WO2021183083A1

WO2021183083A1 - Electromagnetic brain surgery navigation system and method

Info

Publication number: WO2021183083A1
Application number: PCT/TR2021/050206
Authority: WO
Inventors: Efrahim ÇEKİÇ; Gökhan Emre KAPKAP
Original assignee: Çeki̇çoğlu Maki̇na Medi̇kal Otom. İnş. Tarim Ve Hayv. San. Ti̇c. A. Ş.
Priority date: 2020-03-09
Filing date: 2021-03-08
Publication date: 2021-09-16

Abstract

The present invention is an electromagnetic navigation system (10) for use in brain surgery operations, which is a hardware platform that provides real-time surgical navigation by detecting the elements in the operation area using the electromagnetic field, characterized in that, it comprises the following; software that is installed on a server where two-dimensional - Dicom format patient images of the head of the patient (A) taken by MRI and CT (computerized tomography) is processed and made three-dimensional, ensures the determination of operation reference and target points by separating the tumor model in the three-dimensional images of the patient images, magnetic source (12) that is positioned near to the organ or limb (head part) of the patient (A) to be treated and provides magnetic field for the sensor (13) and microsensor (15) to make measurements of tissue, bone, vein, tumor and similar elements in the area where it is positioned, sensor (13) that is positioned on the organ or limb of the patient (A) to be treated, detects the position and movement of the organ or limb, and ensures that the reference and target points of the electromagnetic navigation system (10) are actively updated, microsensor (15) that is positioned on a hand probe tip (17), ensures the operation tool to follow the determined operation reference and target points during the operation, an electronic unit (11) that ensures controlling the magnetic source (12), sensor (13), microsensor (15) elements used in operation and supplying energy, a server (14) that is in the electronic unit (11), processes the data from the microsensor (15) and the sensor (13), calculates the position and direction of the microsensor (15) and the sensor (13) and interfaces the same to the main computer.

Description

ELECTROMAGNETIC BRAIN SURGERY NAVIGATION SYSTEM AND

METHOD

Technological Field:

The invention relates to a hardware platform navigation system and method to be used in neurosurgery operations that ensures real-time surgical navigation by detecting the elements in the operation area using the electromagnetic field.

State of the Art:

Surgical operations are one of the treatment methods that have been used nearly ever since the existence of human. The systems provided by the equipment used in surgical treatment methods, which have become faster, free of mistake and predictable operations, are continuously improved and breakthrough is experienced in the health sector with the development of the technology. Cameras, sensors, cutting and suturing guns, advanced computer and electronic units have become the most important elements of the hospitals. The invention subject to the description relates to a system and method that provides navigation to the surgeon during surgical operations.

Surgeons roughly mark the operations they will perform on the patient with a pen in the state of the art. However, it is very difficult for them to decide whether the cleaning operation they have carried out in deep and spread tumors are sufficient or not. This situation can cause mistakes to be made during the surgical operation, and can extend the operation times. In the patent document numbered KR20180047881 (A) encountered in the literature search, a system for detecting a brain tumor using electromagnetic waves is disclosed. On one hand the system mentioned here describes a method for detecting brain tumor, on the other hand the invention subject to the description proposes a system that provides navigation (guiding the surgeon) in a virtual reality environment in neurosurgery operations. Consequently, a surgical navigation system and method is required in which the state of the art is exceeded, the disadvantages are eliminated.

Brief Description of the Invention: The invention is a surgical navigation system and method which exceeds the state of the art, eliminates the disadvantages and has some additional features.

The aim of the invention is to provide a surgical navigation system and method that ensures navigation (guiding the surgeon) in a virtual reality environment by using electromagnetic field in brain surgery operations.

Another aim of the invention is to provide a surgical navigation system and method that reduces the failure ratio and operation time in surgical operations. Another aim of the invention is to provide a surgical navigation system and method that can be used in all operating rooms depending on its easy handling.

In order to fulfill all aims mentioned above and that will emerge from the detailed description below, the present invention is an electromagnetic navigation system for use in brain surgery operations, which is a hardware platform that provides real-time surgical navigation by detecting the elements in the operation area using the electromagnetic field, characterized in that, it comprises the following; software that is installed on a server where two-dimensional - Dicom format patient images of the head of the patient (A) taken by MRI and CT (computerized tomography) is processed and made three-dimensional, ensures the determination of operation reference and target points by separating the tumor model in the three-dimensional images of the patient images, magnetic source that is positioned near to the organ or limb (head part) of the patient to be treated and provides magnetic field for the sensor and microsensor to make measurements of tissue, bone, vein, tumor and similar elements in the area where it is positioned, sensor that is positioned on the organ or limb of the patient to be treated, detects the position and movement of the organ or limb, and ensures that the reference and target points of the electromagnetic navigation system are actively updated, microsensor that is positioned on a hand probe tip, ensures the operation tool to follow the determined operation reference and target points during the operation, an electronic unit that ensures controlling the magnetic source, sensor, microsensor elements used in operation and supplying energy, a server that is in the electronic unit, processes the data from the microsensor and the sensor, calculates the position and direction of the microsensor and the sensor and interfaces the same to the main computer.

