U.S. patent application number 10/438550 was filed with the patent office on 2003-10-16 for systems and methods for locating and defining a target location within a human body.
Invention is credited to Dimmer, Steve, Durbin, Duane, Frecksa, Richard, Gilbert, Jon, Harry, Rosemary, Kinsella, Amy, Krag, David, Meier, Eric, Moody, Trevor, Silverstein, Fred.
Application Number | 20030192557 10/438550 |
Document ID | / |
Family ID | 40863279 |
Filed Date | 2003-10-16 |
United States Patent
Application |
20030192557 |
Kind Code |
A1 |
Krag, David ; et
al. |
October 16, 2003 |
Systems and methods for locating and defining a target location
within a human body
Abstract
Systems and methods for locating and defining a target location
within a human body. The system can include at least one marker, a
probe, and a detector for use in locating the markers by providing
information to a surgeon that is representative of changes in
proximity between the probe and the marker. The marker can have
various detection characteristics, e.g., gamma radiation, that are
detectable by an associated probe and detector. The tissue volume
is removed by manipulating a cutting tool based on the proximity
information provided by the detector, which can be used by the
surgeon to define the boundary of the tissue volume. The systems
and methods of the invention are particularly useful in locating
and then removing a tissue volume or other target location from
amorphous, pliable tissue (e.g., breast tissue) or other body
parts.
Inventors: |
Krag, David; (Shelburne,
VT) ; Meier, Eric; (Bellevue, WA) ; Dimmer,
Steve; (Bellevue, WA) ; Durbin, Duane; (San
Diego, CA) ; Moody, Trevor; (Seattle, WA) ;
Silverstein, Fred; (Seattle, WA) ; Harry,
Rosemary; (Seattle, WA) ; Frecksa, Richard;
(Seattle, WA) ; Kinsella, Amy; (Seattle, WA)
; Gilbert, Jon; (Seattle, WA) |
Correspondence
Address: |
PERKINS COIE LLP
PATENT-SEA
P.O. BOX 1247
SEATTLE
WA
98111-1247
US
|
Family ID: |
40863279 |
Appl. No.: |
10/438550 |
Filed: |
May 14, 2003 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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10438550 |
May 14, 2003 |
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PCT/US00/31667 |
Nov 17, 2000 |
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PCT/US00/31667 |
Nov 17, 2000 |
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09078982 |
May 14, 1998 |
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6363940 |
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Current U.S.
Class: |
128/898 |
Current CPC
Class: |
A61B 2034/107 20160201;
A61B 2034/2072 20160201; A61B 2090/3975 20160201; A61B 34/20
20160201; A61B 90/92 20160201; A61B 90/98 20160201; A61B 90/90
20160201; A61B 2034/2051 20160201; A61B 2017/3413 20130101; A61B
2034/2063 20160201; A61B 90/36 20160201; A61B 2090/392 20160201;
A61B 2090/3941 20160201; A61B 34/25 20160201; A61B 34/74 20160201;
A61B 2090/3929 20160201; A61B 2090/3908 20160201; A61B 2090/3937
20160201; A61B 2090/3933 20160201; A61B 2090/3995 20160201; A61B
2017/320064 20130101; A61B 2090/3925 20160201; A61B 17/32053
20130101; A61B 17/3211 20130101; A61B 17/3403 20130101; A61B
2017/00349 20130101; A61B 90/39 20160201; A61B 2090/3983 20160201;
A61B 2090/3954 20160201; A61B 17/3201 20130101; A61B 2090/395
20160201; A61B 2090/3958 20160201 |
Class at
Publication: |
128/898 |
International
Class: |
A61B 019/00 |
Claims
What is claimed is:
1. A system for locating a target location within a human body,
comprising: a first wireless implantable marker configured to be
implanted within the human body at a location relative to the
target location; an instrument having a function-site and a first
instrument marker connected to the instrument at a first
predetermined site relative to the function-site; a position
detection system having a sensor that detects a position of the
first wireless implantable marker relative to a reference location
and a position of the first instrument marker relative to the
reference location, wherein the position detecting system includes
a computer that determines a relative position between the first
wireless implantable marker and the first instrument marker based
on the positions of the first wireless marker and the first
instrument marker relative to the reference location; and a user
interface operatively coupled to the position detection system, the
user interface having an indicator that denotes the position of the
function-site of the instrument relative to the target location
based on the relative position between the first wireless
implantable marker and the first instrument marker.
2. The system of claim 1 wherein the user interface comprises a
graphical display having a boundary relative to the first
implantable marker, and wherein the boundary defines a margin
relative to the target location.
3. The system of claim 1 wherein the user interface comprises a
graphical display having a two-dimensional grid defining a plane
and a boundary in the grid relative to the first implantable
marker, and wherein the grid and the boundary define a margin
relative to the target location in the plane.
4. The system of claim 1 wherein the user interface comprises a
graphical display having a two-dimensional grid defining a plane,
an elevation indicator providing an elevation of the function-site
relative to the plane, and a boundary in the grid relative to the
first implantable marker, and wherein the grid and the boundary
define a margin relative to the target location in the plane.
5. The system of claim 1 wherein the elevation indicator comprises
a numeric readout and/or a graphical representation.
6. The system of claim 1 wherein the marker comprises a radioactive
isotope, and the position detection system comprises a device that
detects a radiation level.
7. The system of claim 1 wherein the user interface comprises a
graphical display having a three-dimensional representation that
defines a margin relative to the target location.
8. The system of claim 1 wherein the user interface comprises a
graphical display having a three-dimensional representation that
defines an area relative to the function site of the
instrument.
9. The system of claim 1 wherein the user interface comprises a
graphical display having a first three-dimensional boundary
relative to the first implantable marker and a second
three-dimensional boundary relative to the second implantable
marker, and wherein the first and second three-dimensional
boundaries define a three-dimensional margin relative to the target
location.
10. The system of claim 1 wherein the user interface comprises a
graphical display having an opaque three-dimensional representation
that defines a margin relative to the target location.
11. The system of claim 1 wherein the user interface comprises a
graphical display having an opaque three-dimensional representation
that defines a target an area relative to the function site of the
instrument.
12. The system of claim 1 wherein the user interface comprises a
graphical display having a first three-dimensional boundary
relative to the first implantable marker and a second
three-dimensional boundary relative to the second implantable
marker, and wherein the first and second three-dimensional
boundaries define a three-dimensional margin relative to the target
location.
13. The system of claim 1 wherein: the system further comprises a
second wireless implantable marker configured to be implanted
within the human body relative to the first implantable marker and
the target location; the position detection system also detects a
position of the second wireless implantable marker relative to the
reference location; and the user interface provides an indicator of
the position of the function-site of the instrument relative to the
target location based on the relative position between the first
wireless implantable marker and the first instrument marker, and/or
a relative position between the second wireless implantable marker
and the first instrument marker.
14. The system of claim 13 wherein the user interface comprises a
graphical display having a first boundary relative to the first
implantable marker and a second boundary relative to the second
implantable marker, and wherein the first and second boundaries
define a margin relative to the target location.
15. The system of claim 13 wherein the user interface comprises a
graphical display having a two-dimensional grid defining a plane, a
first boundary in the grid relative to the first implantable
marker, and a second boundary in the grid relative to the second
implantable marker, and wherein the first and second boundaries
define a margin relative to the target location in the plane.
16. The system of claim 1 wherein: the instrument further comprises
a second instrument marker connected to the instrument and aligned
with the first instrument marker along an alignment axis; the
position detection system also detects a position of the second
instrument marker relative to the reference location; and the user
interface provides an indicator of the position and orientation of
the function-site based on the positions of the first and second
instrument markers relative to the reference location.
17. The system of claim 1 wherein the instrument further comprises
a second instrument marker connected to the instrument and aligned
with the first instrument marker and the function-site along an
alignment axis.
18. The system of claim 1 wherein: the instrument further comprises
a second instrument marker connected to the instrument and aligned
with the first instrument marker and the function-site along an
alignment axis; and the user interface comprises a graphical
display having a two-dimensional grid defining a plane, an
elevation indicator providing an elevation of the function-site
relative to the plane, and an indicator showing the instrument as a
point on the grid when the alignment axis is approximately normal
to the plane or as a line when the alignment axis is not
approximately normal to the plane.
19. The system of claim 18 wherein the grid and the boundary define
a margin relative to the target location in the plane.
20. The system of claim 18 wherein the user interface includes a
line that varies in length relative to degree that the alignment
axis is not normal to the plane.
21. The system of claim 1 wherein: the instrument further comprises
a second instrument marker connected to the instrument at a second
site and a third instrument marker connected to the instrument at a
third site, wherein at least one of the second and third instrument
markers are not aligned with the first instrument marker along an
alignment axis; the position detection system also detects a
position of the second instrument marker and a position of the
third instrument marker relative to the reference location, and the
user interface provides an indicator of the position and
orientation of the function-site based on the positions of the
first, second, and third instrument markers relative to the
reference location.
22. The system of claim 1 wherein the instrument further comprises
a wireless control for selecting a mode of operating the user
interface.
23. The system of claim 22 wherein the wireless control comprises a
cut-off switch that temporarily defeats a location functionality of
the first instrument marker.
24. The system of claim 22 wherein: the first instrument marker
comprises a magnetic marker attached to the instrument; and the
wireless control comprises a magnetic shield that blocks a magnetic
field of the magnetic marker to defeat location functionality of
the first instrument marker.
25. The system of claim 22 wherein: the first instrument marker
comprises a mechanical resonator marker attached to the instrument;
and the wireless control comprises a dampening mechanism that
cancels mechanical vibrations of the mechanical resonator to defeat
location functionality of the first instrument marker.
26. The system of claim 22 wherein: the wireless control comprises
a slider marker that moves from a first position to a second
position relative to the first instrument marker; and the position
detection system detects a position of the slider marker relative
to the first instrument marker, and a functionality of the system
is changed according to the relative position between the slider
marker and the first instrument marker.
27. The system of claim 1 wherein the instrument further comprises
a wireless control for selecting a mode of operating a component of
the system.
28. The system of claim 27 wherein the wireless control comprises a
cut-off switch that temporarily defeats a location functionality of
the first instrument marker.
29. The system of claim 27 wherein: the first instrument marker
comprises a magnetic marker attached to the instrument; and the
wireless control comprises a magnetic shield that blocks a magnetic
field of the magnetic marker to defeat location functionality of
the first instrument marker.
30. The system of claim 27 wherein: the first instrument marker
comprises a mechanical resonator marker attached to the instrument;
and the wireless control comprises a dampening mechanism that
cancels mechanical vibrations of the mechanical resonator to defeat
location functionality of the first instrument marker.
31. The system of claim 1 wherein: the instrument further comprises
a second instrument marker along the alignment axis; the user
interface comprises a graphical display having a two-dimensional
grid defining a plane, wherein the user interface continuously
displays the two-dimensional plane orthogonal relative to the
alignment axis.
32. The system of claim 1 wherein the instrument comprises a tissue
stabilizer probe.
33. The system of claim 1 wherein the instrument comprises a
cutting tool.
34. The system of claim 33 wherein the cutting tool comprises a
scalpel.
35. The system of claim 33 wherein the cutting tool comprises a
minimally invasive cutting device.
36. The system of claim 33 wherein the cutting tool comprises a
bovie knife.
37. The system of claim 33 wherein the cutting tool comprises an
ultrasonic cutting device.
38. The system of claim 16 wherein the cutting tool comprises
scissors.
39. The system of claim 1 wherein the instrument comprises a radio
frequency tissue ablation probe.
40. The system of claim 1 wherein the instrument comprises
cryogenic tissue ablation probe.
41. The system of claim 1 wherein the instrument comprises
interstitial laser probe.
42. The system of claim 1 wherein the instrument comprises a
laproscopic probe.
43. The system of claim 1 wherein the instrument comprises a
robotic surgery probe.
44. A system for locating a target location, comprising: a first
wireless implantable marker configured to be implanted into a body
at a location relative to the target location, wherein the first
wireless marker emits a wireless signal; and a position detection
system having an energy source that emits an excitation energy and
a sensor that detects a position of the first wireless implantable
marker relative to a reference location.
45. The system of claim 44, further comprising a user interface
coupled to the position detection system, wherein the user
interface includes an indicator of a boundary relative to the first
wireless marker defining a desired margin around the target
location.
46. The system of claim 44, further comprising a user interface
coupled to the position detection system, wherein the user
interface includes an indicator of a first target position relative
to the first wireless marker defining the target location.
47. A wireless marker for implantation, comprising: a biocompatible
casing configured to be implanted into a human body relative to a
target location within the human body; a signal element in the
casing, the signal element being configured to emit a response
energy in reaction to an excitation energy; and a fastener
configured to hold the wireless marker at a reference location in a
human body relative to the target location within the human
body
48. The wireless marker of claim 47 wherein the signal element
comprises an electronic circuit resonator.
49. The wireless marker of claim 47 wherein the signal element
comprises a magnetic resonator.
50. The wireless marker of claim 47 wherein the signal element
comprises a radio frequency marker.
51. The wireless marker of claim 47 wherein the signal element
comprises a mechanical resonator.
52. The wireless marker of claim 47 wherein the signal element
comprises a magnet.
53. The wireless marker of claim 47 wherein the signal element
comprises a fluorescent material.
54. The wireless marker of claim 47 wherein the fastener comprises
a protrusion integral with the casing.
55. The wireless marker of claim 47 wherein the fastener comprises
an adhesive material.
56. The wireless marker of claim 47 wherein the fastener comprises
a protein that binds and/or adheres to tissue.
57. The wireless marker of claim 47 wherein the fastener comprises
a polymer that binds and/or adheres to tissue.
58. The wireless marker of claim 47 wherein the fastener comprises
a biasing member that is biased to expand from a stored position to
a deployed position.
59. The wireless marker of claim 47 wherein the fastener comprises
a biasing member that is biased to contract from a stored position
to a deployed position.
60. The wireless marker of claim 47 wherein the fastener is a
spring material element that forms a loop to grasp tissue in a
deployed position.
61. A wireless marker for implantation, comprising: a biocompatible
casing configured to be implanted into a human body relative to a
target location within the human body; and an identifier on and/or
in the casing that can be observed by an imaging system to
distinguish the casing from other casings that have been implanted
into the human body.
62. The wireless marker of claim 61 wherein the identifier
comprises metal bands around the casing.
63. The wireless marker of claim 61 wherein the identifier
comprises a shape of the casing.
64. The wireless marker of claim 61, further comprising a fastener
configured to hold the wireless marker at a reference location
relative to the target location, and wherein the identifier
comprises a shape of the fastener.
65. A wireless marker for implantation, comprising: a biocompatible
casing configured to be implanted into a human body relative to a
target location within the human body; and an identifier on and/or
in the casing that can be observed visually to distinguish the
casing from other casings that have been implanted into the human
body.
66. The wireless marker of claim 65 wherein the identifier
comprises metal bands around the casing.
67. The wireless marker of claim 65 wherein the identifier
comprises a shape of the casing.
68. The wireless marker of claim 65, further comprising a fastener
configured to hold the wireless marker at a reference location
relative to the target location, and wherein the identifier
comprises a shape of the fastener.
69. The wireless marker of claim 65 wherein the identifier
comprises unique colors of the wireless marker casing.
70. An instrument for manipulation within a human, comprising: a
handle; a function-site coupled to the handle, the function-site
being aligned with an alignment axis; a first instrument marker
along the alignment axis; and a second instrument marker along the
alignment axis.
71. An instrument for manipulation within a human, comprising: a
handle; a function-site coupled to the handle, the function-site
being aligned with an alignment axis; and a first wireless
instrument marker along the alignment axis, wherein the first
wireless instrument marker emits a wireless signal that can be
detected by a position detection system to determine a position of
the first wireless instrument marker relative to a reference
location.
72. An instrument for manipulation within a human, comprising: a
handle; a function-site coupled to the handle, the function-site
being aligned with an alignment axis; a first wireless instrument
marker along the alignment axis, wherein the first wireless
instrument marker emits a wireless signal that can be detected by a
position detection system to determine a position of the first
wireless instrument marker relative to a reference location; and a
user interface attached to the instrument and coupled to the
detection system, wherein the user interface includes an indicator
of a relative position between the function-site and a target
location within the human.
73. A system for locating a target location within a human body,
comprising: an instrument having a handle, a function-site coupled
to the handle, and at least one instrument maker attached to the
instrument at a predetermined location relative to the
function-site; and a detection system that detects a characteristic
of the instrument marker and determines a configuration of the
instrument and/or the function-site.
