medical device or a relative pose of the medical device may be acquired.
  • the position, orientation or pose may be ac quired relative to the guiding means. This can be set into context with the planned path. For example the relative posi tion, orientation or pose of the medical device relative to the planned path is determined from the position, orientation or pose of the medical device relative to the guiding means and the planned path.
  • Such a position acquiring means is also known from the Siemens application with the Siemens reference number 20190229 where it is referred to a sensor unit.
  • the light unit is configured to emit the light pattern de pending on both the planned path and the position of the med ical device.
  • the light unit is configured to emit the light pattern which changes with regard to the planned path or the position of the medical device.
  • the light pattern In par ticular the light pattern depends on a deviation between the planned path and the position and/or orientation of the medi cal device. Therefore the light pattern can indicate this de viation.
  • a measure for the devi ation between the planned path and the position and/or orien tation of the medical device can be emitted. For example a characteristic of the light pattern determined by the posi tion and/or orientation of the medical device or the devia tion between the planned path and the position and/or orien tation of the medical device.
  • the characteris tic may indicate or visualize the measure for the deviation.
  • the light unit is configured to adjust a colour, a brightness or a tem poral variation of the light pattern depending on the devia tion between the planned path and the position of the medical device.
  • the colour, the brightness or the temporal variation of the light pattern may indicate the de- viation between the planned path and the position of the med ical device.
  • the colour, the brightness or the temporal vari ation may vary along the planned path. This may happen, if the deviation between the planned path and the position of the medical device is different along the planned path.
  • the colour, the brightness or the temporal varia tion can be adjusted separately for different parts of the light pattern.
  • These different parts of the light patterns may each represent a different segment of the planned path. For example, a colour can be changed or a brightness can be increased or decreased, if the deviation between the planned path and the position of the medical device is greater than a predefined value. This provides an intuitive understandable guidance for the medical device.
  • the light unit is configured to emit a line light which spans a light plane and indicates the planned path along a first direction in space, wherein a characteristic of the line light indicates a deviation of the position of the medical device from the planned path in a second direction in space which is independent from the first direction in space.
  • the light plane can be parallel to the planned path.
  • the light plane may be emitted in a way that it incorporates the planned path, particularly fully incorpo rates the planned path. Therefore, the planned path, which is usually a straight line, is determined along the first direc tion in space by the light plane.
  • the correct alignment of the medical device can be seen when it is illuminated by the line light in a predefined manner.
  • the position of the medi cal device relative to the planned path along the second di rection which is usually parallel to the light plane, cannot be determined or indicated by means of the light plane.
  • the deviation of the position of the medical de vice from the planned path in the second direction in space is indicated by the characteristic of the line light.
  • the characteristic can for example be the colour, the brightness or the temporal variation of the light pattern.
  • the charac teristic can be adjusted differently for different parts of the line light.
  • the different parts of the line light corre spond to different segments of the planned path. This further increases the intuitive understandable guidance for the medi cal device.
  • the light unit is configured to emit the line light in a way that the characteristic varies along a main extension direction of the line light. This re fers to the characteristic being independently adjusted for the different parts of the line light. These parts may extend along the main extension direction.
  • the light unit can be formed as laser unit to emit a laser pattern as the light pattern.
  • the laser unit may comprise one or more laser diodes or laser scanners.
  • the light unit or the laser unit respectively comprises exactly one laser scanner.
  • the laser scanner may scan along the light plane with a high speed to generate the visible line light or light plane.
  • the position acquiring means is configured to acquire the position of the medical device rel ative to the planned path at least partly by means of a cam era, a stereo-camera, a time-of-flight-camera, a LIDAR-sensor or an electromagnetic sensor.
  • the camera or the stereo-camera may be part of an optical tracking system which is well known within the scope of medical technology.
  • the electromagnetic sensor may be part of an electromagnetic tracking system which is also well-known within the scope of medical technol ogy.
  • Position data concerning the position of the medical de vice acquired by one or more of the above-mentioned sensors can be set into context with position data concerning the planned path.
  • the guiding means is part of the sensing device of the present application.
  • another aspect of the invention is a sensing device wherein the guid- ing means is formed according to the above-mentioned guiding means.
  • the sensing device may then comprise the probe hous ing, the ultrasound sensor and the guiding means, wherein the guiding means comprises the path acquisition means, the light unit and the position acquiring means. Therefore, the sensing device may combine the features from the present application as well as the above-referenced Siemens application
  • the position acquir ing means may be formed like the sensor unit of the refer enced application. Therefore, a handheld sensing device, par- ticularly formed like an ultrasound probe, is created which comprises the guiding means as well as the position acquiring means or sensor unit respectively.
  • Another aspect of the invention is a computer program which is comprising instructions which, when the program is execut ed by a computer, cause the computer to carry out the follow ing steps :
  • the relative position of the ultrasound sensor and the guid ing means can be a part of the computer program.
  • the relative position can be fixed in a predefined way by the probe hous ing .
  • the computer program may be stored on a computer readable me dium, for example a hard disc, a flash medium or an optical storage medium.
  • the computer readable medium may additionally or alternatively comprise instructions which, when the com- puter program is executed by a computer, cause the computer to execute a claimed method.
  • FIG 1 a sensing device in an intended use case together with a needle and a medical target in a schematic top view;
  • FIG 2 the same sensing device in a schematic side view
  • FIG 3 schematically a guiding means according to another embodiment
  • FIG 4 schematically a sensing device with the guiding means according to FIG 3;
  • FIG 5 an exemplary flow chart of a method for providing guidance for a medical device.
  • FIG 1 and FIG 2 show a sensing device 1 which comprises a probe housing 2, an ultrasound sensor 3 and a guiding means 4.
  • the ultrasound sensor 3 is at least partly surrounded by the probe housing 2.
  • the ultrasound sensor 3 is arranged completely inside the probe housing 2.
  • the guiding means 4 is arranged directly at the probe housing 2.
  • the guiding means 4 can be arranged inside the probe hous ing 2, outside the probe housing 2 or partly inside and out side the probe housing 2.
