U.S. patent application number 14/843365 was filed with the patent office on 2015-12-31 for systems, methods and devices for forming respiratory-gated point cloud for four dimensional soft tissue navigation.
The applicant listed for this patent is VERAN MEDICAL TECHNOLOGIES, INC.. Invention is credited to Troy L. HOLSING, Mark HUNTER.
Application Number | 20150379710 14/843365 |
Document ID | / |
Family ID | 49002925 |
Filed Date | 2015-12-31 |
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United States Patent
Application |
20150379710 |
Kind Code |
A1 |
HOLSING; Troy L. ; et
al. |
December 31, 2015 |
SYSTEMS, METHODS AND DEVICES FOR FORMING RESPIRATORY-GATED POINT
CLOUD FOR FOUR DIMENSIONAL SOFT TISSUE NAVIGATION
Abstract
A surgical instrument navigation system is provided that
visually simulates a virtual volumetric scene of a body cavity of a
patient from a point of view of a surgical instrument residing in
the cavity of the patient, wherein the surgical instrument, as
provided, may be a steerable surgical catheter with a biopsy device
and/or a surgical catheter with a side-exiting medical instrument,
among others. Additionally, systems, methods and devices are
provided for forming a respiratory-gated point cloud of a patient's
respiratory system and for placing a localization element in an
organ of a patient.
Inventors: |
HOLSING; Troy L.; (Golden,
CO) ; HUNTER; Mark; (St. Louis, MO) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
VERAN MEDICAL TECHNOLOGIES, INC. |
ST. LOUIS |
MO |
US |
|
|
Family ID: |
49002925 |
Appl. No.: |
14/843365 |
Filed: |
September 2, 2015 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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13773984 |
Feb 22, 2013 |
9138165 |
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14843365 |
|
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61602007 |
Feb 22, 2012 |
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Current U.S.
Class: |
382/131 |
Current CPC
Class: |
A61B 6/032 20130101;
A61B 6/487 20130101; A61B 2017/00398 20130101; A61B 2017/00685
20130101; A61B 2017/00323 20130101; A61B 2017/00694 20130101; A61B
2034/2072 20160201; A61N 5/1007 20130101; G06T 7/33 20170101; G06T
7/12 20170101; A61B 2017/00314 20130101; A61B 2018/00541 20130101;
G06T 11/60 20130101; G06T 2207/10028 20130101; A61B 17/3478
20130101; G06T 1/00 20130101; A61B 5/113 20130101; A61B 18/1815
20130101; G06T 7/149 20170101; A61B 6/485 20130101; A61B 17/29
20130101; A61B 5/7285 20130101; A61B 18/1492 20130101; A61B
2017/320775 20130101; A61B 5/7264 20130101; G06T 19/00 20130101;
A61B 6/5223 20130101; A61B 17/32053 20130101; G06T 7/0012 20130101;
G06T 2200/28 20130101; G06T 2207/10088 20130101; A61B 5/01
20130101; G06T 2207/10132 20130101; A61B 6/12 20130101; G06T
2207/30061 20130101; A61B 5/0066 20130101; A61B 18/24 20130101;
G06K 2009/4666 20130101; G06T 2207/20124 20130101; A61B 5/061
20130101; A61B 5/7292 20130101; A61B 18/02 20130101; A61B 34/20
20160201; A61B 5/725 20130101; A61M 25/0108 20130101; A61B 8/483
20130101; A61B 5/11 20130101; A61B 10/06 20130101; A61B 2017/003
20130101; A61B 2090/061 20160201; A61B 5/0402 20130101; A61B 5/742
20130101; G06K 9/46 20130101; G06T 2210/41 20130101; A61B 5/062
20130101; A61B 5/6852 20130101; A61B 2034/2051 20160201; A61B
8/0841 20130101; A61B 2017/2927 20130101; A61B 2090/3925 20160201;
A61B 2017/00809 20130101; G06T 2207/10121 20130101; G06T 2210/56
20130101; A61B 17/32002 20130101; A61B 2090/3966 20160201; G06T
7/11 20170101 |
International
Class: |
G06T 7/00 20060101
G06T007/00; A61B 10/06 20060101 A61B010/06; A61B 19/00 20060101
A61B019/00; A61B 5/0402 20060101 A61B005/0402; A61B 5/00 20060101
A61B005/00; G06K 9/46 20060101 G06K009/46; A61B 6/00 20060101
A61B006/00; A61B 8/08 20060101 A61B008/08; G06K 9/62 20060101
G06K009/62; G06T 11/60 20060101 G06T011/60; G11B 27/00 20060101
G11B027/00; G11B 27/11 20060101 G11B027/11; A61B 10/02 20060101
A61B010/02; A61B 5/06 20060101 A61B005/06 |
Claims
1. A method of modifying a segmented image dataset for a region of
a respiratory system to match the corresponding anatomy of a
patient's respiratory system, the method comprising: (i) forming a