74. The system of claim 73 wherein the instrument marker
configuration comprises a location of the instrument marker.
75. The system of claim 73 wherein the instrument marker
configuration comprises a marker resonator frequency.
76. A method of providing information for a procedure in which a
first wireless implantable marker is implanted in a human body
relative to a target location and an instrument marker is coupled
to an instrument at a predetermined site relative to a
function-site on the instrument, the method comprising: emitting a
resonating energy from the first wireless implanted marker; sensing
a location of the first wireless marker relative to a reference
location; sensing a location of the instrument marker relative to
the reference location; correlating a relative position between the
first wireless marker and the instrument marker based on the sensed
locations; and determining a relative position between the
function-site and the first wireless implanted marker by adding
together the relative position between the first wireless marker
and the target location, a relative position between the instrument
marker and the function-site, and the relative position between the
first wireless marker and the instrument marker.
77. The method of claim 76, further comprising: comparing the
position of the function-site to the target location; and providing
an indication of the position of the function-site relative to the
target location.
78. The method of claim 76 wherein, if the first wireless marker is
implanted in the target location, then the method further comprises
generating a virtual margin to extend at least partially around the
marker.
79. The method of claim 76 wherein, if the first wireless marker is
implanted adjacent to the target location such that the marker in
offset from the target location, and the method further comprises
generating a virtual margin to extend at least partially around the
target location.
80. A method of treating a target location within a human body,
comprising: exciting a wireless marker implanted in the body by
emitting an excitation energy in a manner that causes the marker to
emit a response energy; sensing the response energy; and
determining a position of the wireless marker relative to a
reference location based on the sensed response energy.
81. The method of claim 80, further comprising directing an
intra-operative radiation energy relative to the determined
position of the wireless marker.
82. The method of claim 80, further comprising monitoring an
intra-operative radiation energy relative to the determined
position of the wireless marker.
83. The method of claim 80, further comprising directing an
external beam radiation energy relative to the determined position
of the wireless marker.
84. The method of claim 80, further comprising monitoring an
external beam radiation energy relative to the determined position
of the wireless marker.
85. The method of claim 80, further comprising directing a brachy
radiation energy relative to the determined position of the
wireless marker.
86. The method of claim 80, further comprising monitoring brachy
radiation energy relative to the determined position of the
wireless marker.
Description
TECHNICAL FIELD
[0001] Several aspects of the present invention relate to systems
and methods for locating a target tissue within a human body with
wireless markers. Other aspects of the invention relate to wireless
markers, instruments, user interfaces, and methods for using such
systems in treating or monitoring a target location.
BACKGROUND
[0002] Many medical procedures require monitoring or treating an
internal tissue mass or other body part within a human body. In
such applications, medical procedures must accurately locate a
small target location within a soft tissue region, an organ, a bone
structure, or another body part (e.g., colon, vascular system,
etc.). The small target location can be a lesion, polyp, tumor, or
another area of interest for monitoring or treating a patient. One
particular application involving the surgical treatment of cancer
is particularly challenging because physicians often need to treat
small, non-palpable lesions that cannot be observed. This problem
is compounded in soft tissue applications because the soft tissue
is mobile and can move with respect to a reference point on the
patient. In the case of breast cancer, for example, the location of
a non-palpable lesion in the breast is identified at a preoperative
stage using an imaging system. The actual surgical procedure,
however, occurs in an operating room at a subsequent point in time,
and the patient is typically in a different position during the
surgical procedure than during the preoperative imaging stage. The
breast and the lesion may accordingly be in a different location
relative to a reference point on the patient during the surgical
procedure than the imaging stage. The physician, therefore,
generally estimates the location of lesion during surgery.
[0003] One problem with treating non-palpable lesions in soft
tissues is that the physicians may incorrectly estimate the
location of the lesions. As a result, the physician may not remove
all of the lesion, which is not desirable because some of the
lesion will accordingly remain in the soft tissue. Another result
is that the physicians may remove a significant amount of tissue
proximate to the lesion, which can cause undesirable collateral
damage to healthy tissue. Therefore, it would be desirable to know
the precise location of the lesion or other type of target location
during the surgical procedure.
[0004] A current technique for performing an excisional biopsy of a
non-palpable breast lesion that has been identified by mammogram or
other method involves placement of a needle or guide wire (e.g., a
"Kopanz wire"), with or without blue dye, to guide the surgeon to
the lesion. The tip of the needle is generally placed directly in
or as close as possible to the lesion. When larger or more complex
lesions are encountered, two or more guide wires are sometimes
placed at each edge of the lesion. The entry point of the needle
through the skin of the breast is usually several centimeters from
the lesion due to the logistics of needle placement. The surgeon
does not cut along the shaft of the needle from the skin because
the distance is too great. Instead, the surgeon must estimate where
in the breast the lesion is located by making reference to the
location of the needle.
[0005] This technique is not optimal because it can be difficult to
properly define the margins of the tissue that is to be removed,
both during and after insertion of the needle(s), in tissue that is
amorphous and pliable (e.g., breast tissue). Also, it is often
difficult for the surgeon to detect the exact depth of the lesion
based on the placement of the needles. For these reasons it is not
uncommon that the biopsied tissue does not contain the
mammographically positive specimen. In other cases, as a result of
the difficulty of estimating the proper location of the boundaries
of the volume of tissue to be removed, the lesion ends up being
eccentrically positioned within the volume of tissue excised. This
calls into question the adequacy of the margin of normal tissue
surrounding the lesion. In still other cases, more normal tissue is
removed than is required, which is disadvantageous in this era of
tissue-conserving therapies.
[0006] In other fields of surgery it is known to target portions of
a human body using various devices, and then refer to such devices
in connection with the removal or treatment of such portions. For
example, U.S. Pat. No. 5,630,431 to Taylor (the "'431 patent")
describes a surgical manipulator that is controlled, in part, by
information received from beacons that are positioned proximate to
a region of a human body to be treated. As another example, U.S.
Pat. No. 5,397,329 to Allen (the "'329 patent") describes fiducial
implants for a human body that are detectable by an imaging system.
The fiducial implants are implanted beneath the skin and are spaced
sufficiently from one another to define a plane that is detectable
by the imaging system and is used in connection with creation of
images of a body portion of interest. These images are then used,
for instance, in eliminating a tumor by laser beam.
[0007] Unfortunately, the devices described in the '431 and '329
patents are vastly more complex, and hence expensive, than is
appropriate for many surgical procedures. This problem is
particularly disadvantageous with the emphasis on containing costs
in managed health care. Furthermore, due to the amorphous, pliable
nature of certain tissue, the systems of the '431 and '329 patents
cannot be used effectively. Systems of the type described in the
'431 and '329 patents require that the devices (e.g., beacons or
fiducial implants) defining the body portions of interest be
substantially fixed relative to one another and relative to such
body portions. These systems generally function effectively when
the devices defining the body portion of interest are inserted in
bone, e.g., in a skull in connection with brain surgery or
treatment, but are not believed to operate as intended when the
devices are inserted in amorphous, pliable tissue.
[0008] Breast lesions are typically excised with a scalpel
manipulated directly by the surgeon. With the current emphasis on
surgical therapies that conserve breast tissue, the above-described
procedure for removing a breast lesion is typically performed
through a narrow opening in the skin created by slitting and then
pulling apart the skin. It tends to be difficult to manipulate the
scalpel within this opening so as to remove the desired volume of
tissue. The amorphous, pliable nature of breast tissue exacerbates
removal of such tissue inasmuch as application of force to the
scalpel causes movement of the breast tissue relative to the
opening in the skin.
[0009] Circular cutting tools are not widely used in surgery.
Recently, however, United States Surgical Corporation of Norwalk,
Conn., introduced a relatively small diameter, e.g., 5-20 mm,
circular cutting tool identified by the trademark ABBI for removing
a cylinder of breast tissue for biopsy purposes. The ABBI tool
includes an oscillating, motorized, circular cutting blade that
incises the breast tissue. While use of the ABBI tool is believed
to be a relatively effective way to perform a core biopsies of
breast tissue, it is not apparently designed to remove cylinders of
tissue having a diameter much in excess of about 20 mm. As such, it
is not adapted for use in surgeries involving the removal of
relatively large tissue portions in a single cutting sequence. In
addition, the effectiveness of the ABBI tool in therapeutic, rather
than diagnostic, surgeries has not been confirmed.
[0010] Detectors are used to locate organs or other portions of the
body that have taken up a radioactive material, e.g., an antibody
labeled with a radioactive material. For example, the gamma ray
probe described in U.S. Pat. Nos. 5,170,055 and 5,246,005, both to
Carroll et al., and sold by Care Wise Medical Products Corporation,
Morgan Hill, Calif., and identified by the trademark C-TRAK,
provides an audio output signal, the pitch of which varies with
changes in relative proximity between the probe and a body portion
that has taken up an antibody labeled with a gamma ray producing
material, e.g., technetium 99. Once the body portion is detected,
it is removed by known surgical techniques.
[0011] Even with the systems and techniques described above, it
remains difficult for a surgeon to remove a tissue mass in
amorphous, pliable tissue, such as breast tissue, so as to ensure
that the entire tissue mass is removed while at the same time
conserving portions of adjacent tissue. As a result, more tissue
surrounding the targeted tissue mass is typically removed than is
desired.
SUMMARY
[0012] The present invention is directed toward methods, systems,
and system components for finding a target location within a human
body. In one aspect of the invention, a system comprises a first
wireless implantable marker configured to be implanted within the
human body at a location relative to the target location, an
instrument having a function-site and a first instrument marker
connected to the instrument at a first predetermined site relative
to the function-site, a position detection system, and a user
interface. The position detection system can have a sensor that
detects (a) a position of the first wireless implantable marker
relative to a reference location and (b) a position of the first
instrument marker relative to the reference location. The position
detecting system can also include a computer that determines a
relative position between the first wireless implantable marker and
the first instrument marker based on the positions of the first
wireless marker and the first instrument marker relative to the
reference location. The user interface is operatively coupled to
the position detection system. The user interface can have an
indicator that denotes the position of the function-site of the
instrument relative to the target location based on the relative
position between the first wireless implantable marker and the
first instrument marker.
[0013] In another aspect of the invention, a wireless implantable
marker comprises a biocompatible casing configured to be implanted
into a human body relative to a target location within the human
body, a signal element in the casing, and a fastener. The signal
element is configured to emit a response energy in reaction to an
excitation energy. The fastener is configured to hold the wireless
marker at a reference location in a human body relative to the
target location within the human body.
[0014] Yet another aspect of the invention is an instrument for
manipulation within a human or proximate to the human. The
instrument can comprise a handle, a function-site coupled to the
handle, and a first wireless instrument marker. The function-site
is aligned with an alignment axis, and the first wireless
instrument marker can be positioned along the alignment axis. The
first wireless instrument marker is also configured to emit a
wireless signal that can be detected by a position detection system
to determine a position of the first wireless instrument marker
relative to a reference location.
[0015] The systems and components can be used in many applications
in which it is desirable to accurately know the relative position
between an instrument and a target location within a human body.
For example, one embodiment of a method of treating a target
location within a human body comprises exciting a wireless marker
implanted in the body by emitting an excitation energy in a manner
that causes the marker to emit a response energy. The method can
continue by sensing the response energy and determining a position
of the wireless marker relative to a reference location based on
the sensed response energy. In other aspects, the method can also
include determining a position of an instrument with a marker
relative to the reference location, and displaying the relative
position between the instrument and the target location. Other
aspects of the invention are described in the following detailed
description of the invention and the claims, and the accompanying
drawings illustrate several embodiments of the invention.
BRIEF DESCRIPTION OF THE DRAWINGS
[0016] FIG. 1 is an isometric view representative of a tissue mass
and surrounding tissue volume that is bracketed by the markers,
with two markers being positioned on opposite ends of each of
mutually orthogonal X, Y and Z-axes intersecting the tissue mass so
as to define the boundary of the tissue volume, and with the probe
and detector being positioned adjacent the tissue volume in
accordance with one embodiment of the invention.
[0017] FIG. 1A is an isometric view of the tissue mass illustrated
in FIG. 1, with two markers being positioned on opposite ends of
each of mutually orthogonal X1, Y1 and Z-axes and with two markers
being positioned on opposite ends of mutually orthogonal X2 and
Y2-axes which are mutually orthogonal with respect to the Z-axis
and offset along with Z-axis with respect to the X1 and
Y1-axes.
[0018] FIG. 1B is an isometric view of the tissue volume
illustrated in FIG. 1, with two markers being positioned on
opposite ends of each of V, W, X and Y-axes, all of which lie in a
common plane and are mutually orthogonal with respect to a Z-axis,
all of these axes intersecting the tissue mass.
[0019] FIGS. 2a-2g are schematic representations of various
embodiments of the markers of the present invention and their
associated detection characteristics.
[0020] FIG. 3a is a block diagram of the elements of one embodiment
of the marker illustrated in FIG. 2c.
[0021] FIG. 3b is a block diagram of the RF exciter used with the
marker illustrated in FIG. 3a.
[0022] FIG. 4 is a block diagram of the elements of one embodiment
of the marker illustrated in FIG. 2e.
[0023] FIG. 5 is a block diagram of the RF exciter used with the
marker illustrated in FIG. 4.
[0024] FIG. 6 is a perspective view of one embodiment of the marker
illustrated in FIG. 2F, with details of internal construction being
illustrated in phantom view.
[0025] FIG. 7 is a block diagram of the probe and detector used
with the marker illustrated in FIG. 2b.
[0026] FIG. 8 is a block diagram of the probe and detector used
with the marker illustrated in FIG. 2c.
[0027] FIG. 9 is a front elevation view of a tissue anchor in
accordance with one embodiment of the invention, with the cannula
and rod of the cutter being shown in broken view to facilitate
illustration.
[0028] FIG. 10 is an enlarged view of the tissue anchor in FIG. 9,
with the rod and cannula both being broken at first location and
the rod alone being broken at a second location to facilitate
illustration, also with the rod being shown in a retracted position
relative to the cannula.
[0029] FIG. 11 is similar to FIG. 10, except that the rod is shown
in the extended position relative to the cannula, with the anchor
members attached to the end of the rod being shown in an extended
position engaged in a portion of a tissue mass.
[0030] FIG. 12 is a top view of a breast of woman in a supine
position, with a tissue mass being surrounded by markers of one
embodiment of the present invention so as to define the tissue
volume to be removed, and with an incision formed in the skin of
the breast above the tissue volume.
[0031] FIG. 13 is a cross-sectional view of the breast of FIG. 12
taken along line 13-13 in FIG. 12.
[0032] FIG. 14 is similar to FIG. 12, except that the skin adjacent
the incision has been pulled apart to provide access to underlying
breast tissue.
[0033] FIG. 15 is an enlarged view of the incision of FIG. 14, with
the tissue anchor illustrated in FIGS. 9-11 being positioned in the
tissue mass, and the two portions of a cutter illustrated being
positioned adjacent the surgical cavity.
[0034] FIG. 16 is similar to FIG. 13, except that an incision has
been formed in the skin of the breast and retracted to provide
access to the underlying tissue mass to be removed and the tissue
anchor has been positioned above the breast.
[0035] FIG. 17 is an enlarged view of the portion of the breast
illustrated in FIG. 16 containing the tissue mass to be removed,
with the tissue anchor being positioned in the tissue mass in the
extended position so that the anchor members of the tissue anchor
engage the tissue mass.
[0036] FIG. 18 is similar to FIG. 15, except that two portions of a
cutter are illustrated in engaged, cooperative relationship and are
positioned under the skin in contact with the tissue volume to be
removed.
[0037] FIG. 19 is similar to FIG. 16, except that the tissue cutter
is illustrated surrounding the tissue anchor and in cutting
engagement with the tissue volume to be removed.
[0038] FIG. 20 is similar to FIG. 19, except that the tissue volume
has been completely removed from the breast and is illustrated
immediately above the surgical opening in engagement with the
tissue anchor and cutter.
[0039] FIG. 21 is an isometric view of a system for locating and
defining a target location within a human body in accordance with
an embodiment of the invention.
[0040] FIG. 22 is a schematic elevation view illustrating a portion
of a system for locating and defining a target location within a
human body.
[0041] FIGS. 23A-D are isometric cut-away views of wireless
resonating markers in accordance with embodiments of the
invention.
[0042] FIGS. 24-30 are side elevation views of several wireless
implantable markers in accordance with embodiments of the
invention.