  • the ultrasound sensor 3 is configured to provide target in formation concerning a medical target 6.
  • the target infor mation may comprise a two-dimensional or three-dimensional ultrasound image of the medical target 6.
  • the acquiring of the target information is carried out by means of ultrasound 7.
  • the ultrasound sensor 3 is configured to emit ultrasound 7 into the medical target 6, when mechanically or acoustically coupled to the medical target 6.
  • the sensing device 1 or the probe housing 2 respectively can be positioned on the medical target 6 in an intended way.
  • the sensing device 1 is configured to provide the target information to allow the in tended positioning of the sensing device 1 relative to the medical target 6. This positioning can be carried out within the scope of a so-called registration.
  • the target information can be compared to a previously acquired image of the medical target 6.
  • the previously ac quired image can be a two-dimensional or three-dimensional ultrasound image, an X-ray image, a computer tomography or a magnetic resonance image.
  • the relative position of the sensing device 1 or the probe hous ing 2 respectively relative to the medical target 6 can be determined.
  • the sensing device 1 may comprise a memory for storing the previously acquired image or an inter face for receiving the previously acquired image.
  • the medical target 6 may be a human body, in particular a pa tient, or a dummy for simulating the patient or a human body respectively. Such a dummy may be intended for teaching pur poses.
  • the medical device 5 may be a needle which is supposed to be introduced to the intended po sition 8.
  • the intended position 8 can be a tumor within the human body or a representation of the tumor within the dummy.
  • the medical device 5 is supposed to be introduced to the intended position 8 along a planned path 9. By the planned path 9 also a puncture site 19 where the medical de vice 5 is introduced into the medical target 6 is defined.
  • the guiding means 4 comprises a path acquisition means 13 for acquiring the planned path 9.
  • the path acquisi tion means is configured to receive the planned path from a user input or a computer which is not part of the sensing de vice.
  • the acquisition means 13 is configured to receive the planned path from a computer which evaluates the previously acquired image of the medical target 6.
  • the guiding means 4 comprises the light unit 10.
  • the light unit 10 comprises two light sources 11, for example laser diodes or laser scanner. Both of the light sources 11 are configured to emit a respective light plane 12 each.
  • the light planes 12 together form a light pat tern.
  • the light unit 10 is configured to emit light in a way that two respective light planes 12 are emit- ted.
  • the light planes 12 intersect in a line identical to the desired path 9 outside the medical target 6.
  • a line of intersection between the light planes 12 is at least partly identical to the planned path 9. Therefore the medical device 5 can be aligned to the planned path 9 by aligning it to both of the light planes 12 or their line of intersection respectively.
  • FIG 3 shows another exemplary embodiment of a guiding means 20.
  • the guiding means 20 provides mounting means 28 which al low the guiding means 20 to be mounted on a sensing device 1 or at a fixed aperture, for example an X-ray device or an op erating room table.
  • the guiding means 20 further comprises a path acquisition means for acquiring or receiving the planned path 9 for a medical device 5.
  • the path acquisi tion means 21 comprises an interface 24 to receive the planned path or respective planned path data according to the planned path from a user's input or another computer.
  • the guiding means further comprises a light unit 22 and a po sition acquiring means 23. Both together are used for provid ing the guidance for the medical device 5.
  • the light unit 22 may comprise one or more laser diodes or light emitting di odes. In the present case the light unit 22 comprises a sin gle laser scanner.
  • the light unit 22 is configured to emit a single light plane 25.
  • the light plane 25 is oriented such that the planned path 9 is within the light plane 25. There fore, the straight line representing the planned path 9 is fixed or determined along a first direction in space. There fore, guidance to the medical device 5 is provided according to the first direction in space. As shown in FIG 3, a tilting of the medical device 5 within the light plane 25 is still possible.
  • This tilting or in other words the distance between the medical device 5 and the light unit 22 is a degree of freedom according to a second direction in space.
  • the second direction in space is oriented parallel to the light plane 25 and perpendicular to the planned path 9.
  • the second direction in space is independent from the straight line representing the planned path 9 and a line perpendicular to the light plane 25.
  • the first direction in space may equal a y-axis and the second direction in space may equal an x-axis.
  • a z-axis may be oriented parallel to the planned path 9.
  • the guiding means comprises the position acquiring means 23.
  • the position acquiring means 23 may comprise a camera, a ste reo-camera, a LIDAR-sensor, a time-of-flight-camera (TOF- camera) , an electromagnetic sensor or any other sensor to ac quire the relative position of the medical device 5 relative to the guiding means 20.
  • the camera or the stereo-camera may be part of an optical tracking system.
  • the electromagnetic sensor may be part of an electromagnetic tracking system.
  • a distance of different parts of the medical device 5 is acquired. For example, a distance of the medical device 5 in a segment 26 and the position of the medical device in a seg ment 27 is acquired. Additionally or alternatively an orien tation or a pose of the medical device 5 is acquired.
  • the ac quired position, orientation or pose of the medical device 5 relative to the guiding means 20 is set into context with the planned path 9 or the position, orientation or pose of the planned path 9 relative to the guiding means 20. From both inputs, the relative position, orientation or pose of the medical device and the relative position, pose or orientation of the planned path 9, a relative position, orientation or pose between the planned path 9 and the medical device 5 can be determined or calculated.
  • a deviation be tween the planned path 9 and the actual position of the medi cal device 5 is calculated.
  • the characteristic of the light plane 25 is adjusted.
  • the characteristic can for example be a color, brightness or temporal variation of the light plane 25.
  • the characteristic can be adjusted differently for different seg ments 26, 27.
  • the color is adjusted differently according to the deviation.
  • the brightness is adjusted differently according to the deviation.
  • the temporal variation can be a flashing, a blinking or any other optical signal of the light plane 25.
  • the temporal variation can be adjusted to the deviation. For example in the segment 26 it is indicated by the characteristic of the light plane 25, that the medical device 5 is further away from the guiding means 20 than the planned path 9.
  • FIG 4 shows a sensing device similar to FIG 1 and FIG 2.
