# US 10,503,150 B2 · Method for precise localization and treatment of a target site and a medical auxiliary apparatus

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- Number: US 10,503,150 B2
- Document ID: US10503150B2
- Status: Granted
- Kind: B2
- Application number: 15/673,626
- Filed: 2017-08-10
- Published: 2018-09-20
- Granted: 2019-12-10
- Earliest claimed: 2017-03-16
- Assignees: Shanghai Pulmonary Hospital
- Applicants: Shanghai Pulmonary Hospital
- Inventors: Chang Chen; Mu Li; Lei Zhang; Zeyao Li; Long Wang; Donglai Chen; XierMaiMaiTi Kadeer; Yawei Gu; Ziwen Fan
- Web page: https://patentgrep.com/patent/US10503150B2

## CPC

- G05B 19/4099: Surface or curve machining, making three-dimensional [3D] objects, e.g. desktop manufacturing
- A61B 17/3403: {Needle locating or guiding means}
- B29C 64/393: for controlling or regulating additive manufacturing processes
- B33Y 50/02: for controlling or regulating additive manufacturing processes
- B33Y 80/00: Products made by additive manufacturing
- G16H 50/50: for simulation or modelling of medical disorders
- A61B 2017/00809: {Lung operations}
- A61B 2017/3407: {including a base for support on the body}
- A61B 2034/105: {Modelling of the patient, e.g. for ligaments or bones}
- A61B 2034/108: {Computer aided selection or customisation of medical implants or cutting guides}
- B29L 2031/753: {Medical equipment; Accessories therefor (bloodbags, medical bags B29L2031/7148; artificial eyes B29L2011/0008)}
- G05B 2219/35134: 3-D cad-cam
- G05B 2219/49007: Making, forming 3-D object, model, surface
- Y02P 10/25: Process efficiency
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- B29C: SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING (making preforms B29B11/00; making laminated products by combining previously unconnected layers which become one product whose layers will remain together B32B37/00 - B32B41/00)
- B33Y: ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- B29L: INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
- Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS

## Abstract

The present invention discloses a method for precise localization and treatment of a target site, which builds a 3D digital model of an anatomical structure of a patient in accordance with tomographic image data of the patient; a structure model for locating a target site which comprises a template model for locating a target site and an angle locating auxiliary unit model is customized, and a position and an angle for loading and treating a target site are designed according to 3D position of the target site; then a target site locating structure is printed by 3D printing technology, and the target site locating structure is utilized to treat the target site.

## Claims

### Claim 1

A method for precise localization and treatment of a target site, wherein the method comprises the following steps:
S1: a computer-aided design software is used for building a digital model of an anatomical structure of a patient in accordance with tomographic image data of the patient, and a 3D position of the target site is determined based on the digital model of the anatomical structure;
S2: the computer-aided design software is reused to design a template model for locating a target site which closely fits a body surface or an organ surface of the digital model of the anatomical structure of the patient based on the digital model of the anatomical structure obtained in S1; subsequently, an angle locating auxiliary unit model is designed on the template model for locating the target site according to the 3D position of the target site determined in S1, wherein the angle locating auxiliary unit model comprises an auxiliary tunnel, a relative angle of which is jointly determined by a position of the target site, the position of the angle locating auxiliary unit model and the position of relevant important organ or tissue;
S3: the template model for locating the target site with the angle locating auxiliary unit model is printed by 3D printing technology, so as to produce the target site locating structure; and
S4: the target site locating structure produced in S3 is mounted on a corresponding position of a body surface or an organ surface of the patient, then a treatment device is used to correspondingly treat the target site with an assistance of the angle locating auxiliary unit model;
wherein a method for designing the template model for locating the target site in S2 comprises:
a. a localization path which passes through the target site and has a shortest distance from the body surface or the organ surface is designed on the digital model of the anatomical structure; a point on the body surface or the organ surface is set as a puncture point according to the localization path; taking a body surface mark or an organ surface mark of the patient as a reference point, an anatomical orientation point is designed on the digital model of the anatomical structure for assisting the target site locating structure in properly placing and locating; and
b. in accordance with the anatomical orientation point, the localization path and the puncture point, the computer-aided design software is used to design the template model for locating the target site which closely fits the body surface or the organ surface of the digital model of the anatomical structure.

### Claim 2 (depends on 1)

The method for precise localization and treatment of the target site as claimed in claim 1, wherein the auxiliary tunnel of the angle locating auxiliary unit model in S2 is configured in the localization path between the target site and the puncture point, wherein the localization path having the shortest distance is configured for detouring around important blood vessels, nerves and bones in the digital model of the anatomical structure.