[0043] FIGS. 31-33 are side elevation views of several wireless
implantable markers in accordance with additional embodiments of
the invention.
[0044] FIGS. 34-39 are isometric views of arrangements for
implanting the wireless implantable markers relative to a target
location T in accordance with embodiments of the invention.
[0045] FIGS. 40-43 are side cut-away views of instruments in
accordance with embodiments of the invention.
[0046] FIGS. 44 and 45 are schematic views of wireless controls for
instruments in accordance with embodiments of the invention.
[0047] FIGS. 46-52 are isometric views illustrating several
instruments in accordance with various embodiments of the
invention.
[0048] FIG. 53 is a partially schematic view illustrating an aspect
of operating a system for locating and defining a target location
within a human body in accordance with an embodiment of the
invention.
[0049] FIG. 54A is a front elevation view of an embodiment of a
user interface in accordance with the invention.
[0050] FIG. 54B is a graphical representation of calibrating a
display coordinate system.
[0051] FIGS. 55-57 are front elevation views of several embodiments
of user interfaces in accordance with various embodiments of the
invention.
[0052] FIGS. 58A-58C are front elevation views of an embodiment of
a user interface illustrating a method of operating the system in
accordance with an embodiment of the invention.
[0053] FIGS. 59-61 are front elevation views of several additional
user interfaces in accordance with more embodiments of the
invention.
DETAILED DESCRIPTION
[0054] The following description is directed toward systems and
methods for locating and defining a target location within a human
body. Several aspects of one system in accordance with an
embodiment of the invention directed toward bracketing a target
location with at least one marker are described below in Section I.
Similarly, aspects of other systems in accordance with embodiments
of the invention directed toward locating a target mass within a
human body using the relative orientation between an implanted
marker and an instrument are described below in Section II. Other
aspects of embodiments of the invention directed toward defining
and displaying a virtual boundary relative to a target location
based on the location of an implanted marker are also described
below in Section II.
[0055] I. Systems and Methods for Delineating a Target Location
Using Bracketing
[0056] FIGS. 1-20 illustrate a system and several components for
delineating a target location within a human body in accordance
with several embodiments of invention. Several of the components
described below with reference to FIGS. 1-20 can also be used in
the systems set forth with respect to FIGS. 21-61. Therefore, like
reference numbers refer to like components and features throughout
the various figures.
[0057] Referring to FIG. 1, one aspect of the present invention is
a system 20 for defining the boundaries of, i.e., bracketing, a
tissue volume 22 in a tissue portion 24. Typically, tissue volume
22 will include a tissue mass 26, e.g., a breast lesion, that is
targeted for removal and a tissue margin 28 of unaffected tissue
surrounding the tissue mass. After tissue volume 22 is bracketed,
system 20 can be used to locate the defined boundaries of the
tissue volume, e.g., in connection with the surgical removal of
tissue mass 26. It will be appreciated that the invention can have
other applications including radiation therapy, colo-rectal
treatments, and many other applications in which it is useful to
locate a target location other than a tissue volume within a human
body.
[0058] As described in more detail below, other aspects of the
present invention are also directed to a method of bracketing
tissue volume 22 using system 20, and a method of removing tissue
volume 22 using system 20. These methods can be accomplished with
other aspects of the present invention, such as markers,
instruments, stabilizers/anchors, position detection systems and
user interfaces described below.
[0059] System 20 comprises a plurality of markers 30, a probe 32
and a detector 34 connected to the probe. As described in more
detail below, markers 30 are implanted in tissue portion 24 under
the guidance of a conventional imaging system not forming part of
the present invention, so as to bracket tissue volume 22. Such
imaging systems may include ultrasound, magnetic resonance imaging
("MRI"), computer-aided tomography ("CAT") scan, and X-ray systems.
Markers 30 are imageable with the imaging energy generated by the
imaging system. For example, if an ultrasound imaging system is
used to implant markers 30, the latter are configured and made from
a material that strongly reflects ultrasound energy. Materials that
are imageable with the energy generated by such systems are well
known to those skilled in the art, and so are not described in
detail here. Following implantation of markers 30, probe 32 and
detector 34 are used to locate the markers, as described in more
detail below.
[0060] The terms "probe 32" and "detector 34" are used generically
herein to refer to all embodiments of the probe and detector
described below. Specific embodiments of the probe 32 and detector
34 are identified using a prime notation described below, i.e.,
probe 32' or detector 34". Additionally, the probes described below
define one type of instrument, and the detectors described below
define one type of position detection system in accordance with
embodiments of the invention.
[0061] A. Markers
[0062] The markers 30 can be biologically inert (biocompatible) and
are relatively small so that they do not impair procedures for
removing or treating a tissue volume 22. Markers 30 may have
different geometric configurations, e.g., spherical, disk-like,
cylindrical, and other shapes. In one particular embodiment, the
greatest dimension of a marker 30 measured along a Y-axis extending
through the marker from one surface to an opposite surface is not
more than about 5 mm. The markers 30 can be even smaller, e.g., the
greatest dimension is about 1-2 mm, or they can also be larger.
Although several of the markers with respect to FIGS. 2-8 are
described in connection with this aspect of the invention, they can
also be used in connection with other aspects.
[0063] In addition, markers 30 each have a detection characteristic
to enable detection by probe 32 and detector 34, or by a separate
detection system with an array of sensors relative to a reference
location. The detection characteristics of the various embodiments
of markers 30 can be characterized as active or passive. In the
active category, the detection characteristic of a first embodiment
of marker 30, illustrated in FIG. 2a as marker 30a, is gamma
radiation 40. In this regard, marker 30a may include materials such
as technetium 99, cobalt isotopes or iodine isotopes. Such
materials may be obtained from DuPont of Billerica, Mass.
Preferably, each marker 30a generates gamma radiation 40 having a
field strength in the range of 1-100 microCuries.
[0064] Also in the active category, in a second embodiment of
marker 30, illustrated in FIG. 2b as marker 30b, the detection
characteristic is magnetic field 42. Markers 30b of the second
embodiment thus contain ferromagnetic materials in which a magnetic
field can be induced, or alternatively are permanently magnetized
and so have an associated permanent magnetic field. In FIG. 2b,
magnetic field 42 represents both the induced and inherent magnetic
fields. Strong permanent magnets, such as those made from
Samarium-Cobalt, can be suitable magnets for markers 30b.
Alternatively, the markers may communicate with the position
detection system by resonating markers (e.g., AC magnetic coupling
using coils of wire as receiving and emitting antenna), as
described below with reference to FIGS. 23A-D.
[0065] Referring to FIG. 2c, in a third embodiment, again in the
active category, marker 30c emits radio frequency ("RF") signal 44
in response to a triggering signal 46. Various energy sources may
be used for triggering signal 46, including a magnetic field,
ultrasound or radio frequency energy. In this latter case, marker
30c is preferably designed to receive triggering signal 46 which
has a first RF wavelength, and in response thereto, emit signal 44
of a second RF wavelength. In the simplest case, no data, other
than the specific radio frequency itself, is carried in signal 44.
Alternatively, markers 30c may all transmit signal 44 at a single
frequency, with data uniquely identifying each marker being carried
in signal 44 emitted by each marker.
[0066] A suitable marker 30c is illustrated in FIG. 3a. This marker
30c includes a transmit/receive antenna 52 for receiving an RF
signal at a first frequency and transmitting an RF signal at a
second frequency. Also included is a power detect/regulate circuit
54 connected to antenna 52 that detects the presence of, and
regulates, the RF signal received by the antenna. The regulated RF
signal is provided from circuit 54 to drive radio frequency
generator 56 which generates an RF signal at a second frequency. As
discussed in more detail below, when multiple markers 30c are used
together in a given bracketing procedure, preferably each marker
transmits RF signals at a second frequency which is unique to the
marker. The frequency of the received RF signal 46, however, is
preferably common with respect to all of the markers 30c used in
the bracketing procedure. The RF signal generated by radio
frequency generator 56 is then provided to antenna 52 where it is
transmitted as an RF signal.
[0067] Referring to FIG. 3b, an RF exciter device 60 for generating
RF signal 46 is illustrated. RF exciter 60 includes a radio
frequency generator 62 for generating RF signal 46 at a
predetermined frequency and an RF amplifier 64 for amplifying the
output from the radio frequency generator. The sensitivity of
amplifier 64 may be controlled using gain adjustment 62 coupled to
the amplifier. The output of RF amplifier 64 is provided to
transmit antenna 68 which transmits RF signal 46. Transmit antenna
68 of RF exciter 60 is preferably placed in relatively close
proximity to marker 30c, with appropriate gain adjustment of RF
amplifier 64 being achieved by control gain adjustment 66 until a
suitable return signal is absorbed from detector 34", discussed
below and illustrated in FIG. 8.
[0068] In a fourth embodiment, again in the active category, marker
30d, illustrated in FIG. 2d, continuously emits signal 44 at
specific frequencies in the radio frequency spectrum. The marker
30c illustrated in FIG. 3A and described above can be
satisfactorily employed as marker 30d by adding a battery (not
shown) in place of power detector portion of circuit 54 of marker
30c. RF exciter 60 is not required in connection with marker 30d,
insofar as the battery generates the energy used by the marker in
producing RF signal 44. The embodiments of the RF Markers are one
example of a resonating marker having an electrical circuit in
accordance with an embodiment of a wireless implantable marker.
[0069] As a fifth embodiment in the active category, marker 30e,
illustrated in FIG. 2e, is designed to vibrate following
implantation. This vibration is a detection characteristic that is
chosen to enhance image contrast when marker 30 is intended to be
detected using a probe 32 and detector 34 that perform ultrasound
imaging. More specifically, incoming ultrasound signal 74 is
reflected off marker 30e as reflected ultrasound signal 76, with a
Doppler shift component being added to the reflected signal due to
the vibration of the marker to enhance imageability of the marker.
The vibration frequency of marker 30e will vary depending upon the
frequency of ultrasound energy generated by probe 32, but is
preferably lower than the frequency of incoming ultrasound signal
74 which is typically 7.5 MHz, i.e., the vibration frequency is
preferably in the 50 Hz to 50 kHz range. This embodiment is an
example of a mechanical resonating marker in accordance with
another embodiment of a wireless implantable marker.
[0070] A suitable marker 30e that achieves the functionality
described above is illustrated in FIG. 4. This marker 30e includes
an antenna 80 for receiving an RF signal that provides the energy
driving the marker. A power detection and regulation circuit 82 is
connected to antenna 80 for detecting when the antenna is receiving
an RF signal and for regulating the signal for use by oscillator
and waveform generator circuit 84 connected to circuit 82. Circuit
84 converts the regulated RF signal received from circuit 82 into
an oscillating electrical signal, preferably in the audio frequency
range (i.e., 20 Hz-20 kHz), having a waveform that is optimized to
drive piezoelectric device 86 connected to circuit 84.
Piezoelectric device 86 is a conventional piezoelectric device of
the type that converts an oscillating electrical input signal into
mechanical oscillations. Piezoelectric device 86 is attached via
support 88 to outer housing 90 of marker 30e. Housing 90 is
designed to resonate at the mechanical oscillation frequency of
piezoelectric device 86.
[0071] Referring to FIG. 5, an RF coupled acoustic exciter 92 is
provided for generating the RF signal received by antenna 80 of
marker 30e. Exciter 92 includes a radio frequency generator 94 for
generating an RF signal. RF amp 96, with a gain adjustment 98
connected thereto, is provided for receiving and amplifying the
output signal from generator 94. A transmit antenna 100 is provided
for receiving the output of amp 96 and transmitting the RF signal
used to drive marker 30e. In use, gain 98 of amp 96 is adjusted to
amplify the RF signal produced by generator 94 such that marker 30e
is caused to mechanically oscillate so it is most clearly
observable by the ultrasound imaging system (not shown) used in
conjunction with marker 30e.
[0072] As those skilled in the art will appreciate, other circuit
configurations may be used in marker 30e to cause piezoelectric
device 86 to vibrate. For example, a frequency divider circuit (not
shown) may be used in place of oscillator/waveform generator
circuit 84. With such alternative, exciter 92 is modified to
include a variable frequency oscillator (not shown) in place of
radio frequency generator 94.
[0073] In the passive category, the detection characteristic in a
sixth embodiment of marker 30, illustrated as marker 30f in FIG.
2f, is opacity to incoming ultrasound signal 74. That is, marker
30f reflects incoming sound energy sufficiently to create a strong
image in reflected signal 76 so as to enhance imageability using a
conventional ultrasound imaging system. In many cases, it will be
advantageous to incorporate the detection characteristics of marker
30f in marker 30e.
[0074] While those skilled in the art are familiar with materials
and configurations that can be used for marker 30f, one suitable
marker 30f is illustrated in FIG. 6. This marker 30f includes plate
102, plate 104 and plate 106, all of which are preferably arranged
in mutually orthogonal relationship. It is preferred that each of
the plates 102-106 has a square configuration and the length of
each edge of the plates, e.g., the length of edge 108 of plate 104,
is preferably about twice the wavelength of incoming ultrasound
signal 74. For example, when incoming ultrasound signal 74 has a
wavelength of 7.5 MHz, edge 108 has a length of about 2 mm. Plates
102-106 are made from a material that strongly reflects ultrasound
energy, e.g., aluminum, and typically have a thickness in the range
of 10-100 .mu.m. Plates 102-106 ideally are enclosed in a
biologically non-reactive casing 110. The latter is preferably made
from a material that does not have strong ultrasound reflection
characteristics, e.g., a soft polymer.
[0075] Also in the passive category, marker 30g of the seventh
embodiment, illustrated in FIG. 2g, comprises a capsule (not shown)
filled with a colored dye 78, e.g., a vital dye. Either or both the
capsule and dye 78 of marker 30g are made from a material that is
imageable by the imaging system, e.g., ultrasound, used to implant
the markers, as described in more detail below. The capsule is made
from gelatin or other suitable material that is selected to be
sufficiently tough to withstand insertion into tissue volume 22,
but is relatively easily cut by the cutting tool used to remove the
tissue volume, e.g., a conventional surgical scalpel or cutting
tool 200 described below. Marker 30g provides a visual guide as to
its location by releasing colored dye 78 when severed by a surgical
cutting tool. In this regard, probe 32 and detector 34 are not used
in connection with marker 30g.
[0076] Markers 30a, 30b and 30f may be made from a solid structure
containing material having the desired detection characteristic.
Alternatively, markers 30a, 30b and 30f may be made from a capsule
filled with a dye, such as is used for marker 30g, containing
material having the desired detection characteristic. As another
alternative, all embodiments of markers 30 may include a dye
contained in an outer capsule having the requisite toughness and
severability characteristics noted above.
[0077] B. Probe and Detector
[0078] The probe 32 shown in FIG. 1 is one embodiment of an
instrument, and the detector 34 shown in FIG. 1 is one embodiment
of a user interface for any system in accordance with the
invention. The design and configuration of the probe 32 and the
detector 34 depend upon the embodiment of marker 30 used. However,
for all embodiments of marker 30 (except marker 30g), detector 34
is designed to provide humanly recognizable information when probe
32 is positioned within a selected proximity, e.g., 1-5 cm, of a
given marker. This information may take one of a variety of forms,
including a burst of humanly perceivable sound, constant or
intermittent illumination of a light, movement of a needle on a
dial, a short burst of air, change of data in a visual display,
increased image brightness or contrast (in the case when detector
34 is an ultrasound imaging system, as discussed below), a tactile
response, or other humanly perceivable proximity information. In
this regard detector 34 may include a dial 112, light 114, speaker
116, or other appropriate devices for generating the selected form
of humanly perceivable information.
[0079] Preferably, although not necessarily, detector 34 provides
humanly recognizable information that indicates changes in
proximity of probe 32 to a given marker 30. Thus, rather than
merely providing static or threshold information that probe 32 is
within a predetermined range of a given marker 30, detector 34
preferably provides proximity information having an attribute or
characteristic that varies as a function of changes in proximity of
the probe relative to the marker. For example, if the proximity
information is sound, the pitch is varied with changes in
proximity. Or, as another example, if the proximity information is
light, the brightness of the light changes with changes in
proximity.
[0080] A probe and detector that may be satisfactorily employed as
probe 32 and detector 34, respectively, when the latter is intended
to detect maker 30a, is sold by Care Wise Medical Products
Corporation of Morgan Hill, Calif., and is identified by the
trademark C-TRAK. The C-TRAK probe, which is described in U.S. Pat.