respiratory-gated point cloud of data that demarcates anatomical
features in a region of a patient's respiratory system at one or
more discrete phases within a respiration cycle of the patient,
(ii) density filtering the respiratory-gated point cloud, (iii)
classifying the density filtered respiratory-gated point cloud
according to anatomical points of reference in a segmented image
dataset for the region of the patient's respiratory system, and
(iv) modifying the segmented image dataset to correspond to the
classified anatomical points of reference in the density filtered
respiratory-gated point cloud.
2. The method of claim 1 wherein the discrete phases are
expiration, inspiration and discrete phases there-between.
3. The method of claim 1 wherein the segmented image dataset is
from a first discrete phase of the patient's respiration cycle and
the respiratory-gated point cloud is from a second and different
discrete phase of the patient's respiration cycle.
4. The method of claim 1 wherein the segmented image dataset is
from a first discrete phase of the patient's respiration cycle and
the respiratory-gated point cloud is from a second and different
discrete phase of the patient's respiration cycle.
5. The method of claim 1 wherein the segmented image dataset is a
skeletonized segmented image dataset.
6. A method of simulating the movement of a patient's respiratory
system in the patient's respiration cycle during respiration
comprising: (i) forming a respiratory-gated point cloud of data
that demarcates anatomical features in a region of a patient's
respiratory system at one or more discrete phases within a
respiration cycle of a patient, (ii) density filtering the
respiratory-gated point cloud, (iii) classifying the density
filtered respiratory-gated point cloud according to anatomical
points of reference in a segmented image dataset for the region of
the patient's respiratory system, (iv) creating a cine loop
comprising a plurality of modified segmented image datasets through
multiple modifications of the segmented image dataset to correspond
to a plurality of classified anatomical points of reference in the
respiratory-gated point cloud over the respiration cycle, and (v)
displaying the cine loop comprising the plurality of modified
segmented image datasets over the patient's respiration cycle.
7. The method of simulation of claim 6 wherein displaying the cine
loop comprising the plurality of modified segmented image datasets
over the patient's respiration cycle is synchronized with the
patient's respiration cycle.
8. A method of preparing a segmented image dataset to match the
anatomy of a patient's respiratory system, the method comprising:
(i) forming a respiratory-gated point cloud of data that demarcates
anatomical features in a region of a patient's respiratory system
at one or more discrete phases within a respiration cycle of the
patient, (ii) density filtering the respiratory-gated point cloud,
(iii) classifying the density filtered respiratory-gated point
cloud according to anatomical points of reference in a segmented
image dataset for the region of the patient's respiratory system,
(iv) registering the classified respiratory-gated point cloud to
the segmented image dataset, (v) comparing the classified
respiratory-gated point cloud to a segmented image data set to
determine the weighting of points comprised by the
respiratory-gated point cloud, (vi) distinguishing regions of
greater weighting from regions of lesser weighting and optionally
increasing the data set comprised by the respiratory-gated point
cloud for regions of lesser weighting, (vii) modifying the
registered segmented image dataset to correspond to the classified
anatomical points of reference in the respiratory-gated point
cloud.
9. The method of claim 8 wherein registering the respiratory-gated
point cloud to the segmented image data set comprises: registering
the respiratory-gated point cloud representing at least one branch
of the patient's respiratory system to corresponding anatomical
points of reference in the registered segmented image data set
representing the branch(es) of the patient's respiratory
system.