  • the sensing device 1 according to FIG 4 comprises the guiding means 20. Therefore in the example of FIG 4 there is also only one light plane 25.
  • the sensing device 1 can comprise a movement acquisition means 13 which is configured to measure a movement of the sensing device 1 and/or the med ical target 5, wherein the guiding means 4 is configured to emit the light pattern or the light plane respectively 12 de pending on said movement.
  • the movement acquisition means 13 can for example comprise an acceleration sensor to measure an acceleration of the sensing device 1 or the probe housing 2 respectively .
  • the movement acquisition means 13 may comprise a camera, a stereo camera, a LIDAR-sensor, a time-of-flight-camera (TOF-camera) , an electromagnetic track ing system or the like.
  • the movement acquisition means can be configured to measure a distance to one or more fixed points or invariant point in a surrounding of the sensing device.
  • the one or more fixed points can for example be provided by a wall of a room in which the sensing device is located.
  • the guiding means 4 is configured to emit the light plane 12 depending on the movement of the sensing device 1 and/or the medical target 6. In doing so said movements can be compen sated while emitting the light plane 12.
  • the guiding means 4 can be configured to compensate the movement of the sensing device 1 and/or the medical target 6. This compensation can be carried out by shifting the 12 into the opposite direction compared to the movement. In other words the position, pose or orientation of the light plane 12 rela tive to the medical target 6 is held constant by the compen sation.
  • Especially a breathing of the medical target 6 can be compensated. The breathing can cause both the movement of the sensing device 1 or the probe housing 2 respectively and the movement of the medical target 6 as well. Also the movement of parts inside the medical target 6, for example organs, against other parts of the medical target 6 can be compen sated this way.
  • the medical target 6 performs a movement relative to the sensing device 1 and/or the sensing device 1 performs a movement relative to the medical target 6.
  • the compensation is achieved by shifting the light plane 12 in the same direction and/or by the same amount as the medical target 6.
  • both the sensing device 1 and the medical target 6 perform a similar movement, for example relative to a fixed point. In this case no shifting of the light plane 12 may be required.
  • both the sensing device 1 and the medical target 6 perform a movement, which is partly similar and partly dif- ferent. In this case the shifting of the light plane 12 may be required, but with respect to the relative movement be tween the sensing device 1 and the medical target 6.
  • FIG 5 shows an exemplary flow chart of a method for providing guidance for a medical device, in particular a needle, com prising the following steps:
  • SI acquiring target information concerning a medical target by means of ultrasound by an ultrasound sensor, which is at least partly surrounded by a probe housing,

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Abstract

The invention relates to a sensing device (1) for providing guidance for a medical device (5), in particular a needle, comprising: - a probe housing (2), - an ultrasound sensor (3), which is at least partly surrounded by the probe housing (2), for acquiring target information concerning a medical target (6) by means of ultrasound (7), and - a guiding means (4) arranged at the probe housing (2) for guiding the medical device (5), in particular the needle, along a planned path (9) relative to the medical target (6). To provide a technique of guiding the medical device (5), which allows an easier handling it is envisaged that - the guiding means (4) comprises a path acquisition means (13) for acquiring the planned path (9), wherein - the guiding means (4) comprises a light unit (10) for emitting a light pattern (12) which indicates the planned path (9).

Description

Description
Sensing device with an ultrasound sensor and a light emitting guiding means combined in a probe housing and method for providing guidance
The invention relates to a sensing device for providing guid ance for a medical device, in particular a needle. A second aspect of the present invention relates to a guiding means for providing guidance for a medical device. Another aspect of the invention relates to a method for providing guidance for a medical device, in particular a needle.
Often medical devices, for example needles, have to be placed very carefully in relation to a medical target or a clinical target. Such a medical target could in an example be a pa tient or a dummy for simulating the patient. If the medical device is a needle it can for example be introduced into the medical target. In doing so the medical device, in particular the needle, is supposed to follow a previously planned path or trajectory. The trajectory for the medical device, in par ticular the needle, can be planned beforehand on the basis of previously gained information about the medical target. Such can for example be an ultrasonic image, an X-ray image, a computer tomography or a magnetic resonance image. In a con crete example the needle is supposed to be introduced to a target within the dummy, wherein the target simulates a tumor inside the dummy. Of course precise positioning of a medical device is crucial in many other use cases as well.
Physical guidance for the needle can for example be provided by a mechanical guideline which is first manually aligned to the planned path and then allows a movement of the needle on ly along the planned path. Another way to provide guidance for a needle lies in projecting a laser pattern similar to a crosshair onto the medical target. Both systems are usually arranged at a C-arm X-ray device. Therefore the whole equip ment comprising the C-arm and the guidance means as well as the medical target have to be precisely aligned to each oth er .
It is the object of the present invention to provide a tech nique of guiding a medical device, in particular a needle, which allows an easier handling.
This object is solved by the subject matter of the independ ent claims. Advantageous embodiments a part of the dependent claims .
A first aspect of the invention relates to a sensing device for providing guidance for a medical device, in particular a needle, comprising:
-a probe housing,
-an ultrasound sensor, which is at least partly surrounded by the probe housing, for acquiring target information concern ing a medical target by means of ultrasound, and
-a guidance means arranged at the probe housing for guiding the medical device, in particular the needle, along a planned path relative to the medical target.
The sensing device is characterized in that
-the guiding means comprises a path acquisition means for ac quiring the planned path, wherein
-the guiding means comprises a light unit for emitting a light pattern which indicates the planned path.
The invention also relates to a method for providing guidance for a medical device, in particular a needle, comprising the steps of :
- acquiring target information concerning a medical target by means of ultrasound by an ultrasound sensor, which is at least partly surrounded by a probe housing,
- receiving a planned path for the medical device, in partic ular the needle, relative to the medical target, and
- emitting a light pattern which indicates the planned path by a guiding means which is arranged at the probe housing. The target information provided by the sensing device may be used for positioning the image device or the probe housing respectively in relation to the medical target. In particular the sensing device or the probe housing respectively may be positioned relative to a desired position for the medical de vice at the medical target. If the medical device is a needle the sensing device or the probe housing respectively may be positioned according to a planned trajectory for the needle. Alternatively or additionally a so-called registration may be carried out. In the scope of the registration the target in formation may be compared or matched with previously acquired target information. For example a two-dimensional or three- dimensional ultrasound image which is part of the target in formation is compared or matched with a previously acquired two-dimensional or three-dimensional image of the medical target. In doing so the relative position of the sensing de vice or the probe housing respectively in relation to the de sired position for the medical device in particular the planned trajectory for the needle may be determined.