Nos. 5,170,055 and 5,246,005 to Carroll et al., which are
incorporated herein by reference, provides a humanly audible sound,
the pitch of which varies with changes in proximity of the probe to
tissue labeled with gamma ray producing material.
[0081] Referring to FIGS. 1, 2b and 7, when probe 32 and detector
34 are intended for use in detecting marker 30b, which generates a
magnetic field 42, probe 32' and detector 34' illustrated in FIG. 7
may be satisfactorily employed. Probe 32' includes a conventional
Hall effect sensor (not shown) that provides an output signal on
line 120, the voltage of which varies as a function of proximity of
the probe to the magnetic field generated by a marker 30b. Detector
34' is connected to probe 32' via line 120, and includes an
amplifier 122 connected to line 120 for amplifying the signal from
the Hall effect sensor in probe 32'. Amplifier 122 includes an
offset adjustment 126 and a gain adjustment 128. Offset adjustment
126 is provided to cancel the effects of any ambient magnetic
fields, such as that of the earth. Gain adjustment 128 is provided
to control the overall sensitivity of detector 34'. The amplified
signal from amplifier 122 is delivered on line 124 to signal meter
126, which may comprise a dial with a movable needle, an LED or
other device for representing signal strength. Also connected to
line 124 is voltage-controlled oscillator 128, the output of which
is provided to amplifier 130. The output of amplifier 130 drives
speaker 116. The frequency of the output signal from voltage
controlled oscillator 128 varies as function of changes in voltage
of the signal delivered on line 124, which in turn causes the pitch
of the sound produced by speaker 116 to vary as a function of
changes in the voltage of the signal on line 124. As those of
ordinary skill in the art will appreciate, other devices for
providing humanly recognizable information representing changing
proximity, e.g., a light, may be employed instead of speaker
116.
[0082] Referring to FIGS. 1, 2c and 8, for markers 30c and 30d,
which generate radio frequency energy, probe 32" and detector 34"
are provided for use in detecting the markers. Probe 32" includes a
conventional coil antenna 140 for receiving an RF signal. Detector
34" includes a selectable notch filter 142 connected to antenna 140
which permits tuning of the detector to the unique RF frequency of
signal 44 emitted by markers 30c or 30d. A tuning knob or other
user adjustable mechanism (neither shown) is attached to selectable
notch filter 142 to permit a user to perform such tuning. The
output of selectable notch filter 142 is provided to RF amplifier
144, the overall sensitivity of which may be controlled by gain
adjustment 146 attached to the amplifier. The output of RF
amplifier 144 is provided to rectifier/integrator circuit 148 which
rectifies and time filters the signal. The output of
rectifier/integrator circuit 148 is provided to analog signal
strength display 150 which provides a visual indication of the
proximity of probe 32" to marker 30c. In addition, the output of
rectifier/integrator circuit 148 is provided to voltage oscillator
152 which generates an output signal, the frequency of which varies
as a function of the voltage level of the signal provided by
rectifier/integrator circuit 148. The output signal of the voltage
control oscillator 152 is amplified by audio amplifier 154, which
in turn drives speaker 116. Accordingly, the pitch of the sound
generated by speaker 116 varies as a function of the strength of
the RF signal received by probe 32", and hence as a function of the
proximity of probe 32" to markers 30c or 30d.
[0083] A suitable probe 32 and detector 34 for use with the markers
30e and 30f is the ultrasound imaging system available from Dornier
Surgical Products, Inc., Phoenix, Ariz., is identified by the name
Performa, and generates ultrasound energy having a frequency of 7.5
MHz.
[0084] C. Tissue Anchor
[0085] Turning now to FIGS. 9-11, another aspect of the present
invention is tissue anchor 300. The latter is designed to stabilize
tissue mass 26 during surgical removal of the mass using system 20,
as described in more detail below.
[0086] Tissue anchor 300 includes a ring 302 sized to receive the
thumb or finger of a user, and a rod 304. The latter includes a
proximal end 305, which is attached to ring 302, and a distal end
306. Rod 304 includes an outwardly projecting pin 308 that serves
as a stop, as described below. Tissue anchor 300 also includes a
plurality of, e.g., four, anchor members 310 that are attached to
rod 304 at or adjacent its distal end 306. Typically, anchor
members 310 are attached to rod 304 so as to extend away from its
distal end 306, as illustrated in FIGS. 9 and 10. However, as an
alternative design, anchor member 310 may be attached to rod 304 so
as to extend away from distal end 306 toward proximal end 305 (not
shown). Each anchor member 310 may terminate with a barb 312 (FIG.
11), if desired. Anchor members 310 preferably have a curved
configuration when in an unbiased state, as illustrated in FIGS. 9
and 11. Anchor members 310 are preferably made from spring steel,
although other "memory" metal alloys made also be satisfactorily
used. In certain applications it may be unnecessary to provide a
curve in anchor member 310, i.e., the anchor member may be
substantially straight.
[0087] Rod 304 preferably, although not necessarily, has a circular
cross section. The outside diameter of rod 304 depends upon its
intended application, but is typically in the range of 0.3-10 mm,
preferably about 1-2 mm. The length of rod 304, as measured between
proximal end 305 and distal end 306, also depends upon its desired
application, but typically ranges from 5-20 cm.
[0088] Tissue anchor 300 also includes a cannula 320 having a
central bore 322, a proximal end 324 and a pointed distal end 326.
Central bore 322 has an inside diameter that is sized to receive
rod 304 with a close sliding fit. Cannula 320 has an outside
diameter that is selected based on the intended application but is
typically in the range 0.5 mm-12 mm, preferably about 1-3 mm.
Cannula 320 also includes an elongate slot 328 that runs parallel
to the long axis of the cannula and is sized to receive pin 308
with a close sliding fit. The length of slot 328 is substantially
the same as the length of anchor members 310. Slot 328 includes a
pocket 329 at its end closest to distal end 326 of cannula 320 that
extends orthogonally to the long axis of the slot and is sized to
receive pin 308.
[0089] Cannula 320 also includes a plurality of apertures 330
extending through the wall of the cannula. Apertures 330 are
positioned adjacent distal end 326 of cannula 320 when anchor
members 310 are attached to rod 304 to extend away from distal end
306 as illustrated in FIGS. 10 and 11. If anchor members 310 extend
from distal end 306 toward proximal end 305 (not shown), then
apertures 330 are moved toward the proximal end so that they are
spaced from the distal end 326 at least about the length of the
anchor members. One aperture 330 is typically provided for each
anchor member 310. The lengths of anchor members 310, cannula 320,
and slot 328 are together selected so that a small portion, e.g.,
about 1 mm, of each anchor member 310 projects from its respective
aperture 330 when tissue anchor 300 is in the retracted position
illustrated in FIG. 10. In this position, pin 308 engages the end
of slot 328 closest to proximal end 324. Anchor members 310 are
sized in this manner to ensure the anchor members remain positioned
in their respective apertures 330 when tissue anchor 300 is in the
retracted position illustrated in FIG. 10.
[0090] The lengths of anchor members 310, cannula 320, and slot 328
are also together selected so that most, if not substantially the
entire, length of the anchor members 310 projects from their
respective apertures 330 when tissue anchor is in the extended
position illustrated in FIGS. 9 and 11. In this position, pin 308
engages the end of slot 328 closest to distal end 326.
[0091] The elements of tissue anchor 300 are preferably made from
stainless steel, a plastic such as polystyrene or polyurethane, or
other materials suitable for the intended application of the tissue
anchor (as described in more detail below) known to those skilled
in the art. As noted above, in many cases it is desirable to make
anchor members 310 from spring steel or a "memory" metal alloy.
[0092] D. Bracketing
[0093] Referring now to FIGS. 1, 12 and 13, markers 30 may be used
to bracket (i.e., define the boundaries of) tissue volume 22 in a
tissue portion 24 in accordance with the following method. In the
following description of the method of bracketing tissue volume 22,
the latter is contained in a human breast. However, it is to be
appreciated that tissue volume 22 may be present in other hollow or
solid organs and structures, e.g., a liver, or may constitute an
entire organ or structure. Additionally, a plurality of the markers
30 may be implanted to completely bracket the tissue volume 22, or
one or more markers 30 can be used to bracket or otherwise mark the
location of the tissue volume 22.
[0094] As the first step in bracketing tissue volume 22, a tissue
mass 26 of interest is identified through conventional imaging
methods, e.g., ultrasound, MRI, X-ray or CAT scan. Next, markers 30
are implanted in tissue portion 24 surrounding tissue mass 26 and
defining outer boundaries of tissue volume 22. The number of
markers 30 used, and the placement of the markers relative to
tissue mass 26, will vary depending upon the location of the tissue
mass relative to other types of tissue, e.g., bone or muscle,
surgeon preference, size and configuration of the tissue mass and
the desired amount of tissue margin 28 (FIG. 1) beyond the edge of
tissue mass 26. However, in many applications, it may be desirable
to use at least six markers 30 to bracket tissue volume 22,
preferably two on each of axes X, Y and Z (see, e.g., FIGS. 1, 12
and 13). Two of the markers 30 can be positioned on each of axes X,
Y and Z so as to lie on opposite boundaries of tissue volume 22.
For example, as illustrated in FIG. 1, marker 30, lies on the
Z-axis at the upper surface of tissue volume 22, marker 302 lies on
the Z-axis at the lower surface of the tissue volume, marker 303
lies on the X-axis at a first location on the outer surface of the
tissue volume, marker 304 lies on the X-axis at a second location
on the outer surface of the tissue volume diametrically opposite
marker 303, marker 305 lies on the Y-axis at a third location on
the outer surface of the tissue volume, and marker 306 lies on the
Y-axis at a fourth location on the outer surface of the tissue
volume diametrically opposite marker 305.
[0095] Although the axes X, Y and Z can be mutually orthogonal, as
illustrated, this is not mandatory and can be difficult to
precisely implement in practice. In this particular embodiment, the
tissue volume 22 should be completely surrounded by markers 30,
i.e., the tissue volume should be defined in three dimensions by
the markers. One notable exception to this that the marker 30, such
as marker 302 shown in FIGS. 1 and 13, positioned at the base of,
i.e., underneath, tissue volume 22 is not typically required when a
different type of tissue, such as pectoral muscle 400 (FIG. 13) is
located at or near where the marker would be positioned. The
illustration of marker 302 in FIG. 13 is not inconsistent with this
recommended placement regime for markers 30 because of the
relatively great spacing between the marker 302 and pectoral muscle
400. Similarly, when the marker 30, such as marker 30, shown in
FIG. 1, to be positioned on top of tissue volume 22 is near the
skin overlying the tissue volume, such marker is not typically
required. Also, while the X, Y and Z-axes are illustrated in FIG. 1
as intersecting at a common point centrally located within tissue
mass 26, this is not required. For example, it may be desirable to
offset the X and Y-axes somewhat, as measured along the Z-axis.
Furthermore, in some cases it may be desirable to define tissue
volume 22 with markers 30 in only two dimensions or in only one
dimension.
[0096] In some cases, it will be desirable to use more than two
markers 30 on X, Y and Z-axes. Referring to FIG. 1A, in a first
case, ten markers 30 are used, two on the Z-axis, two on an axis
X.sub.1, two on an axis X.sub.2 that is offset along the Z-axis
with respect to axis X.sub.1, two on an axis Y.sub.1, and two on an
axis Y.sub.2 that is offset along the Z-axis with respect to axis
Y.sub.1. Referring to FIG. 1B, in a second case, ten markers 30 are
used, two on the X-axis, two on the Y-axis, two on the Z-axis, two
on the V-axis which bisects the X and Y-axes and two on the W-axis
which also bisects the X and Y-axes, but at a different location.
Other numbers and relative placements of markers are also
encompassed by the present invention.
[0097] Markers 30 are preferably spaced from tissue mass 26 so as
to define tissue volume 22 such that tissue margin 28 is large
enough to ensure none of the tissue mass of interest lies outside
the tissue volume. This precise spacing will vary with the nature
of the tissue mass 26, the size of the tissue mass, surgeon
preference and other factors. However, tissue margin 28, as
measured outwardly along an axis extending perpendicular to a
surface location on tissue mass 26, is generally about 0.5 cm to 3
cm, and is preferably about 1 cm to 2 cm. It will be appreciated
that other margins may be more appropriate in other
circumstances.
[0098] Markers 30 may be implanted in tissue portion 24 in a
variety of different ways using a variety of different tools. In
general, markers 30 are implanted using a conventional imaging
system (not shown) that simultaneously generates an image of tissue
mass 26 and the markers. By frequently comparing the location of
markers 30 to tissue mass 26 during implantation of the markers
into tissue portion 24, based on image information received from
the imaging system, the markers may be positioned so as to define
tissue volume 22 in the manner described above. As noted above,
markers 30 are made from a material that provides good image
contrast with respect to the imaging energy used. In other aspects
of the invention, only one or two markers may be implanted in or
proximate to the tissue mass 26, and the margin 28 can be defined
on a display by a virtual line or shape based upon the relative
location between at least one of the implanted markers and the
tissue mass 26.
[0099] It is preferable to at least partially immobilize tissue
portion 24 during implantation of markers 30. However, this is not
necessary because, by comparing the relative location of a marker
30 to tissue mass 26, the desired relative placement can typically
be achieved even if tissue portion 24 is moving during marker
implantation.
[0100] E. Marker Implantation
[0101] Various techniques may be used to implant markers 30 in
tissue portion 24. With reference to FIGS. 12 and 13, one approach
is to insert markers 30 percutaneously through skin 402 overlying
tissue portion 24 using known needle pushers or implanters (neither
shown) of the type used to implant "seeds" of radioactive material
for various cancer treatments. For example, needle pushers of the
type sold by Best Industries of Springfield, Va., may be
satisfactorily employed. These needle pushers include a central
needle surrounded by an outer tube having an end plate or cup for
supporting the radioactive "seed." Following insertion of the
needle pusher into the selected tissue mass, the radioactive "seed"
is released by pressing the central needle downwardly relative to
the surrounding outer tube, with the point of the needle ejecting
the "seed" from the end plate or cup of the outer tube.
[0102] To percutaneously insert marker 30 in accordance with this
first approach, the marker is positioned on the end of the needle
pusher (in place of the radioactive "seed"), is forced through skin
402 and, using feedback from the imaging system, is guided to the
region where it is desired to implant the marker. Then the marker
30 is ejected from the needle pusher by urging the central needle
forwardly into the inner tube.
[0103] A second approach for implanting markers 30 involves
creating a small, e.g., 5-10 mm, incision (not shown) in the skin
402 overlying tissue portion 24. Next, a scalpel is inserted
through the incision so as to form a slit in the underlying tissue
portion extending to the position where it is desired to implant a
maker 30. Then a marker 30 is inserted through the slit to such
position using a tweezers, needle pusher, trocar or other suitable
tool. Other markers 30 are implanted through separate incisions in
skin 402 in similar manner so as to bracket tissue volume 22.
[0104] Referring now to FIGS. 1 and 12-14, a third approach for
implanting markers 30 is to form a relatively large, e.g., 1-3 cm,
incision 404 (see FIG. 12) in skin 402 overlying tissue mass 26.
Next, incision 404 is pulled open as illustrated in FIG. 14 using
retractors or other conventional devices to form a relatively large
open region 406 above tissue mass 26. Markers 30 are then implanted
into tissue portion 24 using either the first or second approaches
described above. Other approaches for implanting markers 30 so as
to bracket tissue mass 26 are also encompassed by the present
invention. The speed and accuracy with which markers 30 may be
implanted, and the trauma associated with implantation should be
considered in selecting other approaches for implanting markers
30.
[0105] F. Marker Identification
[0106] Once tissue mass 26 has been bracketed or otherwise marked,
tissue volume 22 can be removed. As described in more detail below,
one procedure involves identifying the boundaries of tissue volume
22 using an embodiment of probe 32 and detector 34 that is
appropriate for the type of marker 30 used, as discussed above.
Using information from detector 34 regarding such boundaries,
tissue volume 22 is then removed using a scalpel or other tool,
with tissue anchor 300 preferably, but not necessarily, being used
to stabilize the tissue volume during removal. Another procedure is
similar to the first, except that tissue anchor 300 is not
used.