10. The method of claim 8 wherein the respiratory-gated point cloud
is registered to a plurality of branches of the patient's
respiratory system, wherein the plurality of branches comprise the
trachea, the right main bronchus, and the left main bronchus.
11. The method of claim 8 wherein the discrete phases are
expiration, inspiration and discrete phases there-between.
12. The method of claim 8 wherein the segmented image dataset is
from a first discrete phase of the patient's respiration cycle and
the respiratory-gated point cloud is from a second and different
discrete phase of the patient's respiration cycle.
13. A non-transitory processor-readable medium storing code
representing instructions to cause a processor to perform a
process, the code comprising code to carry out one or more elements
of the method of claim 1.
14. A non-transitory processor-readable medium storing code
representing instructions to cause a processor to perform a
process, the code comprising code to carry out one or more elements
of the method of claim 6.
15. A non-transitory processor-readable medium storing code
representing instructions to cause a processor to perform a
process, the code comprising code to carry out one or more elements
of the method of claim 8.
Description
FIELD OF INVENTION
[0001] The present invention generally relates to devices and
methods associated with a medical procedure, and, in one
embodiment, to medical devices for use in and methods associated
with the respiratory system.
BACKGROUND
[0002] Image guided surgery (IGS), also known as image guided
intervention (IGI), enhances a physician's ability to locate
instruments within a patient's anatomy during a medical procedure.
IGS can include 2-dimensional (2D), 3-dimensional (3D), and
4-dimensional (4D) applications. The fourth dimension of IGS can
include multiple parameters either individually or together such as
time, motion, electrical signals, pressure, airflow, blood flow,
respiration, heartbeat, and other patient measured parameters.
[0003] Existing imaging modalities can capture the movement of
dynamic anatomy. Such modalities include electrocardiogram
(ECG)-gated or respiratory-gated magnetic resonance imaging (MRI)
devices, ECG-gated or respiratory-gated computer tomography (CT)
devices, standard computed tomography (CT), 3D Fluoroscopic images
(Angio-suites), and cinematography (CINE) fluoroscopy and
ultrasound. Multiple image datasets can be acquired at different
times, cycles of patient signals, or physical states of the
patient. The dynamic imaging modalities can capture the movement of
anatomy over a periodic cycle of that movement by sampling the
anatomy at several instants during its characteristic movement and
then creating a set of image frames or volumes.
[0004] Although significant improvements have been made in these
fields, a need remains for improved medical devices and procedures
for visualizing, accessing and manipulating a targeted anatomical
tissue.
SUMMARY OF THE INVENTION
[0005] Among the various aspects of the present invention may be
noted devices for use in and methods associated with medical
procedures; such devices and methods, for example, may include
devices and methods that enhance a physician's ability to locate
instruments within anatomy during a medical procedure, such as
image guided surgery (IGS) or image guided intervention (IGI) and
such devices and methods may further include devices and methods
that facilitate accessing and manipulating a targeted anatomical
tissue.
[0006] Briefly, therefore, one aspect of the present invention is a
method for modifying or deforming a segmented image dataset for a
region of a respiratory system of a patient to the corresponding
anatomy of a patient's respiratory system. The method comprises (i)
forming a respiratory-gated point cloud of data that demarcates
anatomical features in a region of a patient's respiratory system
at one or more discrete phases within a respiration cycle of a
patient, (ii) density filtering the respiratory-gated point cloud,
(iii) classifying the density filtered respiratory-gated point
cloud according to anatomical points of reference in a segmented
image dataset for the region of the patient's respiratory system,
and (iv) modifying the segmented image dataset to correspond to the
classified anatomical points of reference in the density filtered
respiratory-gated point cloud.