The sensing device or the probe housing respectively can be formed as a handheld device. For acquiring the target infor mation the probe housing can be configured to directly couple the ultrasound sensor to the medical target. For example the probe housing may partly be opened to allow acoustical and/or mechanical coupling between the ultrasound sensor and the medical target. Alternatively or additionally the probe hous ing may contain a membrane to allow said coupling.
The ultrasound sensor and the guiding means are mounted on the probe housing. The ultrasound sensors are arranged at least partly inside the probe housing. The guiding means may be arranged at the inside or the outside of the probe hous ing. Advantageously the guiding means is arranged at least partly inside the probe housing. In any case the guiding means can be in direct touch with the probe housing. By the probe housing a relative position of the guiding means in re lation to the ultrasound sensor may be fixed. In other words the probe housing provides a defined and fixed relative posi tion between the ultrasound sensor and the guiding means.
This may apply to all parts of the ultrasound sensor and/or the guiding means respectively. In other words the position of every part of the guiding means in relation to the ultra sound sensor may be fixed or determined by the probe housing. Additionally or alternatively the position of the guiding means in relation to the probe housing may be fixed. Advanta geously the position of each part of the guiding means in re lation to the probe housing is fixed.
By said relative positions it is ensured that the light pat tern emitted by the guiding means can be aligned to a detec tion range of the ultrasound sensor. In other words respec tive coordinate systems of the ultrasound sensor and the guiding means can be aligned to each other.
The guiding means can be configured to emit light in a way that the light pattern which indicates the planned path is provided. The light unit may comprise one, two or more light sources for emitting the light pattern. In the case of more light sources each light source may emit a respective part of the light pattern. Light emitted by each of the light sources may combine to the light pattern. For example the light pat tern may have a shape of a crosshair.
In an embodiment the sensing device comprises a movement ac quisition means which is configured to measure a movement of the sensing device and/or the medical target, wherein the guiding means is configured to emit the light pattern depend ing on said movement. The movement acquisition means can for example comprise an acceleration sensor to measure an accel eration of the sensing device or the probe housing respec tively. Alternatively or additionally the movement acquisi tion means may comprise a camera, a stereo camera, a LIDAR- sensor (LIDAR = light detection and ranging) , a time of flight camera (TOF-camera) an electromagnetic tracking system or the like. The movement acquisition means can be configured to measure a distance to one or more fixed points or invari ant point in a surrounding of the sensing device. The one or more fixed points can for example be provided by a wall of a room in which the sensing device is located. The movement of the medical target can advantageously be measured on the ba sis of additional target information acquired by the ultra sound sensor. The additional target information can for exam ple be acquired while the light pattern is emitted. In a very advantageous embodiment the additional target information is acquired continuously or periodically. The additional target information may contain additional ultrasound images of the medical target. These ultrasound images can be acquired con tinuously or periodically. On the basis of the additional ul trasound images of the medical target at least one additional registration can be carried out. Such additional registra tions can be carried out continuously or periodically. In an other embodiment such an additional registration is carried out only once directly before a puncture of the medical tar get with the medical device is supposed to take place. The additional registration can be done analogously to the above- mentioned registration.
By said techniques the movement of the sensing device and/or the medical target can be monitored continuously or periodi cally. The guiding means is configured to emit the light pat tern depending on the movement of the sensing device and/or the medical target. In doing so said movements can be compen sated while emitting the light pattern. In other words the guiding means can be configured to compensate the movement of the sensing device and/or the medical target. This compensa tion can be carried out by shifting the light pattern such that it maintains a constant spatial relationship to the med ical target. In other words the position, pose or orientation of the light pattern relative to the medical target is held constant by the compensation. Three examples for such move ments are described in the following. In a first example the medical target performs a movement relative to the sensing device and/or the sensing device performs a movement relative to the medical target. In this case the compensation is achieved by shifting the light pattern in the same direction and/or by the same amount as the medical target. In a second example both the sensing device and the medical target per form a similar movement, for example relative to a fixed point. In this case no shifting of the light pattern may be required. In a third example both the sensing device and the medical target perform a movement, which is partly similar and partly different. In this case the shifting of the light pattern may be required, but with respect to the relative movement between the sensing device and the medical target. Especially a breathing of the medical target can be compen sated. The breathing can cause both the movement of the sens ing device or the probe housing respectively and the movement of the medical target as well. Also the movement of parts in side the medical target, for example organs, against other parts of the medical target can be compensated this way.
According to an embodiment the path acquisition means is con figured to receive the planned path from a user input or from an external computing means. Therefore the path acquisition means may comprise an interface for receiving either the user input or the planned path from the external computing means. The sensing device may also comprise a memory unit for stor ing the planned path. By this an easy way to prepare the sensing device is given. According to an embodiment the path acquisition means is additionally configured to receive the previous imaging based on which the planned path was deter mined. Thereby, a registration of the ultrasound signal to this previous imaging allows for determination of the move ment of the medical target.
According to an embodiment the light unit is configured to emit two light lines as the light pattern, in a way that the light lines span a respective light plane each and the re spective light planes intersect in a line of intersection that indicates the planned path. The line of intersection may at least partly be identical to the planned path. The two light lines can be emitted by different light sources of the light unit.
According to a development the light unit can be formed as laser unit to emit a laser pattern as the light pattern. The one, two or more light sources of the light unit may then be formed as laser diodes or laser scanner. In the case the light pattern comprises one or more light planes each of the light planes can be emitted by a respective laser scanner. Each of the laser scanners scans its respective laser along the respective light plane. By means of the laser unit the light pattern can be emitted very advantageously.