[0107] For both of these procedures, as the first step the surgeon
typically identifies the boundaries of the tissue volume using
system 20 or otherwise marks the location of the tissue mass 26 as
described in more detail below. This step is generally needed
because in practice markers 30 will often be implanted by another
doctor, e.g., a radiologist, as a separate procedure. The
boundaries of tissue volume 22 are identified by moving probe 32 in
the general region of the tissue volume and then monitoring the
detection information (e.g., sound, light, dial movement, image
clarity and the like) provided by detector 34. As noted above,
detector 34 may provide this information when probe 32 is moved
within a predetermined proximity of a given marker 30, or may
provide this information in a form that changes with changes in
proximity of the probe to the marker (e.g., a light gets brighter
as the probe is moved toward a marker and dimmer as it is moved
away).
[0108] The interaction between marker 30 and probe 32 and detector
34 depends upon the detection characteristic of the marker. In the
case of marker 30a, which emits gamma radiation 40 (FIG. 2a) on a
continuous basis, a probe and detector of the type described in
U.S. Pat. Nos. 5,170,055 and 5,246,005 to Carroll et al. (the
"C-TRAK probe"), as discussed above, may be satisfactorily used to
detect the markers. The C-TRAK probe includes a radiation detector,
e.g., a scintillation crystal, which provides an output signal that
is believed to vary as a function of the flux density of the gamma
rays 40 emitted by marker 30a. Changes in this output signal are
then converted into humanly recognizable detection information,
e.g., sound, having a characteristic, e.g., pitch or tempo in the
case of sound, that varies with changes in gamma ray flux density.
By observing the location of probe 32 when the detection
information from detector 34 indicates the probe is closest to a
given marker 30a, the surgeon can mentally note where the marker is
located. Repetition of this process will result in identification
of the location of all markers 30a.
[0109] Referring to FIGS. 2b and 7, in the case of marker 30b,
which generates a magnetic field 42, probe 32' and detector 34' are
used to detect the marker. To locate a marker 30b, the surgeon
moves probe 32' in the general region of tissue volume 22, with the
result that as the probe approaches a given marker 30b its Hall
effect sensor (not shown) generates an output signal having a
voltage that increases as the probe is moved toward the marker.
Similarly the voltage of the output signal decreases as probe 32'
is moved away from the marker 30b. The output signal of probe 32'
is provided via line 120 to amplifier 122, which amplifies the
output signal from the probe. As discussed above, the amplified
voltage signal from probe 32' is displayed on signal meter 126 and
is also delivered to voltage controlled oscillator 128. The latter
generates an oscillating signal, the frequency of which varies as a
function of the voltage of the amplified signal provided to voltage
controlled oscillator 128. This signal is then amplified by
amplifier 130, and the amplified signal then drives speaker 116
such that the pitch of the sound provided by the speaker 116 varies
as a function of proximity of probe 32' to marker 30b. By observing
signal meter 126 and/or listening to speaker 116, the surgeon can
assess when the probe 32' is positioned closest to a selected
marker 30b. Repetition of this process will result in
identification of the location of all of markers 30b.
[0110] Turning now to FIGS. 2c, 3a, 3b and 8, marker 30c, which
generates an RF signal 44, is identified using probe 32" and
detector 34" in the following manner. RF exciter 60 is operated so
as to produce an RF exciter signal 46. More particularly, radio
frequency generator 62 (FIG. 3B) generates a radio frequency signal
which is amplified by RF amplifier 64, following sensitivity
adjustment using gain adjustment 66, with the amplified signal
being provided to antenna 68 for transmission to markers 30c. RF
exciter 60 is positioned sufficiently close to markers 30c that RF
exciter signal 46 is received by antenna 52 of the markers and is
of sufficient strength to drive radio frequency generator 56 of the
markers. Following detection and regulation by circuit 54 (FIG. 3A)
of the signal 46 received by antenna 52, radio frequency generator
56 generates an RF signal which is transmitted by antenna 52 as RF
signal 44. Each marker 30c can transmit RF signal 44 at a frequency
that is unique to the marker, while an RF exciter signal 46 having
a single frequency can be used for all of the markers 30c, with the
frequency of signal 46 being different than the frequencies of
signals 44.
[0111] Once exciter 60 has been activated so as to cause marker 30c
to generate RF signal 44, detection of the marker commences. This
is achieved by positioning probe 32" (FIG. 8) on or adjacent skin
402 adjacent tissue volume 22, and then monitoring proximity
information provided by analog signal strength display 150 and/or
speaker 116 of detector 34". More specifically, following receipt
of RF signal 44 by receive antenna 140 of probe 32", the signal is
filtered by selectable notch filter 142 of probe 32". By
correlating a given marker 30c, e.g., marker 30c.sub.1, with a
corresponding representation on the adjustment knob (not shown)
that controls selectable notch filter 142, e.g., the reference
number "1," the surgeon can identify the location of the given
marker. The knob for adjusting selectable notch filter 142 is then
moved to a different position when detecting a second marker 30c,
e.g., marker 30c.sub.2.
[0112] Signals from receive antenna 140 that are passed through
selectable notch filter 142 are then amplified by RF amplifier 144
with the adjustment of the amplifier gain being provided as needed
using gain adjustment 146. The amplified signal is then provided to
rectifier/integrator 148 where the signal is rectified and time
filtered. The strength of signal 144 detected by detector 34" is
then displayed via analog signal strength display 150 and is
provided to voltage controlled oscillator 152. The latter creates
an oscillating signal, the frequency of which varies as a function
of the voltage of the signal provided by rectifier/integrator 148.
The output signal from voltage controlled oscillator 152 is then
amplified by audio amplifier 154 and delivered to drive speaker
116. The pitch of the sound provided by speaker 116 will vary as a
function of the frequency of the signal provided by voltage
controlled oscillator 152, and as an ultimate function of the
proximity of probe 32" to a given marker 30c. By observing the
location of probe 32" when the detection information from detector
34" indicates the probe is closest to a given marker 30c, the
surgeon can mentally note where the marker is located. By repeating
this process for each of the markers 30c with appropriate
adjustment of selectable notch filter 142, all of the markers 30c
may be located.
[0113] Referring to FIGS. 2d, 3a, 3b and 8, marker 30d may also be
detected using detector 34" in substantially the same manner
discussed above with respect to marker 30c. One significant
difference, however, is the fact that RF exciter 60 (FIG. 3B) is
not used insofar as marker 30d contains its own power source.
[0114] Turning next to FIGS. 2e, 2f, and 4-6, for markers 30e and
30f, which are designed to provide high image contrast when imaged
with ultrasound, probe 32 includes a conventional ultrasound
transducer (not shown) that generates ultrasound in a conventional
frequency range, e.g., 7.5 MHz, and receives back reflection of the
ultrasound signal. Detector 34 is the image processor and display
(neither shown) of a conventional ultrasound apparatus which is
connected to the ultrasound transducer. Markers 30e or 30f are
identified by scanning the general region of tissue volume 22 with
probe 32, and monitoring the ultrasound image of the markers
provided by detector 34. This ultrasound image permits the surgeon
to identify the placement of all of the markers, and hence the
boundaries of tissue volume 22.
[0115] In the case of marker 30e, the latter is caused to vibrate
at a frequency that is generally significantly less than that of
the ultrasound generated by the ultrasound transducer in probe 32.
This creates, through what is believed to be a Doppler shift
phenomenon, enhanced image contrast in the ultrasound signal
reflected off markers 30e. Vibration of a marker 30e is effected by
operating RF exciter 92 so that radio frequency generator 94
generates a radio frequency signal which is amplified by amp 96 and
then transmitted by antenna 100. Antenna 80 of marker 30e receives
this RF signal, which is detected and regulated by circuit 84 so as
to generate an oscillating electrical signal that is provided to
piezoelectric device 86. This signal causes the piezoelectric
device 86 to mechanically oscillate, which oscillations are
transferred via support 88 to outer housing 90 of marker 30e,
thereby causing the housing (and hence the marker) to vibrate.
[0116] G. Tissue Removal
[0117] Following identification of tissue volume 22 using the
procedures outlined above, surgical removal of the tissue volume
commences. Referring to FIGS. 12 and 14, the first of the two
procedures for removing tissue volume 22 referenced above commences
with the formation of an incision 404 (FIG. 12) in skin 402 above
tissue volume 22. The length of incision 404 is typically about
equal to, or slightly greater than, the distance between two
markers 30 lying on a given axis, e.g., the Y-axis as illustrated
in FIG. 12. Next, portions of skin 402 adjacent incision 404 are
pulled apart by retractors or other known devices, so as to form
open region 406 (FIG. 14) and expose tissue portion 24 beneath.
[0118] Referring now to FIGS. 9-11 and 15-17, as the next step,
tissue anchor 300 is inserted in tissue mass 26 so as to assume the
extended position illustrated in FIG. 11. This is achieved by
inserting a finger into ring 302, then pulling rod 304 upwardly (as
illustrated in FIG. 10) with respect to cannula 320 so that pin 308
moves in slot 328 toward the end thereof closest to proximal end
324 of the cannula. In this retracted position, cannula 320 is
grasped and is inserted through open region 406 into tissue volume
22 so that its distal end 326 is positioned substantially in the
center of tissue mass 26. This placement may be achieved under the
guidance of an imaging system (not shown) that is capable of
imaging tissue anchor 300, e.g., ultrasound or X-ray imaging
systems. Alternatively, using system 20, the location a marker 302
lying beneath tissue volume 22, as illustrated in FIGS. 16 and 17,
is identified using the procedure described above to identify the
tissue volume. By identifying the depth at which marker 302 is
located and comparing this to the length of cannula 320 inserted
into tissue volume 22, distal end 326 may be positioned centrally
within tissue mass 26.
[0119] Next, ring 302, and hence rod 304 attached thereto, is
forced downwardly (as viewed in FIG. 15) relative to cannula 320
until pin 308 contacts the end of slot 328 closest to distal end
326. As rod 304 moves within cannula 320 toward this extended
position, anchor members 310 are forced out through apertures 330
and into tissue mass 26 (see FIG. 17). Then, ring 302, and hence
rod 304, is rotated slightly so as to cause pin 308 to move into
pocket 329.
[0120] The next step in the removal of tissue volume 22 is assembly
and placement of a cutter 200 in open region 406. Referring to
FIGS. 15 and 18-20, the cutter 200 includes cutter portions 202 and
204 that can be positioned adjacent open region 406, as illustrated
in FIG. 15. Next, the cutter portion 202 is positioned in open
region 406, and a curved plate 206 of the cutter portion 202 is
inserted under portions of skin 402 adjacent the open region, as
illustrated in FIG. 18. Next, the cutter portion 204 is similarly
positioned in open region 406. Then, cutter portions 202 and 204
are moved toward one another so that cannula 320 of tissue anchor
300 is received in an elongate groove 232 in a central handle
section 222 and in an elongate groove 255 in a central handle
section 252. Cutter portions 202 and 204 are moved even closer to
one another so that central handle sections 222 and 252 engage one
another. When positioned in this manner, ends of curved portion 206
of cutter portion 202 engage ends of curved portion 236 of cutter
portion 204 so as to form a substantially continuous curved cutting
edge. Also when positioned in this manner, a longitudinal axis of
cutter 200 extends substantially parallel to the elongate axis of
cannula 320, both of which are substantially co-axial with the
Z-axis extending through tissue volume 22. (See FIGS. 16 and
19).
[0121] Next, the position of cutter 200 relative to markers 30 is
determined by comparing the location of markers, which is typically
determined by using probe 32 and detector 34 in the manner
described above, to the position of the cutter. Then, the location
of cutter 200 is adjusted so that the longitudinal axis of cutter
200 is substantially co-axial with the Z-axis of the tissue volume
22, as illustrated in FIG. 19. In some cases the surgeon will
recall the location of markers 30 from the prior marker
identification step, and so it will be unnecessary to again locate
the markers. However, when tissue portion 24 is amorphous and
pliable, as is the case when breast tissue is involved, it is
recommended that this alignment of cutter 200 with tissue portions
30 using probe 32 and detector 34 be performed before any cutting
of tissue volume 22 commences.
[0122] In connection with the initial insertion of cutter 200 in
open portion 406, an appropriately sized cutter 200 is selected
such that the radius of curved plates 206 and 236, as measured
radially outwardly from the longitudinal axis, is substantially the
same as the radius of tissue volume 22 as measured radially outward
from the Z-axis. While this relationship between the radii of
curved plates 206 and 236 of cutter 200 and the radius of tissue
volume 22, as measured with respect to Z-axis, is preferred, in
some cases it may be satisfactory to use a cutter having a radius
that is greater than or less than the radius of the tissue volume
22. Also, the height of curved portions 206 and 236 is another
factor considered in selecting an appropriate cutter 200.
[0123] Referring to FIGS. 16-20, as the next step in the removal of
tissue volume 22, ring 302 of tissue anchor 300 is typically pulled
upwardly in the direction of arrow F (see FIGS. 17 and 19)
sufficiently to tension tissue volume 22 and adjacent portions of
tissue portion 24. By this tensioning of tissue volume 22 and
tissue portion 24 the tendency of the tissue portion to compress
under the force of a cutting device is reduced. Also, this
tensioning of tissue volume 22 serves to stabilize the tissue
volume during the surgical removal process.
[0124] In some cases, sufficient tissue stabilization can be
achieved merely by holding tissue anchor 300 in a substantially
fixed position relative to tissue volume 22. In other words, no
force in the direction of arrow F is applied to tissue anchor 300
except as may be necessary to hold the tissue anchor in a stable
position.
[0125] Then, while stabilizing tissue volume 22 with tissue anchor
300, preferably, but not necessarily by maintaining an upward force
on the tissue anchor, the surgeon grips cutter 200 and begins
pressing downwardly toward tissue volume 22, i.e., in the direction
of arrow D (see FIG. 21). At the same time, the cutter is rotated
about its longitudinal axis in either or both a clockwise and
counterclockwise direction, e.g., in the direction indicated by
curved arrow R (see FIG. 19). The elongate grooves 232 and 255
(FIG. 15) are sized to permit cutter 200 to rotate relatively
freely about cannula 320 positioned therein.
[0126] As cutter 200 is rotated about its longitudinal axis and is
urged downwardly towards tissue volume 22, it cuts tissue volume 22
along its outer boundary. Progress in removing tissue volume 22 is
generally periodically determined by comparing the position of
curved plates 206 and 236 of cutter 200 relative to markers 30
using probe 32 and detector 34 to identify the locations of markers
30 and then comparing such locations with the location of the
cutter. In particular, a determination can be made as to when
tissue volume 22 has been severed from tissue portion 24 to a depth
defined by marker 302 (FIG. 21) defining the bottom or innermost
portion of the tissue volume. Thus, by iteratively comparing the
position of cutter 200 to the locations of markers 30 using marker
location information acquired from detector 34 based on proximity
information provided by the detector, a surgeon can determine when
the cutting operation is completed and cutter 200 can be removed
from tissue portion 24, as indicated in FIG. 20.
[0127] Depending upon the size of cutter 200 relative to the
placement of markers 30, the latter may remain in place in tissue
portion 24 following removal of tissue volume 22, as indicated in
FIG. 20. If such as the case, markers 30 are then subsequently
removed by first locating the markers using probe 32 and detector
34 and then removing the markers with a suitable instrument, e.g.,
tweezers. In other cases, the markers will be included in the
tissue volume 22.
[0128] In some cases, it will be necessary to sever the bottom or
innermost portion of tissue volume 22 from tissue portion 24 so as
to permit removal of the tissue volume. A scalpel or other
conventional tool may be used to perform this final severing of the
tissue volume. The precise location where this final incision is
made may be determined by again locating the position of marker 302
using probe 32 and detector 34. By leaning tissue anchor 300 and
cutter 200 to one side, a surgeon can typically follow the incision
created by cutter 200 with a scalpel or other tool down to the
region where marker 302 is located and tissue volume 22 remains
attached to tissue portion 24.
[0129] As noted above, in some circumstances a marker 302 is not
required when the bottom or innermost portion of tissue volume 22
is positioned immediately above a different type of tissue, e.g., a
pectoral muscle 400. In such case, the surgeon can assess when
cutter 200 has been inserted sufficiently deep into tissue portion
24 by merely observing when bottom cutting edges of the cutter are
about to engage the different type of tissue.
[0130] Referring to FIG. 1A, by inserting markers 30 at staggered
locations along the Z-axis, the relative depth of cutter 200 in
tissue portion 24 can be determined by locating specific markers
using probe 32 and detector 34. The location of such markers 30 is
then compared with the location of cutter 200 to determine the
depth of the cut. For example, if markers 30c are installed at
positions X.sub.1 and X.sub.2 in FIG. 1a, and each marker has a
unique frequency, these markers can be uniquely identified by
detector 34" (FIG. 8) in the manner described above.