[0007] Another aspect of the present invention is a method of
preparing a segmented image dataset to match the anatomy of a
patient's respiratory system. The method comprises forming a
respiratory-gated point cloud of data that demarcates anatomical
features in a region of a patient's respiratory system at one or
more discrete phases within a respiration cycle of a patient. The
method further comprises density filtering the respiratory-gated
point cloud, classifying the density filtered respiratory-gated
point cloud according to anatomical points of reference in a
segmented image dataset for the region of the patient's respiratory
system, registering the classified respiratory-gated point cloud to
the segmented image dataset, comparing the registered
respiratory-gated point cloud to a segmented image dataset to
determine the weighting of points comprised by the classified
respiratory-gated point cloud, distinguishing regions of greater
weighting from regions of lesser weighting and modifying the
segmented image dataset to correspond to the classified
respiratory-gated point cloud.
[0008] A further aspect of the present invention is a method for
simulating the movement of a patient's respiratory system during
respiration. The simulation method comprises (i) forming a
respiratory-gated point cloud of data that demarcates anatomical
features in a region of a patient's respiratory system at one or
more discrete phases within a respiration cycle of a patient, (ii)
density filtering the respiratory-gated point cloud, (iii)
classifying the density filtered respiratory-gated point cloud
according to anatomical points of reference in a segmented image
dataset for the region of the patient's respiratory system, (iv)
creating a cine loop comprising a plurality of modified segmented
image datasets through multiple modifications of the segmented
image dataset to correspond to a plurality of classified anatomical
points of reference in the respiratory-gated point cloud over the
respiration cycle, and (v) displaying the cine loop comprising the
plurality of modified segmented image datasets over the patient's
respiration cycle.
[0009] A still further aspect of the present invention is a
surgical catheter for use in medical procedures. The surgical
catheter comprises an elongate flexible shaft having a longitudinal
axis, a proximal end portion, a distal end portion, and a handle
attached to the proximal end portion. The elongate flexible shaft
further comprises an outer wall extending from the proximal end
portion to the distal end portion. The surgical catheter further
comprises a biopsy device at the distal end portion, and an
actuation wire extending from the proximal end portion to the
distal end portion to operate the biopsy device. Additionally, a
steering mechanism is connected to the steering actuator wherein
the distal end portion may be moved relative to the proximal end
portion by manipulating the steering actuator.
[0010] A still further aspect of the present invention is an
apparatus comprising a steerable catheter comprising a biopsy
device for accessing or manipulating tissue.
[0011] A yet further aspect of the present invention is a surgical
catheter for navigated surgery, the surgical catheter comprises an
elongate flexible shaft having a longitudinal axis, a proximal end
portion, a distal end portion, a side exit in the distal end
portion, and a handle attached to the proximal end portion. The
elongate flexible shaft further comprises an outer wall extending
from the proximal end portion to the distal end portion, and an
electromagnetic localization element at the distal end portion. A
medical instrument housed within the elongate flexible shaft that
is extendable along a path from a position within the outer wall
and through the side exit to an extended position outside the outer
wall, the medical instrument being disposed at an angle of at least
10 degrees relative to the longitudinal axis at the side exit when
in the extended position. The position of the medical instrument
along the path can be calibrated to the location of the
electromagnetic localization element and displayed by a surgical
instrument navigation system.
[0012] A further aspect of the present invention is a method of
guiding a surgical instrument to a region of interest in a patient.
The method comprises displaying an image of the region of the
patient, inserting a flexible lumen into the region of the patient,
inserting a surgical catheter comprising an electromagnetic
localization element into the lumen, navigating the surgical
catheter to the region of interest, detecting a location and
orientation of the electromagnetic localization element,
displaying, in real-time, a virtual representation of the surgical
catheter and the medical instrument superimposed on the image based
upon the location and orientation of the electromagnetic
localization element, and performing a medical procedure at the
region of interest.
[0013] A further aspect of the present invention is a method of
placing a localization element in an organ of a patient for use in
a medical procedure. The method comprises attaching a first
localization element to tissue in a region of the organ of a
patient using an endolumenal device. The attached localization
element may be separate from the endolumenal device and is
registered to a segmented image dataset. The body of the patient
may then be modified such that the body does not match the
segmented image dataset, and the position of the first localization
element is identified from outside the patient's organ using a
second localization element to facilitate a medical procedure.
[0014] Other objects and features will be in part apparent and in
part pointed out hereinafter.