Another aspect of the invention relates to a guiding means for providing guidance for a medical device, in particular a needle, comprising:
-a path acquisition means for acquiring the planned path,
-a light unit for emitting a light pattern which indicates the planned path, and
-a position acquiring means for acquiring a position of the medical device, in particular the needle, relative to the planned path,
-wherein the light unit is configured to emit the light pat tern depending on both the planned path and the position of the medical device.
Disclosed is also a method for providing guidance for a medi cal device, in particular a needle, comprising the following steps :
-acquiring a planned path for the medical device,
-emitting a light pattern which indicates the planned path, and
-acquiring a position of the medical device, in particular the needle, relative to the planned path,
-wherein the light pattern is emitted in a way that the light pattern depends on both the planned path and the position of the medical device. Embodiments and features disclosed for the guiding means are also valid for this method and the other way around. The guiding means can feature mounting means for mounting it at an apparatus, for example at the sensing device or at an op erating table or an X-ray C-arm.
Another aspect of the invention is a computer program which is comprising instructions which, when the program is execut ed by a computer, cause the computer to carry out the follow ing steps :
- acquiring a planned path for the medical device,
- commanding a light unit to emit a light pattern which indi cates the planned path, and
- acquiring a position of the medical device, in particular the needle, relative to the planned path, on the basis of sensor data received from a position acquiring means,
- wherein the light pattern is emitted in a way that the light pattern depends on both the planned path and the posi tion of the medical device.
The computer program may be stored on a computer readable me dium, for example a hard disc, a flash medium or an optical storage medium. The computer readable medium may additionally or alternatively comprise instructions which, when the com puter program is executed by a computer, cause the computer to execute the above-mentioned method. The relative position of the ultrasound sensor and the guiding means can be stored on the computer readable medium as a part of the computer program .
The path acquisition means can be formed in the same way as the path acquisition means described in the context of the sensing device. Therefore embodiments disclosed relating to the path acquisition means of the sensing device also apply to the path acquisition means of the guiding means.
The position acquiring means may comprise a camera, a stereo camera, a camera-based tracking system, a LIDAR-sensor, a time of light camera (TOF-camera) , or an electromagnetic tracking system which is widely known within the scope of medical technology. By the position acquiring means the rela tive position of the medical device, an orientation of the medical device or a relative pose of the medical device may be acquired. The position, orientation or pose may be ac quired relative to the guiding means. This can be set into context with the planned path. For example the relative posi tion, orientation or pose of the medical device relative to the planned path is determined from the position, orientation or pose of the medical device relative to the guiding means and the planned path. Such a position acquiring means is also known from the Siemens application with the Siemens reference number 20190229 where it is referred to a sensor unit.
The light unit is configured to emit the light pattern de pending on both the planned path and the position of the med ical device. In other words the light unit is configured to emit the light pattern which changes with regard to the planned path or the position of the medical device. In par ticular the light pattern depends on a deviation between the planned path and the position and/or orientation of the medi cal device. Therefore the light pattern can indicate this de viation. As part of the light pattern a measure for the devi ation between the planned path and the position and/or orien tation of the medical device can be emitted. For example a characteristic of the light pattern determined by the posi tion and/or orientation of the medical device or the devia tion between the planned path and the position and/or orien tation of the medical device. In particular the characteris tic may indicate or visualize the measure for the deviation.
According to an embodiment of the guiding means the light unit is configured to adjust a colour, a brightness or a tem poral variation of the light pattern depending on the devia tion between the planned path and the position of the medical device. In other words, the colour, the brightness or the temporal variation of the light pattern may indicate the de- viation between the planned path and the position of the med ical device. The colour, the brightness or the temporal vari ation may vary along the planned path. This may happen, if the deviation between the planned path and the position of the medical device is different along the planned path.
Therefore, the colour, the brightness or the temporal varia tion can be adjusted separately for different parts of the light pattern. These different parts of the light patterns may each represent a different segment of the planned path. For example, a colour can be changed or a brightness can be increased or decreased, if the deviation between the planned path and the position of the medical device is greater than a predefined value. This provides an intuitive understandable guidance for the medical device.
According to an embodiment the light unit is configured to emit a line light which spans a light plane and indicates the planned path along a first direction in space, wherein a characteristic of the line light indicates a deviation of the position of the medical device from the planned path in a second direction in space which is independent from the first direction in space. The light plane can be parallel to the planned path. The light plane may be emitted in a way that it incorporates the planned path, particularly fully incorpo rates the planned path. Therefore, the planned path, which is usually a straight line, is determined along the first direc tion in space by the light plane. The correct alignment of the medical device can be seen when it is illuminated by the line light in a predefined manner. The position of the medi cal device relative to the planned path along the second di rection, which is usually parallel to the light plane, cannot be determined or indicated by means of the light plane.
Therefore, the deviation of the position of the medical de vice from the planned path in the second direction in space is indicated by the characteristic of the line light. The characteristic can for example be the colour, the brightness or the temporal variation of the light pattern. The charac teristic can be adjusted differently for different parts of the line light. The different parts of the line light corre spond to different segments of the planned path. This further increases the intuitive understandable guidance for the medi cal device.
According to an embodiment the light unit is configured to emit the line light in a way that the characteristic varies along a main extension direction of the line light. This re fers to the characteristic being independently adjusted for the different parts of the line light. These parts may extend along the main extension direction.
According to a development the light unit can be formed as laser unit to emit a laser pattern as the light pattern. The laser unit may comprise one or more laser diodes or laser scanners. In an advantageous embodiment the light unit or the laser unit respectively comprises exactly one laser scanner. By this one laser scanner the above-mentioned light plane or the line light respectively may be emitted. Therefore, the laser scanner may scan along the light plane with a high speed to generate the visible line light or light plane.
