US 12,575,815 B2Granted

Guidance and tracking system for templated and targeted biopsy and treatment

AssigneeUniversity of Florida Research Foundation, Inc.

InventorsSamsun Lampotang, David Erik Lizdas

Life of this patent

Estimating the term…

Loading patent…

Abstract

Disclosed are various embodiments for a guidance and tracking system that facilitate templated and targeted biopsy and/or treatment. A guidance and tracking system may include a catheter having a six-degree-of-freedom magnetic tracking sensor, where the catheter can be positioned and anchored in an organ or a natural passage of an organ such as the urethral passage in the prostate of a patient. Using tracking sensors, a computing device may be employed to track a location and orientation of an organ and medical instruments during a treatment or diagnostic procedure. The computing device may determine a position and orientation of the medical instrument relative to the organ of interest. A graphical user interface including real, three-dimensional objects to overlay and adjust biopsy templates onto a real three-dimensional organ or lesion that is manually reconstructed prior to the biopsy procedure. A simulator or simulator mode can be provided for training.

Claims20

Dependent claims

A tracking and guidance system, comprising:

a body organ electromagnetic tracking sensor;
a tracked medical imaging device;
an electromagnetically tracked biopsy or treatment device;
at least one computing device comprising program instructions stored in memory thereon that, when executed, direct the at least one computing device to:
obtain positions and orientations of a body organ with the body organ electromagnetic tracking sensor, the tracked medical imaging device, and the electromagnetically tracked biopsy or treatment device;
generate a plurality of images of an organ tracked by the body organ electromagnetic tracking sensor, based at least on a position and an orientation of the tracked medical imaging device relative to the body organ electromagnetic tracking sensor;
generate a three-dimensional reconstruction of at least one of the body organ or a feature associated therewith using the plurality of images and respective positions and orientations of the tracked medical imaging device;
provide a three-dimensional perspective visualization, the three-dimensional perspective visualization contemporaneously comprising:
(a) the three-dimensional reconstruction of at least one body organ or a feature associated therewith, (b) the tracked medical imaging device, (c) the electromagnetically tracked biopsy or treatment device, and (d) a visual indication of one or more imaging planes;
provide, contemporaneously with the three-dimensional perspective visualization comprising the three-dimensional reconstruction, the tracked medical imaging device, the electromagnetically tracked biopsy or treatment device, and the visual indication of one or more imaging planes, one or more two-dimensional images generated based on one or more images acquired along the one or more imaging planes;
and
provide guidance via the three-dimensional perspective visualization and the one or more two-dimensional images for at least one of a biopsy or a treatment.

9 more elements

A method, comprising:

providing a body organ electromagnetic tracking sensor, a tracked medical imaging device, an electromagnetically tracked biopsy or treatment device, and at least one computing device;
obtain positions and orientations of a body organ with the body organ electromagnetic tracking sensor, the tracked medical imaging device, and the electromagnetically tracked biopsy or treatment device;
generate a plurality of images of an organ tracked by the body organ electromagnetic tracking sensor, based at least on positions and orientations of the tracked medical imaging device relative to the body organ electromagnetic tracking sensor;
generating a three-dimensional reconstruction of the organ or an associated feature using the plurality of images and respective positions and orientations of the tracked medical imaging device when the plurality of images were captured:
providing a three-dimensional perspective visualization, the three-dimensional perspective visualization contemporaneously comprising:
(a) the three-dimensional reconstruction of at least one of the body organ or a feature associated therewith, (b) the tracked medical imaging device, (c) the electromagnetically tracked biopsy or treatment device, and (d) a visual indication of one or more imaging planes;
providing, contemporaneously with the three-dimensional perspective visualization comprising the three-dimensional reconstruction, the tracked medical imaging device, the electromagnetically tracked biopsy or treatment device, and the visual indication of one or more imaging planes, one or more two-dimensional images generated based on one or more images acquired along the one or more imaging planes;
and
providing guidance via the three-dimensional perspective visualization and the one or more two-dimensional images for at least one of a biopsy or a treatment.

6 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/437,096Filed 13 Mar 2020 · us provisional application
Priority: 13 Mar 2019
Published: US 2022/0133284 A15 May 2022
Granted: 17 Mar 2026
Term ends: Not estimatedThe source records don’t support an estimate.

Classification15 codes

A61B 10/0241
Pointed or sharp biopsy instruments: for prostate
A61B 17/3403
Trocars; Puncturing needles: needle locating or guiding means
A61B 34/20
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical navigation systems; Devices for tracking or guiding…
A61B 34/25
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: user interfaces for surgical systems