Description of the Figures:

The invention will be described with reference to the accompanying drawings, thus the characteristics of the invention will be understood clearly. However, the aim of this is not to limit the invention with such certain embodiments. On the contrary, it is aimed to cover all alternatives, amendments and equivalents which may be contained in the field defined by the accompanying claims. It is to be understood that the details shown are only shown for the sake of illustrating the preferred embodiments of the present invention and presented for both illustrating the methods and for providing description of the rules of the invention and the conceptual features of the invention to be easily understood. In these figures;

Figure - 1 is the view showing the elements in the inventive electromagnetic navigation system.

Figure - 2 is an illustrative view for the use of the inventive electromagnetic navigation system during operation. The figures which enable to clarify this invention are enumerated as mentioned in the attached figure and they are given with their names herein below. Description of the References:

10. Electromagnetic navigation system

11. Electronic unit

12. Magnetic source 13. Sensor

14. Server

15. Micro sensor

16. Screen

17. Hand probe 18.Sensor Housing

A. Patient

B. Operation area

Description of the Invention:

In this detailed description, the inventive electromagnetic navigation (10) system and method is described by means of examples only for clarifying the subject matter such that no limiting effect is created. Electromagnetic navigation system (10) and method that is hardware platform to be used in neurosurgery operations that ensures real-time surgical navigation by detecting the elements in the operation area using the electromagnetic field is disclosed in the present invention.

In Figure 1, a view showing the inventive electromagnetic navigation system (10) hardware is given. Accordingly electromagnetic navigation system (10) comprises a magnetic source (12) that forms magnetic field. Measurement is performed with the sensor (13) and micro sensors (15) in the magnetic field created by the magnetic source (12). The tissues in the organ of the patient (A) to be operated can be measured and marked with the sensor (13) and micro sensors (15) by creating a magnetic field. For example, in neurosurgery, the real sizes of the brain tissues of the patient (A) and the tumor located in the brain can be determined. The data collected by the sensor (13) and microsensors (15) are processed in the server (14) within the electronic unit (11) and transferred to the virtual reality environment. Three-dimensional images prepared in virtual reality environment allows for guiding the surgeon during the operation. The sensor (13) is positioned in a sensor housing (18) in the invention. Also, the three-dimensional point coordinates and the target location are determined and marked by means of the micro sensor (15) located at the tip of a hand probe (17) positioned in the sensor housing (18).

In Figure 2, an illustrative view for the use of the inventive electromagnetic navigation system (10) during operation is given. Thus, the electromagnetic navigation system (10) is positioned in an operation area (B) which can be a stretcher of the patient (A) or an operating table. A magnetic source (12) is located near the organ or limb of the patient (A) to be treated so as to create a magnetic field in the operation area (B). A fixed sensor (13) is placed under the organ or limb of the patient (A) to be treated (in the invention, it is neurosurgery). Flereby, said sensor (13) determines the actual measurements of the tissue, bone and tumors in the organ or limb (neurosurgery in the invention) to be treated by scanning the entire magnetic field in three dimensions and transmits the same to the server within the electronic unit (11). At the same time, the three-dimensional point coordinates and the target location of the organ or limb to be treated are detected and marked by means of a micro sensor (15) attached to the tip of the hand probe (17). The guidance service given by the electromagnetic navigation system (10) is actively shown to the surgeon on a screen (16).

The inventive electromagnetic navigation system (10) consists of two main groups. In the first group, two-dimensional - Dicom format patient images of the head section of the patient (A) taken by MR and CT (computerized tomography) are displayed by a server (14). Then, the color tone and filtering processes of the images are made and they are processed. The image achieved as a result of color tone and filtering processes is converted into three dimensional form and thus the visualization of the skull structure, bone, brain, vein and similar tissues is provided. After three-dimensional image of the head section of the patient (A) is obtained, the tumor in the head is transformed into a separate three-dimensional model with segmentation method and its position is determined. The surgical operation processes are planned, after the three- dimensional model of the tumor is obtained. During planning surgical operation processes, the patient's operating position is determined, main reference points and coordinates are defined, the tools to be used are selected, the surgical reference points and target points are marked on the three-dimensional model, the angles of the start and end coordinates and the parametric limits to be applied during the operation are determined for each process. In the second group of the electromagnetic navigation system (10), the three-dimensional positions of the head of the patient (A) and the tissue, tumor, bone and similar elements in the head can be determined with the sensors (13) and microsensors (15) located in the tools, in the magnetic field created by the magnetic source (12). In the invention, the microsensor (15) attached to the tip of the hand probe (17) detects the target points that were previously marked in three dimensions, by acting as a pen. The sensor (13) located at the lower section of the head section of the patient (A) ensures the head position to be updated instantly by detecting the head movements that may occur during the operation. Therefore, the navigation is updated actively as a consequence of the changes in the head position of the patient (A).