According to an embodiment the position acquiring means is configured to acquire the position of the medical device rel ative to the planned path at least partly by means of a cam era, a stereo-camera, a time-of-flight-camera, a LIDAR-sensor or an electromagnetic sensor. The camera or the stereo-camera may be part of an optical tracking system which is well known within the scope of medical technology. The electromagnetic sensor may be part of an electromagnetic tracking system which is also well-known within the scope of medical technol ogy. Position data concerning the position of the medical de vice acquired by one or more of the above-mentioned sensors can be set into context with position data concerning the planned path. From the planned path and from a position of the medical device, which is at least partly acquired by one or more of the above-mentioned sensors, the relative position of both can be derived or calculated. Very advantageously the guiding means is part of the sensing device of the present application. In other words, another aspect of the invention is a sensing device wherein the guid- ing means is formed according to the above-mentioned guiding means. The sensing device may then comprise the probe hous ing, the ultrasound sensor and the guiding means, wherein the guiding means comprises the path acquisition means, the light unit and the position acquiring means. Therefore, the sensing device may combine the features from the present application as well as the above-referenced Siemens application
201900799. Like already mentioned above, the position acquir ing means may be formed like the sensor unit of the refer enced application. Therefore, a handheld sensing device, par- ticularly formed like an ultrasound probe, is created which comprises the guiding means as well as the position acquiring means or sensor unit respectively.
Another aspect of the invention is a computer program which is comprising instructions which, when the program is execut ed by a computer, cause the computer to carry out the follow ing steps :
- commanding an ultrasound sensor to acquire target infor mation concerning a medical target by means of ultrasound by, wherein the ultrasound sensor is at least partly surrounded by a probe housing,
- receiving a planned path for the medical device, in partic ular the needle, relative to the medical target, and
- commanding a guiding means to emit a light pattern which indicates the planned path, wherein the guiding means is ar ranged at the probe housing, under consideration of the rela tive position of the ultrasound sensor and the guiding means . The relative position of the ultrasound sensor and the guid ing means can be a part of the computer program. The relative position can be fixed in a predefined way by the probe hous ing . The computer program may be stored on a computer readable me dium, for example a hard disc, a flash medium or an optical storage medium. The computer readable medium may additionally or alternatively comprise instructions which, when the com- puter program is executed by a computer, cause the computer to execute a claimed method. The relative position of the ul trasound sensor and the guiding means can be stored on the computer readable medium as a part of the computer program. Embodiments which are disclosed for the sensing device apply analogously to the method for providing guidance for a medi cal device as well as to the computer program. Conversely em bodiments and their benefits disclosed for the method or the computer program also apply for the sensing device. All em- bodiments and features which are disclosed in the scope of the present application can be used on their own or be com bined if useful. In the following an exemplary embodiment is described on the basis of the drawings. Therein show: FIG 1 a sensing device in an intended use case together with a needle and a medical target in a schematic top view;
FIG 2 the same sensing device in a schematic side view;
FIG 3 schematically a guiding means according to another embodiment;
FIG 4 schematically a sensing device with the guiding means according to FIG 3; and
FIG 5 an exemplary flow chart of a method for providing guidance for a medical device.
FIG 1 and FIG 2 show a sensing device 1 which comprises a probe housing 2, an ultrasound sensor 3 and a guiding means 4. The ultrasound sensor 3 is at least partly surrounded by the probe housing 2. In the present embodiment the ultrasound sensor 3 is arranged completely inside the probe housing 2. The guiding means 4 is arranged directly at the probe housing 2. The guiding means 4 can be arranged inside the probe hous ing 2, outside the probe housing 2 or partly inside and out side the probe housing 2. By the probe housing 2 a relative position of the ultrasound sensor 3 and the guiding means 4 is fixed. In other words the probe housing 2 is configured to provide a fixed relative position between the ultrasound sen sor 3 and the guiding means 4.
The ultrasound sensor 3 is configured to provide target in formation concerning a medical target 6. The target infor mation may comprise a two-dimensional or three-dimensional ultrasound image of the medical target 6. The acquiring of the target information is carried out by means of ultrasound 7. The ultrasound sensor 3 is configured to emit ultrasound 7 into the medical target 6, when mechanically or acoustically coupled to the medical target 6.
On the basis of the target information the sensing device 1 or the probe housing 2 respectively can be positioned on the medical target 6 in an intended way. The sensing device 1 is configured to provide the target information to allow the in tended positioning of the sensing device 1 relative to the medical target 6. This positioning can be carried out within the scope of a so-called registration. Within the registra tion the target information can be compared to a previously acquired image of the medical target 6. The previously ac quired image can be a two-dimensional or three-dimensional ultrasound image, an X-ray image, a computer tomography or a magnetic resonance image. On the basis of this comparison the relative position of the sensing device 1 or the probe hous ing 2 respectively relative to the medical target 6 can be determined. For example the sensing device 1 may comprise a memory for storing the previously acquired image or an inter face for receiving the previously acquired image. The medical target 6 may be a human body, in particular a pa tient, or a dummy for simulating the patient or a human body respectively. Such a dummy may be intended for teaching pur poses. Within the medical target 6 there is an intended posi tion for a medical device 5. The medical device 5 may be a needle which is supposed to be introduced to the intended po sition 8. For example the intended position 8 can be a tumor within the human body or a representation of the tumor within the dummy. The medical device 5 is supposed to be introduced to the intended position 8 along a planned path 9. By the planned path 9 also a puncture site 19 where the medical de vice 5 is introduced into the medical target 6 is defined.
The guiding means 4 comprises a path acquisition means 13 for acquiring the planned path 9. For example, the path acquisi tion means is configured to receive the planned path from a user input or a computer which is not part of the sensing de vice. In an advantageous embodiment the acquisition means 13 is configured to receive the planned path from a computer which evaluates the previously acquired image of the medical target 6. By the fixed position between the guiding means 4 and the ultrasound sensor 3 the planned path 9 which is re ceived by the path acquiring means 13 can be set into context with the position of the probe housing relative to the medi cal target 6. Particularly due to the fixed relative posi tions a light unit 10 of the guiding means 4 has a defined relative position relative to the ultrasound sensor 3. There fore, by the above-mentioned registration the guiding means 4 of the light unit 10 is also registered to a desired posi tion .
