# US 9,775,522 B2 · Integration delayed optical feedback in image guidance

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 9,775,522 B2
- Document ID: US9775522B2
- Status: Granted
- Kind: B2
- Application number: 14/386,836
- Filed: 2013-03-26
- Published: 2015-03-19
- Granted: 2017-10-03
- Earliest claimed: 2012-03-27
- Assignees: Koninklijke Philips N.V.
- Applicants: Koninklijke Philips N.V.
- Inventors: Arnoldus Theodorus Martinus Hendrics Van Keersop; Rami Nachabe; Bernardus Hendrikus Wilhelmus Hendriks; Christian Reich; Manfred Muller; Jeroen Jan Lambertus Horikx; Robert Johannes Frederik Homan; Nicolaas Jan Noordhoek
- Web page: https://patentgrep.com/patent/US9775522B2

## CPC

- A61B 5/0084: {for introduction into the body, e.g. by catheters (A61B5/1459 takes precedence)}
- A61B 5/0075: {by spectroscopy, i.e. measuring spectra, e.g. Raman spectroscopy, infrared absorption spectroscopy (A61B5/0071 takes precedence)}
- A61B 5/6848: {Needles}
- A61B 5/7425: {Displaying combinations of multiple images regardless of image source, e.g. displaying a reference anatomical image with a live image}
- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 5/0071: {by measuring fluorescence emission}
- A61B 5/061: {Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body (A61B1/00158 takes precedence)}
- A61B 6/12: Arrangements for detecting or locating foreign bodies
- A61B 2017/00061: {spectrum}
- A61B 2034/2051: {Electromagnetic tracking systems}
- A61B 2090/306: {using optical fibres}
- A61B 2090/364: {Correlation of different images or relation of image positions in respect to the body}
- A61B 2090/376: {using X-rays, e.g. fluoroscopy}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)

## Abstract

The present invention relates to a system (10) for navigating and positioning an instrument (12, 40, 112) in a body (14). The instrument (12, 40, 112) is detectable by the system (10) and the system (10) displays a view to an operator. The instrument (12, 40, 112) is adapted to identify tissue parameters. The system (10) is adapted to display an image being a combined image of the interior of a body (14) and an indication of the tissue parameter at the appropriate earlier locations. The present invention further relates to a method (44) including determining tissue parameters and displaying the parameters in an image of a body (14). The present invention further relates to a software implemented method (44) for being executed on a digital processor. The present invention further relates to an instrument (12, 40, 112).

## Claims

### Claim 1

A system for navigating and positioning an instrument in a body, wherein the instrument comprises a sensor for optical inspection of tissue in the body, the instrument being configured to generate a tissue signal, the system comprising:
a tissue-type determination device configured to receive the tissue signal from the instrument at times that correspond with a timestamp Ts, the tissue-type determination device being further configured to determine a set of parameters indicative of tissue type based on the tissue signal from the instrument;
a medical imaging device configured to form an image of an interior of the body, the medical imaging device being configured to record a temporal sequence of images, wherein each image is separated from a neighboring image in the temporal sequence by a temporal distance that corresponds with a timestamp Tf, wherein an interval between neighboring Tf timestamps is smaller than an interval between neighboring Ts timestamps;
an image processing unit time-synchronized with the tissue-type determination device, wherein the image processing unit is configured to establish a combined image of the interior of the body at each timestamp Tf that comprises (i) a current instrument position (xc, yc) and (ii) an indication of tissue-type at a previous spatial position of the instrument (xs, ys) that corresponds with a tissue signal retrieval location for a timestamp Ts so that the combined image of the interior of the body comprises both the current instrument position and the indication of tissue-type at the previous spatial position of the instrument that corresponds with the tissue signal retrieval location for the corresponding timestamp Ts; and
a display unit for displaying the combined image of the interior of the body.

### Claim 2 (depends on 1)

The system according to claim 1, wherein the sensor for optical inspection of tissue is configured for determining blood, water, fat, collagen, bile, beta-carotene content, oxygenation of blood and scattering parameters.

### Claim 3 (depends on 1)

The system according to claim 1, wherein a color saturation level of the indication of tissue-type is indicative of a measured quantity of a tissue parameter.

### Claim 4 (depends on 1)

The system according to claim 1, wherein the tissue-type determination device is connected to a spectrometer configured for transforming a signal from the tissue-type determination device into a spectrum.

### Claim 5 (depends on 4)

The system according to claim 4, wherein the tissue parameter is determined based on the spectrum.

### Claim 6 (depends on 1)

The system according to claim 1, wherein the tissue parameter is displayed as a solid line and a width of the solid line is an indicator of a tissue parameter determination inaccuracy.