[0131] Referring to FIG. 1B, by positioning more than four markers,
e.g., eight markers as illustrated in FIG. 1B, the boundaries of
tissue volume 22 can often be more readily defined during the
removal of the tissue volume. This is so because increasing the
number of markers 30 used increases the quantity of information
received from detector 34 regarding the boundaries of tissue volume
22.
[0132] While the use of cutter 200 in connection with the removal
tissue volume 22 often expedites removal of the tissue volume, many
other cutters or instruments can be used to remove, treat, monitor,
or otherwise perform some procedure on the tissue volume. In this
regard, a conventional scalpel may often be satisfactorily employed
in place of cutter 200. Also, under certain circumstances it may be
desirable to initiate an incision with cutter 200, and then
complete the incision with a scalpel. It will be appreciated that
other types of cutters and systems for manipulating the tissue can
be used, such as using as vacuum to pull-up on the tissue,
extending an "umbrella" at the end of a stabilizer to pull-up on
the tissue, vibrating the cutter to cut the tissue (either in lieu
of or in addition to rotating the cutter), and using rotational
electrocautery.
[0133] The process of removing tissue volume 22 using a scalpel
also preferably commences by inserting tissue anchor 300 in tissue
volume 22 in the manner described above. The location of markers 30
are also determined prior to and during the removal of tissue
volume 22 by scalpel in the manner described above. Thus, during
the removal of tissue volume 22, the boundaries thereof may be
repeatedly identified by locating markers 30 using probe 32 and
detector 34. As noted above, it is generally advantageous to use
tissue anchor 300 when removing tissue volume 22 with a scalpel
because by stabilizing the tissue volume and surrounding regions of
tissue portion 24, it is easier to maintain alignment of the
scalpel with the boundaries of the tissue volume. However, it is to
be appreciated that the use of tissue anchor 300 is a preferred,
but not essential, aspect of the present method of bracketing and
removing tissue volume 22.
[0134] Referring now to FIG. 2g and FIG. 13, as noted above, probe
32 and detector 34 are not used in connection with marker 30g. The
detection characteristic of markers 30g is the release of a colored
dye 78 in surgical cavity adjacent the markers. In an alternative
embodiment, the markers can be capsules that each have a different
color, and the colored markers can be implanted in a manner to
define the desired margin for guidance during a percutaneous biopsy
procedure, excisional procedures, and other procedures. Removal of
a tissue volume 22 bracketed by markers 30g differs from the
removal of tissue volume when bracketed by the other embodiments of
marker 30 in that the location of marker 30g is not determined by
the surgeon prior to initiation of the removal of tissue volume 22.
Practically speaking, this is more a difference in the process for
removing tissue volume 22 than a difference in the composition and
construction of marker 30g. This is so because for implantation
purposes, marker 30g must necessarily be imageable by some form of
imaging system, which imaging system could, in most cases, also be
used by the surgeon to identify the location of marker 30g prior to
and in connection with the removal of tissue volume 22. For
example, if marker 30g is initially implanted by imaging the marker
using an ultrasound system, then marker 30g is actually a marker
30f Thus, in connection with the following description of the
process of removing tissue volume 22 bracketed with markers 30g, it
is assumed the markers are not located by the surgeon prior to, or
in connection with, the removal of tissue volume other than by
visual observation, as discussed below.
[0135] Removal of tissue volume 22 bracketed by markers 30g also
preferably commences by installing tissue anchor 300 as described
above. Again, the use of tissue anchor 300 is preferred, but not
mandatory. Next, the surgeon commences cutting the general region
of tissue volume 22, which can be defined by colored marks, Kopanz
needles or other known techniques. Then, the removal of tissue
volume 22 proceeds using either cutter 200, or a scalpel or other
cutting device. As this removal of tissue volume 22 is performed,
tissue anchor 300, if used, is manipulated to stabilize tissue
volume 22 in the manner described above. As cutter 200, the scalpel
or other cutting device (e.g., a vacuum assisted cutting device)
encounters a marker 30g, the capsule of the marker is severed
releasing the colored dye 78. This advises the surgeon that a
boundary of tissue volume 22 has been encountered. It may be
advantageous to use a given color of dye in markers 30g defining
one side of the boundary of tissue volume 22, while the markers 30g
defining an opposite side include a different color of dye. By
defining the boundary of tissue volume 22 with a sufficient number,
e.g., 10-25, of markers 30g, the boundary of tissue volume 22 can
typically be identified by iteratively cutting and observing
whether dye appears in the surgical cavity.
[0136] As noted above, marker embodiments 30a-30f may all include
colored dye 78 within an outer capsule that is sufficiently tough
to withstand insertion and yet is relatively easily cut by cutter
200, a scalpel or other cutting device. Such use of dye in markers
30 provides another source of information for the surgeon regarding
the boundary of tissue volume 22.
[0137] One advantage of certain embodiments of the tissue
bracketing system 20 is that they permit the relatively precise
identification of the boundaries of tissue volume 22 without the
need for needles, wires or other cumbersome apparatus projecting
from tissue portion 24. As such, bracketing system 20 permits a
surgeon to relatively quickly and easily identify the tissue
boundary of tissue volume 22 and remove the tissue volume. In
addition, system 20 is ideally adapted for bracketing a tissue
volume 22 in amorphous, pliable tissue, such as breast tissue.
[0138] Another advantage of certain embodiments of the cutter 200
is that they permit a tissue volume 22 of relatively large diameter
to be removed through a relatively small incision 404 or
percutaneously. This advantage is useful in this era when
tissue-conserving therapies are being emphasized.
[0139] By stabilizing tissue volume 22 using tissue anchor 300, the
accuracy with which a surgeon can remove tissue volume 22 is also
enhanced compared to techniques that do not use a tissue stabilizer
or anchor. Also, the accuracy of removing tissue may be further
enhanced by docking the tissue stabilizer or anchor to the first
implanted tissue marker by using a first marker in the tissue
stabilizer and the position detection system. This advantage of the
present embodiment arises because tensioning of the tissue volume
22 by pulling upwardly on tissue anchor 300 serves to retain the
tissue portion in a relatively stable position. Indeed, even
holding tissue anchor 300 in a substantially fixed position
relative to the tissue volume 22 with which it is engaged typically
provides beneficial stabilization of the tissue volume.
[0140] While cutter 200 and tissue anchor 300 may be advantageously
employed in connection with the present method of bracketing and
removing tissue volume 22, it is to be appreciated that the cutter
and tissue anchor have application in many other contexts. More
specifically, in any application in which it is desired to remove a
volume of tissue through as small an incision as possible, cutter
200 has utility. Similarly, when it is desired to stabilize a piece
of tissue in connection with surgical removal or other treatment of
the piece of tissue, whether or not within the bracketing context
of the present invention, tissue anchor 300 also has important
application. Likewise, the system of bracketing a tissue mass is
also useful in other applications, such as radiation therapy, and
in connection with other body parts.
[0141] Certain changes may be made in the above apparatus and
processes shown in FIGS. 1-20 without departing from the scope of
the present invention. As such, it is intended that all matter
contained in the preceding description or shown in the accompanying
drawings shall be interpreted in an illustrative and not in a
limiting sense. For example, as explained below with reference to
FIGS. 21-61, additional embodiments in accordance with other
aspects of the invention are also useful for locating, monitoring,
and or treating tissue masses and other body parts within a human
body.
[0142] II. Alternate Systems and Methods for Locating, Monitoring
and/or Treating Target Locations Within a Human Body
[0143] A. Overview of System Components and Operation
[0144] FIG. 21 is an isometric view of a system 1000 for locating a
target location T within a human body H in accordance with one
embodiment of the invention. The target location T shown in FIG. 21
can be a lesion, tumor, or other area of interest on or within a
soft tissue region (e.g., a breast "B"), an organ, the colon, a
bone structure, or another body part. The particular components of
the system 1000 are best understood in light of the relationship
between the components and the operation of the system. Therefore,
the following description will initially explain an overview of the
components and the general operation of the system 1000.
[0145] In one embodiment, the system 1000 includes a wireless
implantable marker 1100, an instrument 1120, a position detection
system 1200, and a user interface 1300. The wireless implantable
marker 1100 can be implanted at a precise location with respect to
the target location 1000 using stereotactic imaging systems and
other procedures known in the art as explained above. In operation,
the position detection system 1200 determines the location of the
wireless implantable marker 1100 and the location of the instrument
1120 relative to a reference location to determine the relative
position between the target location T and the instrument 1120. The
position detection system 1200 is coupled to the user interface
1300 to convey the relative position between the target location
1000 and the instrument 1120 in a manner that allows a surgeon to
intuitively understand the position and the orientation of the
instrument 1120 relative to the target location 1000 without
additional imaging equipment. As a result, the system 1000 is
particularly useful for applications in which the patient cannot
immediately proceed from an imaging procedure to another procedure,
or when intraoperative imaging is not practical or economical.
[0146] FIG. 22 is an elevational view illustrating selected
embodiments of the wireless implantable marker 1100, the instrument
1120, and a portion of the position detection system 1200 in
greater detail. The wireless implantable marker 1100 can be one of
the markers described above with reference to FIGS. 1-20.
Alternatively, the wireless implantable marker 1100 can be a
resonating marker or another type of marker as described below in
more detail with reference to FIGS. 23A-33. In general, at least
one wireless implantable marker 1100 is implanted at a location
relative to the target location 1000. In the embodiment shown in
FIG. 22, one wireless implantable marker 1100 is implanted within
the target location T and another wireless implantable marker 1100
is implanted adjacent to the target location T. In several
embodiments, the wireless implantable markers 1100 emit a response
energy in reaction to an excitation energy emitted by the position
detection system 1200. The position detection system 1200 can sense
the intensity of the response energy and determine the location of
the individual implantable markers 1100 relative to a reference
location.
[0147] This implementation could be used with a device that is at a
known location relative to the position detection system reference
location. For example, an external beam radiation could be applied
to a target location defined by the first implantable marker or
otherwise monitored when the position of the beam applicator is
known relative to the reference location of the position detection
system. A suitable external beam radiation device is the PRIMIS
Linear Accelerator from Siemens Medical of Concord, Calif.
[0148] The instrument 1120 can include a handle 1121, a
function-site 1124 coupled to the handle 1121, and at least one
instrument marker 1130. The function-site 1124 can be a tip of the
instrument 1120 or a portion of the instrument 1120 that cuts,
ablates, deposits, images or otherwise treats or monitors the
target location T. Several embodiments of various types of
instruments with different function-sites are described in more
detail below with reference to FIGS. 40-52. The instrument markers
1130 can be the same type of wireless markers as the implantable
marker 1100, or alternatively the instrument markers 1130 can be a
different type of wireless marker. The instrument markers 1130 can
also be "wired" markers that are directly coupled to the position
detection system 1200. The position detection system 1200 can also
gauge the instrument markers 1130 to determine the position of the
instrument relative to a reference location.
[0149] In the embodiment shown FIG. 22, the instrument 1120
includes three instrument markers 1130 including two instrument
markers 1130 that are attached to the instrument 1120 along an
alignment axis A-A, and a third instrument marker 1130 that is
offset from the alignment axis A-A. By knowing the distance between
the function-site 1124 and the array of instrument markers 1130,
the position detection system 1200 can determine the position and
the orientation of the function-site 1124 based upon the positions
of the three instrument markers 1130.
[0150] Referring to FIGS. 21 and 22 together, the position
detection system 1200 (FIG. 21) can include a processor 1202 (FIG.
21), a detection array 1204 having a plurality of sensors 1210, and
a transmitter 1220 (FIG. 21). The transmitter 1220 can emit an
excitation energy that causes the implantable markers 1100 to emit
a response energy. Each sensor 1210 can include three coils
arranged orthogonally around a magnetic core to measure the
response energy emitted from the implantable markers 1100 and
instrument 1130. The processor 1202 calculates the distance between
each sensor 1210 and each of the markers 1100 and 1130 based upon
the intensity of the response energy measured by the sensors 1210.
The processor 1202 also correlates the distance measurements
between each of the markers 1100 and 1130 to determine the
individual locations of the markers 1100 and 1130 relative to a
reference location 1230 (e.g., a reference coordinate system).
Based upon this data, the processor 1202 and/or another processor
of the user interface 1300 can determine the relative position
between the function-site 1124 of the instrument 1120 and the
target location T. Suitable position detection systems 1200 and
resonating signal elements that can be adapted for use with the
implantable markers 1100 and/or the instrument markers 1130 are
available from Polhemus, Inc. of Burlington, Vt.
[0151] B. Embodiments of Wireless Markers
[0152] FIG. 23A is a cut-away isometric view of a resonating marker
that can be used for the implantable markers 1100 and/or the
instrument markers 1130 in accordance with one embodiment of the
invention. In this embodiment, the resonating marker includes a
casing 1140 composed of a biocompatible material, a signal element
1150 within the casing 1140, and a fastener 1160. The biocompatible
material of the casing 1140 can be a suitable polymeric material,
metal, medical grade epoxy, glass, or other compound that can
reside within a human body for a period of time. The signal element
1150 can be a resonating circuit that includes a core 1152, a coil
1154 wrapped around the core 1152, and a capacitor 1156 connected
to the coil 1154. The core 1152 may be a magnetically permeable
material, such as a ferrite. The signal element 1150 emits a
response signal in reaction to an excitation energy at the resonate
frequency of the circuit. As explained above, the excitation energy
can be generated by the transmitter 1220 (FIG. 21) of the position
detection system 1200. In other embodiments, the signal element
1150 can be a mechanical resonator (e.g., piezoelectric actuator),
an RF emitter, a fluorescent material, a bipolar semiconductor, or
another suitable device or material that emits a response signal in
reaction to an excitation energy. The fastener 1160 can have
several different embodiments. In this particular embodiment, the
fastener 1160 is a shape-memory material that is straight in a
stored position and coils to form a loop in a deployed position.
The shape-memory material can be a spring, or it can be a substance
that is straight at room temperature and coils at body
temperature.
[0153] FIG. 23B is an isometric cut-away view of another resonating
marker in accordance with an embodiment of the invention. In this
embodiment, the resonating marker includes a biocompatible casing
1140 and a signal element 1150a. The marker can also include a
fastener (not shown in FIG. 23B). The signal element 1150a has
three resonating members 1151a-c arranged orthogonally with respect
to each other. The resonating members 1151a-c can also be
configured in a non-orthogonal arrangement or any other suitable
arrangement. Additionally, the signal element 1150a can include two
or more resonating members such that this embodiment of the
resonating marker is not limited to having three resonating members
1151a-c. Each resonating member 1151a-c can have a ferrite core
1152, a coil 1154 wrapped around the core 1152, and a capacitor
1156 coupled to each coil 1154. Each resonating member 1151a-c can
be tuned to resonate at the same frequency or at different
frequencies. When the resonating members 1154a-c resonate at
different frequencies, this embodiment of a resonating marker can
thus provide three different signals from a single marker so that
the position detection system can detect not only the point
position of the marker (e.g. an X-Y-Z location), but also the
pitch, roll and yaw of the marker relative to a coordinate
system.
[0154] FIGS. 23C and 23D illustrate a resonating marker in
accordance with still another embodiment of the invention. In this
embodiment, the resonating marker has a single core 1152 and three
coils 1154a-c. Each coil 1154a-c can be coupled to a capacitor (not
shown), and each coil 1154a-c can generate a different signal. As
such, this marker can be located in a manner similar to the marker
described above with reference to FIG. 23B. The core 1152 can
accordingly be a ferrite block, and the coils 1154a-c can be
wrapped around the block orthogonally to each other as shown in
FIG. 23D.
[0155] The resonating markers shown in FIGS. 23A and 23B are
particularly useful because they can remain within a human body for
a long period of time. These resonating markers can also have
frequencies that are useful in applications in which a plurality of
wireless markers 1100 are implanted. In such situations, it may be
necessary to distinguish the implanted markers from one another. By
using resonating markers that resonate at different frequencies,
the position detection system 1200 can identify the "signature" of
each marker by its unique frequency. A surgeon, therefore, can
easily identify the relative location between a particular
implanted marker 1100 and an instrument 1120.
[0156] FIGS. 24-30 are side elevation views of several implantable
markers 1101-1107 in accordance with embodiments of the invention.
Each implantable marker 1101-1107 shown in FIGS. 24-30 has a
biocompatible casing 1140. Additionally, the implantable markers
1101-1107 can also include a signal element 1150 or 1150a for
emitting a resonating signal, such as a magnetic resonator, a
mechanical resonator (e.g., a piezoelectric actuator), an RF
emitter, a magnet, a fluorescent material, or other suitable
elements that can emit a signal for detection by the position
detection system 1200 (FIG. 21).