In the inventive electromagnetic navigation system (10), the head images obtained by CT and MRI are processed and converted into three-dimensional images. The tumor tissue is modeled separately and reference and target points are marked in these converted images. Afterwards, the tumor tissue is removed by following the reference and target points determined above with the microsensor (15) at the tip of a hand probe (17) in the magnetic field. The target and reference points are continuously updated as a consequence of the data received from a sensor (13) that measures head movements during the removal of tumor tissue. Therefore, an electromagnetic navigation system (10) that provides guidance service using virtual reality applications is provided.

The inventive electromagnetic navigation system (10) is configured in a manner such that it is easy to carry. The elements of the electronic unit (11), magnetic source (12) and screen (16) have a lightweight design so as to provide opportunity for this situation. The electromagnetic navigation system (10) can be configured modularly with the hand tools used in the surgical operations. For example, the magnetic source (12) and sensors (13, 15) included in the invention can be in relation with surgical hand tools by means of a head, housing and various apparatus. Although the inventive electromagnetic navigation system (10) has been provided for use in neurosurgery, software in the electronic unit (11) is software that is compatible with different tissue and skeletal features so that it can be used in any surgical intervention. The microsensor (15) used in the invention is not required to have micro-dimension. A sensor with normal dimensions can also be used.

Claims

1 Electromagnetic navigation system (10) that is hardware platform to be used in neurosurgery operations, ensures real-time surgical navigation by detecting the elements in the operation area using the electromagnetic field, characterized in that, it comprises the following;

- software that is installed on a server where two-dimensional - Dicom format patient images of the head of the patient (A) taken by MRI and CT (computerized tomography) is processed and made three-dimensional, ensures the determination of operation reference and target points by separating the tumor model in the three-dimensional images of the patient images,

- magnetic source (12) that is positioned near the organ or limb (head part) of the patient (A) to be treated and provides magnetic field for the sensor (13) and microsensor (15) to make measurements of tissue, bone, vein, tumor and similar elements in the area where it is positioned,

- sensor (13) that is positioned on the organ or limb of the patient (A) to be treated, detects the position and movement of the organ or limb, and ensures that the reference and target points of the electromagnetic navigation system (10) are actively updated,

- microsensor (15) that is positioned on a hand probe tip (17), ensures the operation tool to follow the determined operation reference and target points during the operation,

- electronic unit (11) that ensures controlling the magnetic source (12), sensor (13), microsensor (15) elements used in operation and supplying energy,

- server (14) that is in the electronic unit (11), processes the data from the microsensor (15) and the sensor (13), calculates the position and direction of the microsensor (15) and the sensor (13) and interfaces the same to the main computer. 2- An electromagnetic navigation system (10) according to claim 1, characterized in that; it comprises a screen (16) where the actual reference and data points created by updating the result of the sensor (13) data of the operation reference and target points determined by separating the tumor model in the three-dimensional images in the patient images.

3- An electromagnetic navigation system (10) according to claim 1, characterized in that; it comprises a hand probe (17) that is configured in a manner such that the microsensor (15) and the surgical tool can be positioned on the tip portion thereof.

4- An electromagnetic navigation system (10) according to claim 1, characterized in that; it comprises a sensor housing (18) that ensures a sensor (13) to be mounted so as to grasp the head of the patient (A).

5- An electromagnetic navigation system (10) according to claim 1, characterized in that; the electronic unit (11), magnetic source (12) and screen (16) elements have a lightweight design so as to allow easy handling. 6- An electromagnetic navigation system (10) according to claim 1, characterized in that; it comprises software in the electronic unit (11) that is compatible with different tissue and skeletal features in order to adapt to different surgical interventions and to be used in any surgical intervention. 7- An electromagnetic navigation system (10) according to claim 1, characterized in that; it can be configured modularly with the surgical hand tools used in surgical operations and head, socket and various apparatuses.

8- Method for the operation of the electromagnetic navigation system (10) for use in neurosurgery operations, which is a hardware platform that provides real time surgical navigation by detecting the elements in the operation area using the electromagnetic field, characterized by the following; - displaying two-dimensional - Dicom format patient images of the head section of the patient (A) taken by MR and CT (computerized tomography),

- performing the color tone and filtering processes of the images in the server,

- converting the image achieved as a result of color tone and filtering processes into three dimensional form and displaying the skull structure, bone, brain, vein and similar tissues,

- transforming the tumor in the head into a separate three-dimensional model with segmentation and image segmentation method and determining its position after three-dimensional image of the head section of the patient (A) is obtained,

- identifying and marking reference and target points of the surgical application on the three-dimensional tumor model, - creating a magnetic field by the magnetic source (12),

- determining the three-dimensional positions of the head of the patient (A) and the tissue, tumor, bone and similar elements in the head with the sensors (13) and microsensors (15) located in the tools, in the applied electromagnetic field, - following the pre-determ ined operation reference and target points by the microsensor (15) attached to the tip of the hand probe (17),

- detecting the head movements that may occur during the operation by the sensor (13) and updating the operation reference and target points according to the instant position of the head position.