The guiding means 4 comprises the light unit 10. In the pre sent embodiment the light unit 10 comprises two light sources 11, for example laser diodes or laser scanner. Both of the light sources 11 are configured to emit a respective light plane 12 each. The light planes 12 together form a light pat tern. In other words, the light unit 10 is configured to emit light in a way that two respective light planes 12 are emit- ted. The light planes 12 intersect in a line identical to the desired path 9 outside the medical target 6. In other words, a line of intersection between the light planes 12 is at least partly identical to the planned path 9. Therefore the medical device 5 can be aligned to the planned path 9 by aligning it to both of the light planes 12 or their line of intersection respectively.
FIG 3 shows another exemplary embodiment of a guiding means 20. The guiding means 20 provides mounting means 28 which al low the guiding means 20 to be mounted on a sensing device 1 or at a fixed aperture, for example an X-ray device or an op erating room table. The guiding means 20 further comprises a path acquisition means for acquiring or receiving the planned path 9 for a medical device 5. For example, the path acquisi tion means 21 comprises an interface 24 to receive the planned path or respective planned path data according to the planned path from a user's input or another computer.
The guiding means further comprises a light unit 22 and a po sition acquiring means 23. Both together are used for provid ing the guidance for the medical device 5. The light unit 22 may comprise one or more laser diodes or light emitting di odes. In the present case the light unit 22 comprises a sin gle laser scanner. The light unit 22 is configured to emit a single light plane 25. The light plane 25 is oriented such that the planned path 9 is within the light plane 25. There fore, the straight line representing the planned path 9 is fixed or determined along a first direction in space. There fore, guidance to the medical device 5 is provided according to the first direction in space. As shown in FIG 3, a tilting of the medical device 5 within the light plane 25 is still possible. This tilting or in other words the distance between the medical device 5 and the light unit 22 is a degree of freedom according to a second direction in space. The second direction in space is oriented parallel to the light plane 25 and perpendicular to the planned path 9. In other words the second direction in space is independent from the straight line representing the planned path 9 and a line perpendicular to the light plane 25.
According to FIG 3 the first direction in space may equal a y-axis and the second direction in space may equal an x-axis. A z-axis may be oriented parallel to the planned path 9.
To indicate the position of the medical device 5 along the second direction in space (x) a characteristic of the light plane 25 is adjusted according to a relative position of the medical device relative to the guiding means 20. Therefore, the guiding means comprises the position acquiring means 23. The position acquiring means 23 may comprise a camera, a ste reo-camera, a LIDAR-sensor, a time-of-flight-camera (TOF- camera) , an electromagnetic sensor or any other sensor to ac quire the relative position of the medical device 5 relative to the guiding means 20. The camera or the stereo-camera may be part of an optical tracking system. The electromagnetic sensor may be part of an electromagnetic tracking system. As part of the position acquired by the position acquiring means 23 a distance of different parts of the medical device 5 is acquired. For example, a distance of the medical device 5 in a segment 26 and the position of the medical device in a seg ment 27 is acquired. Additionally or alternatively an orien tation or a pose of the medical device 5 is acquired. The ac quired position, orientation or pose of the medical device 5 relative to the guiding means 20 is set into context with the planned path 9 or the position, orientation or pose of the planned path 9 relative to the guiding means 20. From both inputs, the relative position, orientation or pose of the medical device and the relative position, pose or orientation of the planned path 9, a relative position, orientation or pose between the planned path 9 and the medical device 5 can be determined or calculated. In other words a deviation be tween the planned path 9 and the actual position of the medi cal device 5 is calculated. According to that deviation between the planned path 9 and the medical device 5 the characteristic of the light plane 25 is adjusted. The characteristic can for example be a color, brightness or temporal variation of the light plane 25. The characteristic can be adjusted differently for different seg ments 26, 27. For example, the color is adjusted differently according to the deviation. Alternatively the brightness is adjusted differently according to the deviation. The temporal variation can be a flashing, a blinking or any other optical signal of the light plane 25. The temporal variation can be adjusted to the deviation. For example in the segment 26 it is indicated by the characteristic of the light plane 25, that the medical device 5 is further away from the guiding means 20 than the planned path 9. In other words in the seg ment 26 it is indicated, that there is a deviation between the medical device 5 and the planned path 9 along the second direction in space. On the contrary in the segment 26 it is indicated by the characteristic, that the medical device 5 is closer to the guiding means 20 than the planned path 9. In other words, it is indicated that there exists a deviation between the medical device 5 and the planned path 9 parallel to the second direction in space but oriented opposite to the second direction in space. Therefore, this characteristic provides a guidance to orient or position the medical device 5 along the planned path 9.
FIG 4 shows a sensing device similar to FIG 1 and FIG 2. The sensing device 1 according to FIG 4 comprises the guiding means 20. Therefore in the example of FIG 4 there is also only one light plane 25.
The sensing device 1 according to FIG 1, FIG 2 or FIG4 can comprise a movement acquisition means 13 which is configured to measure a movement of the sensing device 1 and/or the med ical target 5, wherein the guiding means 4 is configured to emit the light pattern or the light plane respectively 12 de pending on said movement. The movement acquisition means 13 can for example comprise an acceleration sensor to measure an acceleration of the sensing device 1 or the probe housing 2 respectively .
Alternatively or additionally the movement acquisition means 13 may comprise a camera, a stereo camera, a LIDAR-sensor, a time-of-flight-camera (TOF-camera) , an electromagnetic track ing system or the like. The movement acquisition means can be configured to measure a distance to one or more fixed points or invariant point in a surrounding of the sensing device.
The one or more fixed points can for example be provided by a wall of a room in which the sensing device is located.
The guiding means 4 is configured to emit the light plane 12 depending on the movement of the sensing device 1 and/or the medical target 6. In doing so said movements can be compen sated while emitting the light plane 12. In other words the guiding means 4 can be configured to compensate the movement of the sensing device 1 and/or the medical target 6. This compensation can be carried out by shifting the 12 into the opposite direction compared to the movement. In other words the position, pose or orientation of the light plane 12 rela tive to the medical target 6 is held constant by the compen sation. Especially a breathing of the medical target 6 can be compensated. The breathing can cause both the movement of the sensing device 1 or the probe housing 2 respectively and the movement of the medical target 6 as well. Also the movement of parts inside the medical target 6, for example organs, against other parts of the medical target 6 can be compen sated this way.