[0157] The implantable markers 1101-1107 have different types of
fasteners 1160. The implantable marker 1101 shown in FIG. 24
includes a fastener 1160 defined by legs that project away from the
casing 1140 in the deployed position. The legs can be molded
projections of the casing 1140, or the legs can be small springs
that are biased to project away from the casing 1140. The
implantable marker 1102 shown in FIG. 25 includes a fastener 1160
defined by shape-memory loops on both ends of the casing 1140. In
FIG. 26, the implantable marker 1103 has a fastener 1160 defined by
a surface texture, such as scales, that project away from the
casing 1140. The surface texture of the implantable marker 1103 can
be integrally formed with the casing 1140. Referring to FIG. 27,
the implantable marker 1104 can include a fastener 1160 defined by
one or more barbs or hooks. Referring to FIGS. 28 and 29, the
implantable markers 1105 and 1106 have fasteners 1160 defined by a
perforated material through which tissue can grow, such as a mesh.
The implantable marker 1105 shown in FIG. 28 has a perforated tip,
and the implantable marker 1106 shown in FIG. 29 has a perforated
tail. Referring to FIG. 30, the implantable marker 1107 includes a
fastener 1160 defined by a spring or a serpentine element extending
from the rear of the casing 1140. It will be appreciated that the
fasteners 1160 can have different configurations than the
particular types of fasteners 1160 shown in FIGS. 24-30.
[0158] FIGS. 31-33 are side elevation views of several embodiments
of implantable markers 1108-1110 in accordance with additional
embodiments of the invention. The implantable markers 1108-1110 can
include the biocompatible casing 1140 for implantation into a human
body. The implantable markers 1108-1110 also include at least one
identifier 1170 that is on and/or in the casing 1140. The
identifier 1170 can be a radiopaque material that reflects
radiation energy, an echogenic material that reflects ultrasound
energy, and/or a groove or channel in the casing 1140 that can be
observed by an imaging system. Alternatively, the identifiers 1170
can be a color or other marking that is visually distinguishable
for viewing with a human eye. The identifiers 1170 provide another
feature for distinguishing one marker from another that can be used
in addition to, or in lieu of, using signal elements 1150 that emit
different frequencies. The implantable markers 1108-1110 can also
include fasteners 1160 as described above with reference to FIGS.
24-30, and/or signal elements 1150 or 1150a as described above with
reference to FIGS. 23A and 23B.
[0159] FIGS. 34 and 35 are isometric views of arrangements for
implanting the wireless implantable markers 1100 relative to the
target location T in accordance with embodiments of the invention.
FIG. 34 illustrates an embodiment in which only a first wireless
implantable marker 1100a is implanted in the target location T, and
FIG. 35 shows an embodiment in which only the first wireless
implantable marker 1100a is implanted adjacent to or otherwise
outside of the target location T. In either embodiment, the
location of the implantable marker 1100a relative to the target
location T is determined when the marker 1100a is implanted or at
another imaging procedure so that the marker 1100a provides a
reference point for locating the target location T in subsequent
procedures. The user interface 1300 can electronically generate a
virtual margin 1301 relative to the target location based upon
parameters defined by the physician and the location of the
implantable marker 1100a. In other embodiments, it is not necessary
to generate the virtual margin 1301 relative to the target location
T. The physician can determine the shape of the virtual margin 1301
so that it defines a boundary for performing a particular procedure
at the target location T. The virtual margin 1301 is typically
configured so that it defines the desired boundary for the
particular procedure at the target location T without unduly
affecting adjacent areas. In the case of a lesion in a soft tissue
region, for example, the physician can define a virtual margin 1301
that encompasses the lesion and an appropriately sized safety zone
around the lesion that mitigates collateral damage to tissue
proximate to the lesion. The virtual margin 1301 can be spherical
as shown in FIGS. 34 and 35, or it can have any desired shape
including rectilinear shapes, oval shapes, or compound shapes.
[0160] FIGS. 36-39 are isometric views of additional arrangements
for implanting the wireless implantable markers 1100 relative to
the target location T in accordance with other embodiments of the
invention. FIG. 36 illustrates an embodiment in which six
individual implantable markers 1100a-1100f are implanted in pairs
along three orthogonal axes to define an excision boundary or
another type of margin around the target location T. FIG. 37 shows
an embodiment in which two individual implantable markers 1100a and
1100b define a cylindrical margin around the target location T.
FIG. 38 illustrates an embodiment in which individual implantable
markers 1100a and 1100b define an ovoid margin around the target
location T, and FIG. 39 illustrates an embodiment in which four
implantable markers 1100a-1100d define a rectilinear margin around
the target location T. The individual implantable markers
1100a-1100f can define an actual margin by bracketing the target
location T, or the positions of one or more of the individual
markers 1100a-1110f can be used to generate a virtual margin 1301
for use with the user interface. Additionally, it will be
appreciated that other arrangements for implanting the implantable
markers 1100 and other types of margins can be used depending upon
the particular procedure, the type of body part, and the shape of
the target location T.
[0161] C. Embodiments of Instruments
[0162] FIGS. 40-42 are cut-away side elevation views of instruments
1120 in accordance with embodiments of the invention. The
instruments 1120 include the handle 1121, the function-site 1124
coupled to the handle 1121, and at least one instrument marker
1130. The position detection system 1200 (FIG. 1) can determine the
position of the instrument markers 1130 relative to a reference
location. Referring to FIG. 40, this embodiment of the instrument
1120 includes a single instrument marker 1130a at a predetermined
location relative to the function-site 1124. The embodiment of the
instrument 1120 shown in FIG. 40 provides at least a single
position point for tracking by the position detection system 1200.
When the instrument marker 1130 is a single-axis marker, such as
the marker shown in FIG. 23A, the instrument 1120 can be displayed
as a single point by the user interface 1300 (FIG. 1). The
orientation of this particular embodiment of the instrument 1120
cannot be displayed by the user interface 1300 because the
single-axis marker does not provide sufficient data to determine
the angle of the alignment axis A-A relative to a plane through the
target location T (FIG. 1) or the rotational position of the
instrument 1120 around the alignment axis A-A. It may be possible,
though, to have a single instrument marker 1130 define the location
and orientation of the instrument 1120 if the position detection
system 1200 and the instrument marker 1130 are sensitive enough to
pinpoint the location and orientation of the single instrument
marker 1130. For example, the multiple-axis markers shown in FIGS.
23B-D are expected to provide sufficient data to define the
location and orientation of the instrument 1120 using a single
marker.
[0163] FIG. 41 illustrates another embodiment of the instrument
1120 having a first instrument marker 1130a and a second instrument
marker 1130b. The first instrument marker 1130a is positioned at a
first predetermined location relative to the function-site 1124,
and the second instrument marker 1130b is positioned at a second
predetermined location relative to the function-site 1124. The
first and second instrument markers 1130a and 1130b can be
positioned along the alignment axis A-A as shown in FIG. 41, or at
least one of the markers 1130a or 1130b can be offset from the
alignment axis A-A. The embodiment of the instrument 1120 shown in
FIG. 41 accordingly provides two position points that the position
detection system 1200 can track. As a result, the position
detection system 1200 can determine the angle of the alignment axis
A-A relative to a reference plane so that the user interface 1300
can display the instrument 1120 as (a) a vector of varying length
when the alignment axis A-A is not normal to the reference plane,
or (b) as a point when the alignment axis A-A is at least
approximately normal to the reference plane. When the instrument
markers 1130a and 1130b are multiple-axis markers, the rotational
orientation of the instrument 1120 relative to the alignment axis
A-A can be determined such that both the position of the
function-site 1124 and the orientation of the instrument 1120 can
be displayed by the user interface 1300.
[0164] FIG. 42 illustrates yet another embodiment of the instrument
1120 having a first instrument marker 1130a, a second instrument
marker 1130b, and a third instrument marker 1130c. The first and
second instrument markers 1130a and 1130b can be positioned along
the alignment axis A-A, but the third instrument marker 1130c is
offset from the alignment axis A-A. This embodiment of the
instrument 1120 provides three position points for tracking by the
position detection system 1200. As a result, the position detection
system 1200 can determine (a) the angle of the alignment axis A-A
relative to a reference plane, and (b) the rotational orientation
of the instrument 1120 around the alignment axis A-A. The
embodiment of the instrument 1120 shown in FIG. 42 accordingly
permits the user interface 1300 to show the angle of the
function-site 1124 relative to a reference plane, and the
orientation of a leading edge of the function-site 1124 relative to
the motion of the instrument 1120.
[0165] FIG. 43 is a side elevational view of an embodiment of the
instrument 1120 including a wireless control 1132 for controlling
an aspect of (a) the instrument 1120, (b) the position detection
system 1200, and/or (c) the user interface 1300 in accordance with
another embodiment of the invention. The instrument 1120 shown in
FIG. 43 has three instrument markers 1130a-c, but will be
appreciated that the instrument 1120 can have any of one or more
instrument markers 1130. The wireless control 1132 includes an
actuator 1133 and a transmitter 1134 coupled to the actuator 1133.
The transmitter 1134 transmits or otherwise emits a signal
indicating a control parameter. The transmitter 1134, for example,
can be another marker that the position detection system 1200 can
track. In one particular embodiment, the transmitter 1134 is a
resonating magnetic marker having a signal element 1150 as set
forth above with respect to FIG. 23. One advantage of using a
resonating marker for the transmitter 1134 is that the system 1000
(FIG. 21) can be controlled by a wireless instrument 1120 using the
position detection system 1200 without additional types of
receivers (e.g., RF systems) that add to the complexity and cost of
the system 100. Alternatively, the transmitter 1134 can be an RF
device, a mechanical resonator, a permanent magnet, or another type
of device that emits a frequency or another form of energy. When
the transmitter 1134 is a marker, the position detection system
1200 detects the position of the transmitter 1134 and generates a
control signal according to the position of the transmitter
1134.
[0166] FIG. 44 is a schematic view of one embodiment of the
wireless control 1132. In this embodiment, the transmitter 1134 of
the wireless control 1132 is a resonating marker having a
resonating signal element 1150b similar to one of the signal
elements 1150 or 1150a shown above in FIG. 23A or 23B. The signal
element 1150b includes a ferrite core 1152, a coil 1154 wrapped
around the core 1152, a capacitor 1156 coupled to the coil 1154,
and a cut-off switch 1157 between the coil 1154 and the capacitor
1156. The actuator 1133 can be a push-button coupled to the cut-off
switch 1157 that breaks the circuit to deactivate the signal
element 1150b. In operation, the physician can press the actuator
1133 to close the cut-off switch 1157 so that the signal element
1150b emits a resonating signal. The position detection system 1200
detects the signal from the signal element 1150b and generates a
control signal that changes a parameter of the system 1000. The
position detection system 1200, for example, can send a message to
the user interface 1300 to change a display of the user interface
1300 to show the relative position between the instrument 1120 and
one of several implanted markers 1100. This is particularly useful
when a plurality of markers 1100 are implanted, such as the
implanted markers 1100a-f in FIG. 36, and the physician needs to
know the position relative to a particular marker. In one
embodiment, the control 1132 can be used to cycle through the
various markers 1100a-f by depressing the actuator 1133 to move
from one marker to the next. The wireless control 1132 can also
have several other applications that allow the position detection
system 1200 to control other aspects of the system 1000 based upon
input at the instrument 1120.
[0167] FIG. 45 is a schematic view of another embodiment of the
wireless control 1132. In this embodiment, the actuator 1133 is a
slider mechanism that moves along the handle 1121, and the
transmitter 1134 is another marker that can be detected by the
position detection system 1200. The actuator 1133, for example, can
be a linear slider or a rotational slider that has "click-stops" to
indicate various control positions. In operation, the relative
distance between the transmitter 1134 and a fixed marker attached
to the instrument (e.g., the second instrument marker 1130b) is
determined by the position detection system 1200. A parameter of
the instrument 1120, the position detection system 1200, and/or the
user interface 1300 can be controlled according to the relative
distance between the transmitter 1134 and the fixed marker. For
example, if the distance between the transmitter 1134 and the
second instrument marker 1130b is D.sub.1, the user interface 1300
may display the distance between the function-site 1124 of the
instrument 1120 and a first implanted marker. Similarly, if the
distance between the transmitter 1134 and the second instrument
marker 1130b is D.sub.2, the user interface 1300 may display the
relative distance between the function-site 1124 and a second
implanted marker.
[0168] FIGS. 46-52 illustrate several instruments 1120a-g in
accordance with various embodiments of the invention. The
instruments 1120a-g can each include a handle 1121, a function-site
1124 coupled to the handle 1121, and at least one instrument marker
1130 similar to the instruments 1120 described above with reference
to FIGS. 40-42. The instruments 1120a-g can also include a wireless
control similar to the wireless controls 1132 described above with
reference to FIGS. 43-45. The differences between the instruments
1120a-g is generally the type of function-site 1124.
[0169] FIG. 46 illustrates a smart Bovie 1124a that has a
function-site 1124a defined by an RF cutting blade. Suitable RF
cutting devices without the instrument markers 1130 are available
from Valley Lab of Boulder, Colo., under the part number E2516
Reusable Electrosurgical Pencil. FIG. 47 illustrates a scissors
1120b that has a function-site 1124b defined by the cutting blades.
FIG. 48 illustrates a harmonic scalpel 1120c having a function-site
1124c defined by a harmonic cutting tip. Suitable harmonic scalpels
without the instrument markers 1130 are available from Ethicon Endo
Surgery of Cincinnati, Ohio, under the part name ULTRACISION
HARMONIC SCALPEL.RTM.. FIG. 49 illustrates a laproscope 1120d
having a function-site 1124d defined by a distal end of the
laproscope. Suitable laproscopes without the instrument markers
1130 are available from US Surgical of Norwalk, Conn., under the
part name SURGIVIEW.RTM. Multi-Use Disposable Laproscope. FIG. 50
illustrates an RF ablation device 1120e having a function-site
1124e with RF elements 1137 through which RF energy is delivered to
the target site T. The RF elements 1137 can be retractable into a
cannula in a manner similar to the tissue anchors 310 described
above with reference to FIGS. 10 and 11. Suitable RF ablation
devices 1120e without the instrument markers 1130 are available
from Radio Therapeutics Sunnyvale, Calif., under the part name
LeVeen Needle Electrodes. FIG. 51 illustrates a robotic probe 1120f
having a function-site 1124f defined by a distal tip of the probe
1120f The probe 1120f can be used to mark reference fiducials just
prior to a surgical procedure to map out a desired cutting path.
FIG. 52 illustrates a scalpel 1120g having a function-site 1124g
defined by a cutting blade. Suitable scalpels without instrument
markers 1130 are available from Bard-Parker of Franklin Lake, N.J.,
such as single-use Scalpel No. 11. It will be appreciated that
FIGS. 46-52 illustrate only a few of the types of instruments for
use with the system 1000 (FIG. 21), and that other types of
instruments can be used with the system 1000 by adding instrument
markers 1130 that the position detection system 1200 can track.
[0170] D. Embodiments of User Interfaces
[0171] FIGS. 53-61 illustrate several embodiments of user
interfaces 1300 and methods for using the systems 20 and 1000 in
accordance with the invention. The user interfaces 1300 can be used
with any of the implantable markers 30 and 1100, and any of the
instruments 200, 300 and 1120 described above with reference to
FIGS. 1-52. The user interface 1300 is generally a computer display
for graphically illustrating or otherwise presenting the position
data generated by the position detection system 1200 to a user. The
user interface 1300 can alternatively be an audio signal, a visual
pattern based on light and/or color, a tactile or mechanical signal
(e.g., vibrational), or other indicators that can inform a
physician of the relative position between the instrument and the
target location.
[0172] FIG. 53 is a schematic diagram illustrating an embodiment of
the system 1000 for displaying the relative position between an
instrument 1120 and the target location T. In this embodiment, the
system 1000 includes an implantable marker 1100 implanted in the
body part B, an instrument 1120 for performing a procedure on the
target location T, the position detection system 1200, and the user
interface 1300. The implantable marker 1100 and the instrument 1120
can be any one of the embodiments of these devices described above.
