Systems and methods for navigation and simulation of minimally invasive therapy

Patent metadata

Field	Value
Publication number	US-11931140-B2
Application number	US-202217819653-A
Country	US
Kind code	B2
Filing date	Aug 15, 2022
Priority date	Mar 15, 2013
Publication date	Mar 19, 2024
Grant date	Mar 19, 2024

Abstract

Navigation and simulation systems and methods for minimally invasive therapy in which the navigation system imports a planning method using patient specific preoperative images. The navigation system uses intraoperative imaging during the medical procedure to update the preoperative images and provides images of tracked surgical tools along the surgical path prepared from the preoperative images.

First claim

What is claimed:

1. A method of supporting a medical procedure by way of a control and processing unit, the method comprising:
providing the control and processing unit, comprising:
providing a navigation module, providing the navigation module comprising providing a navigation system and configuring the navigation module to control trajectory and visual display of at least one medical instrument, providing the navigation module comprising providing a power supply, providing a processor control module programmed with navigation control software, and providing a storage device connected to the processor control module, providing the storage device comprising storing, therein, a surgical trajectory path plan defining a surgical path to be followed on an anatomical part undergoing a medical procedure, and the at least one medical instrument comprising at least one uniquely identifiable tracking marker associated therewith, and providing the storage device comprising configuring the storage device to store: a virtual representation of the at least one medical instrument stored in the storage device with the at least one associated uniquely identifiable tracking marker, the virtual representation of the at least one medical instrument being geometrically accurate with respect to volume, size, and shape of the at least one medical instrument; and a virtual representation of at least one tissue structure of interest of the anatomical part from the surgical trajectory path plan stored in the storage device;
providing a tracking system in communication with the navigation system which determines spatial positioning of the at least one medical instrument using the at least one associated uniquely identifiable tracking marker, providing the tracking system comprising providing a 3D optical tracking stereo camera,
providing the processor control module comprising programming the processor control module with instructions to: compare the at least one medical instrument, being tracked, with the geometrically accurate virtual representation of the at least one medical instrument stored in the storage device for identifying the at least one medical instrument in use, adaptively update a section of a preoperative image by using a localized intraoperative image, the preoperative imaging data acquired using MRI, calculate a course change from an actual surgical path back to the surgical path defined by the surgical trajectory path plan, and match the virtual representation of the at least one tissue structure with an actual view of the at least one tissue structure of interest;
providing at least one display for displaying a superposition of a virtual representation of the surgical path defined by the surgical trajectory path plan and a virtual representation of the actual surgical path, preoperative imaging data of the anatomical part undergoing the medical procedure which is registered with the anatomical part, an image of the at least one medical instrument used in the medical procedure, the virtual representation of at least one tissue structure from the surgical trajectory path plan, the matched virtual representation of the at least one tissue structure with the actual view of the at least one tissue structure of interest, the course change from the virtual representation of the actual surgical path back to the virtual representation of the surgical path defined by the surgical trajectory path plan, the preoperative imaging data comprising diffusion tensor imaging data, the diffusion tensor imaging data comprising at least four dimensions of information, and the at least four dimensions of information comprising three spatial dimensions and a time dimension,
providing the navigation system comprising providing a guidance mechanism for visually assisting a surgeon to translate one medical instrument of the at least one medical instrument, being tracked by the tracking system, along the surgical path, and
providing the navigation module comprising programming the navigation module to use the intraoperative imaging data of a localized region for updating the preoperative imaging data of the localized region within the anatomical part to update imaging of intraoperative tissue structures; and
providing at least one imaging device configured to acquire intraoperative imaging data of a localized region within the anatomical part during the medical procedure, the at least one imaging device comprising at least one uniquely identifiable tracking marker associated therewith which is tracked by the tracking system, wherein the navigation module updates the preoperative imaging data of the localized region within the anatomical part during the medical procedure based on positional information of the tracked imaging device relative to the anatomical part, providing the at least one imaging device comprising providing at least one MRI device insertable into the anatomical part, and
providing the navigation module comprising programming the navigation module to adaptively update a section of the preoperative imaging data using localized intraoperative MRI imaging data acquired using the at least one MRI device insertable into the anatomical part,
whereby real-time feedback is providable, the real-time feedback comprising at least one spatially correlated color map corresponding to at least one spectral signature from acquired intraoperative information; and
operating the control and processing unit.

2. The method of claim 1 , wherein providing the navigation module comprises programming the navigation module to provide positionally accurate maps correlating intraoperative imaging data acquired during the medical procedure to locations where the intraoperative imaging data is acquired in the anatomical part.

3. The method of claim 2 , wherein providing the navigation module comprises programming the navigation module to represent the positionally accurate maps by spatially correlated color maps.

4. The method of claim 1 , wherein providing the navigation module comprises programming the navigation module to enable quantitative registration in which an absolute quantitative metric is measured intraoperatively and to use the absolute quantitative metric to register imaging data obtained using one or more imaging modalities.

5. The method of claim 4 , wherein providing the navigation module comprises programming the navigation module to enable quantitative registration in which an absolute quantitative comprises at least one of: MRI (T1), MRI (T2), cell density, tissue density, tissue anisotropy, tissue stiffness, fluid flow per volume or area, electrical conductivity, pH, and pressure.

6. The method of claim 1 , wherein providing the navigation module comprises programming the navigation module to compute biomechanical properties of tissue being imaged by the at least one imaging device and to use the computed biomechanical properties to update a tissue model of the anatomical part undergoing the medical procedure.

7. The method of claim 1 , wherein providing the navigation module comprises programming the navigation module to analyze tissue patterns from the intraoperative imaging data acquired by the at least one imaging device and to compare the tissue patterns from the intraoperative imaging data acquired by the at least one imaging device with the preoperative imaging data, whereby a comparison is providable, and, based on the comparison, to generate a deformed preoperative model of the anatomical part.

8. The method of claim 1 , wherein providing the at least one imaging device comprises providing at least one of: an ultrasound imaging device, an optical coherence tomography imaging device, a photo acoustic imaging device, and an optical imaging device.

9. The method of

Assignees

• Synaptive Medical Inc

Inventors

• Piron Cameron
• Wood Michael
• Sela Gal
• Richmond Joshua
• Yuwaraj Murugathas
• Thomas Monroe M
• Hodges Wes
• Alexander Simon
• Gallop David
• Panther Alex
• Shanmugaratnam Nishanthan
• Lau William

Classifications

• A61B5/065 Primary

  Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe · CPC title

• A61B5/0042 Primary

  for the brain · CPC title

• A61B5/0095

  by applying light and detecting acoustic waves, i.e. photoacoustic measurements · CPC title

• A61B5/055

  involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging · CPC title

• A61B5/14539

  for measuring pH · CPC title