### Claim 7 (depends on 1)

The system according to claim 1, wherein the set of parameters indicative of tissue type based on the tissue signal from the instrument comprises:
performing multivariate statistical analysis, wherein the multivariate statistical analysis comprises one or more of (i) principal components analysis or (ii) partial least squares discriminant analysis.

### Claim 8

A method comprising the steps of:
determining a sequence of images of an interior of a body at respective times that correspond with a timestamp Tf;
determining a sequence of sensor positions (xc, yc) of an instrument in the respective images of the interior of the body at the respective times that correspond with the timestamp Tf;
determining, at a time that corresponds with a timestamp Ts, a tissue parameter at a sensor position of the instrument, wherein the instrument comprises a sensor for optical inspection of tissue in the body, the instrument being configured to generate a tissue signal, wherein an interval between neighboring Tf timestamps is smaller than an interval between neighboring Ts timestamps;
determining, for each time that corresponds with a timestamp Ts, an indication of tissue-type at a spatial position (xs, ys) of the sensor for a corresponding timestamp Ts; and
displaying, via a display unit, an image that comprises a combination of (i) an image of the interior of the body at a corresponding timestamp Tf and (ii) a representation of tissue parameter at a previous sensor position at a time corresponding with a timestamp Ts.

### Claim 9 (depends on 8)

The method according to claim 8, further comprising determining a color saturation level of the indication of tissue-type that is representative of a quantity of determined tissue parameter.

### Claim 10 (depends on 8)

The method according to claim 8, wherein the tissue parameter is determined using an optical sensor, the method further comprising:
using a spectrum determined from a signal from the optical sensor for determining the tissue parameter.

### Claim 11 (depends on 8)

The method according to claim 8, wherein the tissue parameter is displayed as a solid line and a width of the solid line is an indicator of a tissue parameter determination inaccuracy.

### Claim 12 (depends on 8)

The method according to claim 8, wherein the determination of to the set of parameters indicative of tissue type comprises:
performing multivariate statistical analysis, wherein the multivariate statistical analysis comprises one or more of (i) principal components analysis or (ii) partial least squares discriminant analysis.

### Claim 13

A computer program product comprising instructions which when executed on a digital processor, cause a computer to perform a method comprising the steps of determining a sequence of images of an interior of a body at respective times that correspond with a timestamp Tf,
determining a temporal sequence of sensor positions of an instrument in the respective images of the interior of the body at the respective times that correspond with the timestamp Tf,
determining, at a time that corresponds with a timestamp Ts, a tissue parameter at a sensor position of the instrument, wherein the instrument comprises a sensor for optical inspection of tissue in the body, the instrument being configured to generate a tissue signal, wherein an interval between neighboring Tf timestamps is smaller than an interval between neighboring Ts timestamps,
determining, for each time that corresponds with a timestamp Ts, an estimated sensor position based on a part of the temporal sequence of sensor positions for a time period around a time that corresponds with a corresponding timestamp Ts, and
displaying on a display unit an image that comprises a combination of an image of the interior of the body at a corresponding timestamp Tf and (ii) a representation of tissue parameter at a previous sensor position at a time corresponding with a timestamp Ts.

### Claim 14 (depends on 13)

The computer program product according to claim 13, wherein the tissue parameter is displayed as a solid line and a width of the solid line is an indicator of a tissue parameter determination inaccuracy.

### Claim 15

An instrument for use in a system for guiding the instrument in a body,
the instrument comprising an optical probe, and
the system for guiding the instrument comprising:
a tissue-type determination device configured to receiving a tissue signal from the instrument at times that correspond with a timestamp Ts, the tissue-type determination device configured to determine a set of parameters indicative of tissue type based on the tissue signal received from the instrument,
a medical imaging device configured for forming an image of an interior of the body, the medical imaging device recording a temporal sequence of images, wherein each image is separated from a neighboring image in the temporal sequence by a temporal distance that corresponds with a timestamp Tf, wherein an interval between neighboring Tf timestamps is smaller than an interval between neighboring Ts timestamps,
an image processing unit time-synchronized with the tissue-type determination device and the image processing unit, wherein the image processing unit is configured to establish a combined image of the interior of the body at each timestamp Tf that comprises (i) a current instrument position (xc, yc) and (ii) an indication of tissue-type at a previous spatial position of the instrument (xs, ys) that corresponds with a tissue signal retrieval location for a timestamp Ts so that the combined image of the interior of the body comprises both the current instrument position and the indication of tissue-type at the previous spatial position of the instrument that corresponds with the tissue signal retrieval location for the corresponding timestamp Ts, and
a display unit for displaying the combined image of the interior of the body.