The instrument 1120, more specifically, has an instrument
coordinate system 1129 defined by the orthogonal axes
X.sub.i-Y.sub.i-Z.sub.i. The Z.sub.i-axis is aligned with the
alignment axis A-A, and the X.sub.i-axis and Y.sub.i-axis define an
operating plane normal to the Z.sub.i-axis. The instrument
coordinate system 1129 moves with the instrument during the
procedure. The position detection system 1200 generally includes
the same components described above with reference to FIGS. 21 and
22. As such, the position detection system 1200 can include an
array 1204 having sensors 1210 and a transmitter 1220 for emitting
an excitation energy that drives the implanted marker 1100 and the
instrument markers 1130. The position detection system 1200 can
also include a reference coordinate system 1212 defined by three
orthogonal axes X.sub.r-Y.sub.r-Z.sub.r. In operation, the position
detection system 1200 determines the position of the implanted
marker 1100 and the positions of the instrument markers 1130
relative to the reference coordinate system 1212 to determine the
relative position between the function-site 1124 of the instrument
1120 and the target location T. The position detection system 1200
can also include a processor.
[0173] The user interface 1300 provides a display or another type
of indicator of the relative position between the function-site
1124 and the target location T based on data from the position
detection system 1200. In this embodiment, the user interface 1300
includes a processor 1302, a memory 1304 coupled to the processor
1302, an input device 1306 for controlling parameters of the system
1000, and an output display 1310. The processor 1302 and the memory
1304 can be a computer available from many sources. The input
device 1306 can be a keyboard, a computer mouse, a touch screen, or
any other suitable device for inputting commands to the processor
1302. The output display 1310 is preferably a display screen, but
it can also be another type of output device that generates an
output that can be detected and understood by a user. The user
interface 1300 also includes a display coordinate system 1308
defined by three orthogonal axes X.sub.d-Y.sub.d-Z.sub.d. The
display coordinate system 1308 can initially correspond to the
reference coordinate system 1212 of the position detection system
1200. In many applications, however, it may not be desirable to
view the display 1310 based upon the reference coordinate system
1212. The processor 1302 can accordingly calibrate the display
coordinate system 1308 so that the display 1310 shows a desired
two-dimensional plane or a desired three-dimensional space.
[0174] In operation, the user interface 1300 processes data from
the position detection system 1200 in real-time to show the
relative motion between the function-site 1124 and the target
location T. For example, the processor 1302 receives signals from
the position detection system 1200 and produces output signals that
can be represented by the output display 1310. As explained in more
detail below, the user can set the parameters for generating the
virtual margin 1301 and controlling other aspects of the user
interface 1300 using the input device 1306.
[0175] FIG. 53 also illustrates an orientation between the
instrument 1120 and the target location T that generally
corresponds to a calibrating stage of a procedure for treating,
probing, or monitoring the target location T. The surgeon typically
holds the instrument 1120 so that the alignment axis A-A of the
instrument 1120 defines a desired Z.sub.i elevation axis along
which the surgeon moves the instrument 1120 up and down relative to
the target location T. The X.sub.i-Y.sub.i plane normal to the
Z.sub.i-axis defines the desired operating plane in which the
surgeon moves the instrument 1120 along a margin M around the
target location T during a procedure. When the physician holds the
instrument 1120 relative to the target location T in a desired
orientation for performing the procedure, the instrument coordinate
system 1129 (X.sub.i-Y.sub.i-Z.sub.i) may not be aligned with the
reference coordinate system 1212 (X.sub.r-Y.sub.r-Z.sub.r) and the
display coordinate system 1308 (X.sub.d-Y.sub.d-Z.sub.d). The user
interface 1300 accordingly calibrates the display coordinate system
1308 to coincide with the instrument coordinate system 1129 so that
the user interface 1300 indicates movement of instrument 1120 (a)
along the alignment axis A-A as an elevation relative to the target
location T, and (b) through the operating plane X.sub.i-Y.sub.i as
a location in an X-Y grid of the display 1310.
[0176] FIG. 54A illustrates one embodiment of the user interface
1300 showing the relative position between the instrument 1120 and
the target location T before calibrating the position detection
system 1200 to align the display coordinate system 1308 (FIG. 53)
with the instrument coordinate system 1129 (FIG. 53). In this
embodiment, the display 1310 has a two-dimensional grid 1320 that
shows the X.sub.d-Y.sub.d plane of the display coordinate system
1308. The display 1310 can also include a numerical elevation
indicator 1332 and/or a graphical elevation indicator 1334. The
elevation indicators 1132 and 1134 show the position along the
Z.sub.d-axis of the display coordinate system 1308. The instrument
1120 is displayed as a line on the grid 1320 because the user
interface 1300 has not yet been calibrated to align the display
coordinate system 1308 with the instrument coordinate system 1129.
The function-site 1124 of the instrument 1120 appears as a point at
one end of instrument 1120, and the elevation of the function-site
1124 relative to the target location T is displayed by one or both
of the elevation indicators 1332 and 1334. At this stage before
calibrating the user interface 1300, it may be difficult for a
physician to determine the relative position between the
function-site 1124 and the target location T because moving the
instrument 1120 along the alignment axis A-A simultaneously changes
the position of the function-site 1124 on the grid 1320 and on the
elevation indicators 1332 and 1334. Therefore, to provide a more
intuitive display of the motion of the instrument 1120, the
position detection system 1200 aligns the display coordinate system
1308 with the instrument coordinate system 1129.
[0177] Referring to FIG. 54B, an example of an algorithm for
performing the calibration transformation is described as follows.
The definitions include Azimuth=.psi.; Elevation=.theta.; Point
before transformation=(a,b,c). The mathematical equation to convert
this point into the X',Y',Z' coordinate system; (a',b',c'). In the
user interface, the marker would be at (0,0,0) after the
implementation of the algorithms. The X, Y, Z axis would still be
oriented with the original coordinate system of the system
reference. First rotate about the z-axis by the azimuth angle or
.psi.. The point in this intermediary coordinate system is now
defined as:
p=a*cos(.psi.)+b*sin(.psi.)
q=b*cos(.psi.)-a*sin(.psi.)
r=c
[0178] Next, rotate about the y-axis so that the z-axis is in line
with the probe. Effectively rotation will be about the y-axis by
the elevation angle -90.degree. or (.theta.-90.degree.). The point
in the X',Y',Z' coordinate system would now be defined as:
a'=p*sin(.theta.)-r*cos(.theta.)
b'=q
c'=p*cos(.theta.)+r*sin(.theta.)
[0179] Substituting the values of p, q, and r into these equations
the following equation is obtained in terms of the original
coordinates and the azimuth and elevation angles:
a'=[a*cos(.psi.)+b*sin(.psi.)]*sin(.theta.)-c*cos(.theta.)
b'=b*cos(.psi.)-a*sin(.psi.)
c'=[a*cos(.psi.)+b*sin(.psi.)]*cos(.theta.)+c*sin(.theta.)
[0180] The point (a',b',c') represents the original point (a,b,c)
transformed into the new coordinate system. The user interface
display probe tip projection math length projection on X-Y display
plane is defined by the equation:
Display Length=length probe tip*cosine(Elevation angle)
[0181] Based on these algorithms, a person skilled in the art can
program the user interface 1300 to perform the calibration without
undue experimentation.
[0182] FIG. 55 illustrates an embodiment of the user interface 1300
of FIG. 54 after the position detection system 1200 calibrates the
user interface 1300 to align the display coordinate system 1308
with the instrument coordinate system 1129. In this embodiment, the
instrument 1120 and the function-site 1124 are both displayed as a
point location on the grid 1320. The elevation of the function-site
1124 relative to the target location T still appears as a numeric
or graphical readout on the elevation indicators 1332 and 1334.
After calibrating the coordinate systems, the user interface 1300
accordingly shows (a) movement of the instrument 1120 solely along
the alignment axis A-A by changing only the readout on the
elevation indicators 1332 and 1334 without changing the location of
the instrument 1120 on the grid 1320, and (b) movement of the
instrument 1120 solely through the operating plane X.sub.i-Y.sub.i
by changing only the location of the instrument 1120 on the grid
1320 without changing the readout on the elevation indicators 1332
and 1334. The position detection system 1200 and/or the user
interface 1300 can alternatively continuously calibrate the system
1000 so that the display coordinate system 1308 continuously
coincides with the instrument coordinate system 1129. In such an
embodiment, the grid 1320 is continuously normal to the alignment
axis A-A of the instrument 1120 such that the display 1310
continuously displays the instrument 1120 as a point location (as
shown in FIG. 55) irrespective of the orientation of the instrument
1120.
[0183] FIGS. 54A and 55 also illustrate one embodiment for defining
a virtual margin 1301 relative to the target location T for use on
the display 1310 of the user interface 1300. As described above
with reference to FIGS. 34-39, the virtual margin 1301 can be
generated based upon the position of an implantable marker 1100 or
a plurality of implantable markers 1100. The virtual margin 1301 is
generally defined by a physician based upon information from an
imaging procedure, such as when the markers 1100 are implanted. The
virtual margin 1301 can be configured to include a lesion, tumor,
or other mass that defines the area of interest at the target
location T. The virtual margin 1301 should be configured to avoid
removing or otherwise performing a procedure on material outside of
the virtual margin 1301. As such, after determining the relative
position between the implantable marker 1100 and the target
location T using an imaging process (e.g., radiation, MRI,
ultrasound, etc.), the physician determines the desired virtual
margin 1301 to input into the user interface 1300.
[0184] The physician can input the desired virtual margin 1301 into
the user interface 1300 using the input device 1306 of the user
interface 1300 or an instrument 1120 (e.g., the probe 1120f shown
in FIG. 51). In one embodiment using a keyboard, the physician can
enter a desired radius relative to the target location T to define
a spherical or cylindrical virtual margin 1301 that is displayed as
a circle on the grid 1320 of the display 1310. As explained above,
the virtual margin 1301 can also be configured to be rectilinear, a
compound shape, or any other suitable two-dimensional or
three-dimensional shape that is defined by the physician. The user
interface 1300 accordingly displays the selected a virtual margin
1301 to define a boundary relative to the target location T. For
example, the virtual margin 1310 is often configured to completely
surround or encompass a tissue mass or other body part within the
target location T. Referring still to FIGS. 54 and 55, this
embodiment of the invention illustrates a single implantable marker
1100 disposed in the target location T and a spherical or
cylindrical virtual margin 1301 around the implantable marker
1100.
[0185] FIG. 56 illustrates another embodiment for defining a
virtual margin 1301 relative to a target location T. In this
embodiment, the user interface 1300 can display an outline of the
target location T (shown in broken lines), but it will be
appreciated that the target location T may not be displayed on the
grid 1320. This embodiment of the invention illustrates a single
implantable marker 1100 disposed outside of the target location T
by an offset distance having coordinate differentials of "X" along
an X-axis of the grid 1320, "Y" along the Y-axis of the grid 1320,
and "Z" (not shown) along an axis normal to a plane defined by the
grid 1320. The offset distance can be determined during a previous
imaging procedure or when the implantable marker 1100 is implanted
using known radiation, MRI, ultrasound and other imaging
techniques. Based upon the position of the implantable marker 1100
and the offset distance between the implantable marker 1100 and the
target location T, the user interface 1300 can generate the virtual
margin 1301 around the actual location of the target location T.
One advantage of implanting the marker 1100 outside of the target
location T is that the implantable marker 1100 does not pierce the
tissue mass or other body part of the target location T. This
feature can be particularly useful in applications for removing
cancerous tissue masses or other types of tissue/bone masses that
are desirably left intact until they are removed from the
patient.
[0186] FIG. 57 illustrates another embodiment for defining a
virtual margin 1301 relative to the target location T. In this
embodiment, two implantable markers 1100a and 1100b have been
implanted at two separate offset distances relative to the target
location T. The physician can input two separate virtual margins
1301a and 1301b relative to the individual implantable markers
1100a and 1100b, respectively. In this particular embodiment, the
virtual margin 1301a is relative to the first implantable marker
1100a and defines a cylindrical boundary. Similarly, the virtual
margin 1301b is relative to the second implantable marker 1100b,
but it defines a spherical boundary. The virtual margins 1301a and
1301b together define a compound virtual margin relative to the
target location T. It will be appreciated that several other
virtual margins can be developed using different combinations of
one or more implantable markers, and different combinations of
markers that are implanted in and/or offset from the target
location T. In any of the embodiments of the virtual margins 1301
described above, the physician can manipulate an instrument 1120
relative to the target location T using the user interface 1300 to
display the relative position between the function-site 1124 of the
instrument 1120 relative to the virtual margin 1301.
[0187] FIGS. 58A-58C illustrate a procedure for operating the
system 1000 in accordance with one embodiment of the invention. In
this example, a single implantable marker 1100 has been implanted
within the target location T and the user interface 1300 has
generated a cylindrical or spherical virtual margin 1301 around the
target location T. Referring to FIG. 58A, the instrument 1120 is
shown after the display coordinate system has been calibrated to be
aligned with the instrument coordinate system in the manner
explained above with reference to FIGS. 53-55. The user interface
1300 initially displays the instrument 1120 as a point at a
location A. Based upon this display, the physician understands that
the alignment axis A-A of the instrument 1120 is normal to the grid
1320 of the display 1310, and that the function-site 1124 of the
instrument 1120 is at an elevation of 5 cm above a predetermined
reference plane relative to the target location T and/or the
implanted marker 1100 (see the elevation indicator 1332). The
physician then moves the instrument 1120 transverse relative to the
alignment axis A-A to a location B on the virtual margin 1301. In
this particular embodiment, the physician held the instrument 1120
at a constant elevation of 5 cm above the reference plane shown by
the elevation indicator 1132.
[0188] FIG. 58B illustrates a subsequent stage of operating the
system 1000. After moving the instrument 1120 from location A to
location B (FIG. 58A), the physician inserts the function-site 1124
of instrument 1120 into the body part to move the function-site
1124 from the location B to a location C. Referring to both FIGS.
58A and 58B, the elevation indicator 1132 shows that the elevation
of the function-site 1124 relative to the reference plane has moved
from 5 cm above the reference plane to 2 cm below the reference
plane. In an application in which the physician wants to excise a
cylindrical tissue mass having a base 2 cm below the reference
plane, the instrument 1120 at location C is accordingly ready to be
moved along the virtual margin 1301 to excise a mass of tissue.
Referring to FIG. 58C, the user interface 1300 displays the motion
of the instrument as the physician or robot moves it along the
virtual margin 1301. The virtual margin 1301 accordingly provides a
guide to the physician that allows the physician to excise a
precise volume of tissue without cutting into the target mass or
damaging tissue outside of the target location T.
[0189] FIG. 59 illustrates another embodiment of the user interface
1300 in accordance with the invention. In this embodiment, the
display 1310 includes a first grid 1320 illustrating a top view
relative to a reference plane and a second grid 1420 illustrating a
front view normal to the reference plane. For purposes of
convention, the reference plane can be parallel to the table on
which the patient is positioned during a procedure, but it can also
be at an angle to the table. The display 1310 can also include an
elevation indicator 1132 showing the elevation of the function-site
1124 relative to the target location T and a distance indicator
1432 showing the point-to-point distance between the function-site
1124 and the target location T. The embodiment of the display 1310
shown in FIG. 59 provides the physician two separate views that the
physician can use to more accurately position the function-site
1124 relative to the target location T. The operation and the
advantages of the display 1310 illustrated in FIG. 59 are expected
to be similar to those described above with reference to FIGS.
55-57.
[0190] FIGS. 60 and 61 illustrate additional embodiments of the
user interface 1300 in accordance with the invention. Referring to
FIG. 60, the display 1310 provides a three-dimensional solid or
opaque representation of the virtual margin 1301. FIG. 61
illustrates an embodiment in which the display 1310 provides a
holographic representation of the virtual margin 1301 such that the
target location T can be represented within the holographic
representation. Suitable software for generating the
three-dimensional representations of the virtual margin 1301
illustrated in FIGS. 60 and 61 is available from Medical Media
System of West Lebanon, N.H. The three-dimensional representations
of the virtual margin 1301 also provide a physician with an
intuitive understanding of the relative position between the
function-site 1124 of the instrument 1120 and the virtual margin
1301 relative to the target location T. It is expected, therefore,
that the three-dimensional virtual margins 1301 will also allow
physicians to accurately perform procedures or monitor internal
target locations within a human body without additional imaging
equipment or procedures.
[0191] From the foregoing, it will be appreciated that specific
embodiments of the invention have been described herein for
purposes of illustration, but that various modifications may be
made without deviating from the spirit and scope of the invention.
Accordingly, the invention is not limited except as by the appended
claims.
* * * * *