### Claim 3 (depends on 1)

The method for precise localization and treatment of the target site as claimed in claim 1, wherein an auxiliary mechanism for matching a locating of the treatment device is configured on the angle locating auxiliary unit model in S2.

### Claim 4 (depends on 3)

The method for precise localization and treatment of the target site as claimed in claim 3, wherein the auxiliary mechanism comprises a fixed frame, a sterilizing hole and a guide rail steel core.

### Claim 5 (depends on 1)

The method for precise localization and treatment of the target site as claimed in claim 1, wherein the digital model of the anatomical structure comprises digital models of head and neck, trunk, upper limb and/or lower limb having the target site.

### Claim 6 (depends on 1)

The method for precise localization and treatment of the target site as claimed in claim 1, wherein localization, size, depth and number of the target site are labeled and calculated on the digital model of the anatomical structure based on tomographic image data of the patient in S1.

### Claim 7 (depends on 1)

The method for precise localization and treatment of the target site as claimed in claim 1, wherein the treatment device is selected from a group consisting of a biopsy gun, a locating needle, a radiation source, an electrode patch and a blood lancet in S4.

### Claim 8

A method for precise localization and treatment of a target site in vitro, wherein the method comprises the following steps:
S1: a computer-aided design software is used for building a digital model of a body surface morphology and an anatomical bony structure of a patient in accordance with tomographic image data of the patient, and a 3D position of the target site is determined based on the digital model of the body surface morphology and the anatomical bony structure;
S2: the computer-aided design software is reused to design a template model for locating an extracorporeal target site which closely fits a body surface of the digital model of the body surface morphology and the anatomical bony structure of the patient based on the digital model of the body surface morphology and the anatomical bony structure obtained in S1; subsequently, an angle locating auxiliary unit model is designed on the template model for locating the extracorporeal target site according to the 3D position of the target site determined in S1, wherein the angle locating auxiliary unit model comprises an auxiliary tunnel, a relative angle of which is jointly determined by a position of the target site, the position of the angle locating auxiliary unit model and the position of relevant important organ or tissue;
S3: the template model for locating an extracorporeal target site with the angle locating auxiliary unit model is printed by 3D printing technology, so as to produce an extracorporeal target site locating structure having an auxiliary tunnel; and
S4: the extracorporeal target site locating structure produced in S3 is mounted on a corresponding position of a body surface of the patient, then a treatment device is used to correspondingly treat the target site through a micro incision during surgery with an assistance of the angle locating auxiliary unit model;
wherein a method for designing the template model for locating the extracorporeal target site in S2 comprises:
a. a localization path which passes through the target site and has a shortest distance from the body surface is designed on the digital model of the body surface morphology and the anatomical bony structure; a point on the body surface is set as a puncture point according to the localization path; taking a body surface mark of the patient as a reference point, an anatomical orientation point is designed on the digital model of the body surface morphology and the anatomical bony structure for assisting the extracorporeal target site locating structure in properly placing and locating; and
b. in accordance with the anatomical orientation point, the localization path and the puncture point, the computer-aided design software is used to design the template model for locating the extracorporeal target site which closely fits the body surface of the digital model of the body surface morphology and the anatomical bony structure.

### Claim 9 (depends on 8)

The method for precise localization and treatment of the target site in vitro as claimed in claim 8, wherein the auxiliary tunnel of the angle locating auxiliary unit model in S2 is configured in the localization path between the target site and the puncture point, wherein the localization path having the shortest distance is configured for detouring around important blood vessels, nerves and bones in the digital model of body surface morphology and the anatomical bony structure.

### Claim 10 (depends on 8)

The method for precise localization and treatment of the target site in vitro as claimed in claim 8, wherein the anatomical orientation point corresponds to the body surface mark of the patient, which is selected from at least two of a group consisting of thorax surface, suprasternal fossa, sternoclavicular joint, sternal angle, mesosternum, xiphoid, anterior median line, posterior median line and spinous process.

### Claim 11 (depends on 10)

The method for precise localization and treatment of the target site in vitro as claimed in claim 10, wherein a fixing structure for closely fitting the body surface mark is configured on an internal surface of the extracorporeal target site locating structure.

### Claim 12 (depends on 11)

The method for precise localization and treatment of the target site in vitro as claimed in claim 11, wherein the fixing structure is selected from at least one of a group consisting of projection structure, depression structure, linear hollow structure and circular hollow structure.

### Claim 13 (depends on 8)

The method for precise localization and treatment of the target site in vitro as claimed in claim 8, wherein the treatment device is selected from a group consisting of a biopsy gun, a locating needle, a radiation source, an electrode patch and a blood lancet in S4.