Three examples for such movements are described in the fol lowing. In a first example the medical target 6 performs a movement relative to the sensing device 1 and/or the sensing device 1 performs a movement relative to the medical target 6. In this case the compensation is achieved by shifting the light plane 12 in the same direction and/or by the same amount as the medical target 6. In a second example both the sensing device 1 and the medical target 6 perform a similar movement, for example relative to a fixed point. In this case no shifting of the light plane 12 may be required. In a third example both the sensing device 1 and the medical target 6 perform a movement, which is partly similar and partly dif- ferent. In this case the shifting of the light plane 12 may be required, but with respect to the relative movement be tween the sensing device 1 and the medical target 6.
FIG 5 shows an exemplary flow chart of a method for providing guidance for a medical device, in particular a needle, com prising the following steps:
SI: acquiring target information concerning a medical target by means of ultrasound by an ultrasound sensor, which is at least partly surrounded by a probe housing,
S2 : receiving a planned path for the medical device, in par ticular the needle, along a planned path relative to the med ical target, and
S3: emitting a light pattern which indicates the planned path by a guiding means which is arranged at the probe housing.

Claims

Patent claims
1. Sensing device (1) for providing guidance for a medical device (5), in particular a needle, comprising:
- a probe housing (2) ,
- an ultrasound sensor (3) , which is at least partly sur rounded by the probe housing (2), for acquiring target infor mation concerning a medical target (6) by means of ultrasound (7) , and
- a guiding means (4) arranged at the probe housing (2) for guiding the medical device (5), in particular the needle, along a planned path (9) relative to the medical target (6), wherein
- the guiding means (4) comprises a path acquisition means (13) for acquiring the planned path (9), wherein
- the guiding means (4) comprises a light unit (10) for emit ting a light pattern (12) which indicates the planned path (9) .
2. Sensing device (1) according to claim 1, characterized in that a relative position of the light unit (10) and the ul trasound sensor (3) is fixed by the probe housing (2) .
3. Sensing device (1) according to claim 1 or 2, character- ized by a movement acquisition means (14) which is configured to measure a movement of the sensing device (1) and/or the medical target (6), wherein the guiding means (4) is config ured to emit the light pattern (12) depending on said move ment .
4. Sensing device (1) according to one of the preceding claims, characterized in that the path acquisition means (13) is configured to receive the planned path (9) from a user in put or from an external computing means.
5. Sensing device (1) according to one of the preceding claims, characterized in that the light unit (10) is config ured to emit two light lines as the light pattern (12), in a way that the light lines span a respective light plane (12) each and the respective light planes (12) intersect in a line of intersection that indicates the planned path (9) .
6. Sensing device (1) according to one of the preceding claims, characterized in that the light unit (10) is formed as a laser unit to emit a laser pattern as the light pattern (12) .
7. Guiding means (20) for providing guidance for a medical device (5), in particular a needle, comprising:
- a path acquisition means (21) for acquiring a planned path (9) for the medical device (5) ,
- a light unit (22) for emitting a light pattern (25) which indicates the planned path (9), and
- a position acquiring means (23) for acquiring a position of the medical device (5) , in particular the needle, relative to the planned path (9),
- wherein the light unit (22) is configured to emit the light pattern (25) depending on both the planned path (9) and the position of the medical device (5) .
8. Guiding means (20) according to claim 7, characterized in that the light unit (22) is configured to adjust a color, a brightness or a temporal variation of the light pattern (25) depending on a deviation between the planned path (9) and the position of the medical device (5) .
9. Guiding means (20) according to claim 7 or 8, character ized in that the light unit (22) is configured to emit a line light which spans a light plane (25) and indicates the planned path (9) along a first direction (y) in space, where in a characteristic of the line light indicates a deviation of the position of the medical device (5) from the planned path (9) in a second direction (x) in space which is inde pendent from the first direction (y) in space.
10. Guiding means (20) according to claim 9, characterized in that the light unit (22) is configured to emit the line light in a way that the characteristic varies along a main exten sion direction of the line light.
11. Guiding means (20) according to one of the claims 7 to
10, characterized in that the light unit (22) is formed as laser unit to emit a laser pattern as the light pattern (25) .
12. Guiding means (20) according to one of the claims 7 to
11, characterized in that the position acquiring means com prises a camera, a stereo-camera, a time-of-flight camera, a LIDAR sensor or an electromagnetic sensor.
13. Sensing device (1) according to one of the claims 1 to 6, wherein the guiding means (4) is formed according to one of the claims 7 to 12.
14. Method for providing guidance for a medical device (5), in particular a needle, comprising the steps of:
- acquiring target information concerning a medical target
(6) by means of ultrasound (7) by an ultrasound sensor (3) , which is at least partly surrounded by a probe housing (2),
- receiving a planned path (9) for the medical device (5), in particular the needle, relative to the medical target (6), and
- emitting a light pattern which indicates the planned path (9) by a guiding means (4) which is arranged at the probe housing (2) .
15. Computer program comprising instructions which, when the program is executed by a computer, cause the computer to car ry out the following steps:
- commanding an ultrasound sensor (3) to acquire target in formation concerning a medical target by means of ultrasound
(7) by, wherein the ultrasound sensor (3) is at least partly surrounded by a probe housing (2), - receiving a planned path (9) for the medical device (5), in particular the needle, relative to the medical target (6), and
- commanding a guiding means (4) to emit a light pattern (12) which indicates the planned path (9), wherein the guiding means (4) is arranged at the probe housing (2), under consid eration of the relative position of the ultrasound sensor (3) and the guiding means (4) .
PCT/EP2019/055879 2019-03-08 2019-03-08 Sensing device with an ultrasound sensor and a light emitting guiding means combined in a probe housing and method for providing guidance WO2020182279A1 (en)

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