BRIEF DESCRIPTION OF THE DRAWINGS
[0015] The details of the present invention, both as to its
construction and operation can best be understood with reference to
the accompanying drawings, in which like numerals refer to like
parts, and in which:
[0016] FIG. 1 is a schematic illustration of an exemplary surgical
instrument navigation system according to an embodiment of the
present invention;
[0017] FIG. 2 is a flowchart that depicts a technique for
simulating a virtual volumetric image of a body cavity from a point
of view of a surgical instrument positioned within the patient
according to an embodiment of the present invention;
[0018] FIG. 3A is an illustration showing an initially collected
respiratory-gated point cloud and FIG. 3B is an illustration
showing a respiratory-gated point cloud registered to a patient's
respiratory system according to an embodiment of the present
invention;
[0019] FIG. 4 is an exemplary display from the surgical instrument
navigation system according to an embodiment of the present
invention;
[0020] FIG. 5 is a flowchart that depicts a technique for
synchronizing the display of an indicia or graphical representation
of the surgical instrument with the cardiac or respiration cycle of
the patient according to an embodiment of the present
invention;
[0021] FIG. 6 is a flowchart that depicts a technique for
generating four-dimensional image data that is synchronized with
the patient according to an embodiment of the present
invention;
[0022] FIG. 7 is a front view of a patient during the generation of
a respiratory-gated point cloud in the respiratory system of a
patient using a catheter and a top panel illustrating that the
respiratory-gated point cloud may be taken over the entire
respiratory cycle of the patient according to an embodiment of the
present invention;
[0023] FIG. 8 is a flow chart depicting the deformation of a
segmented image dataset to a respiratory-gated point cloud
according to an embodiment of the present invention;
[0024] FIG. 9 depicts an exemplary real-time respiration
compensation algorithm according to an embodiment of the present
invention;
[0025] FIG. 10 is a flow chart depicting the registration of a
respiratory-gated point cloud to a segmented image dataset and the
subsequent deformation of a segmented image dataset to the
respiratory-gated point cloud according to an embodiment of the
present invention;
[0026] FIG. 11A illustrates a generated image of an anterior to
posterior (A-P) view of a region (or tissue) of interest of a
patient and FIG. 11B illustrates a generated image of a lateral
view of a region (or tissue) of interest of a patient according to
an embodiment of the present invention;
[0027] FIG. 12 is a perspective view of a generated image of a
region (or tissue) of interest of a patient according to an
embodiment of the present invention;
[0028] FIGS. 13A and 13B show an alternative method of generating a
4D dataset for 4D thoracic registration using surgical instrument
navigation system according to an embodiment of the present
invention;
[0029] FIG. 14 shows an apparatus and method for respiratory 4D
data acquisition and navigation according to an embodiment of the
present invention;
[0030] FIG. 15A is a side perspective view of the implanting of a
first localization element and FIG. 15B is a side perspective view
of locating the first localization element with a second
localization element according to an embodiment of the present
invention;
[0031] FIGS. 16 and 16A show a side perspective view and a cutaway
view of a steerable catheter according to an embodiment of the
present invention;
[0032] FIG. 17A shows a side perspective view of a steerable
catheter and associated possible biopsy devices including a forceps
device (FIG. 17B), an auger device (FIG. 17E), a boring bit device
(FIG. 17C), a brush device (FIG. 17D), an aspiration needle device
(FIG. 17F), and a side exiting tip component (FIG. 17G) according
to various embodiment of the present invention;
[0033] FIGS. 18A and 18B are a side views of a steerable catheter
deflected by actuating the steering actuator according to an
embodiment of the present invention;
[0034] FIGS. 19 and 19A are a top cutaway view and a cross-section
view of a navigated steerable catheter wherein the steerable shaft
portion comprises spline rings according to an embodiment of the
present invention;
[0035] FIGS. 20A, 20B, and 20C show a side, top, and bottom view of
the distal end portion of a steerable catheter wherein the biopsy
device comprises an angled or directional pattern visible via
fluoroscopic imaging according to an embodiment of the present
invention;
[0036] FIGS. 21A, 21B, and 21C show a side, top, and bottom view of
the distal end portion of a steerable catheter wherein the biopsy
device comprises markers visible via fluoroscopic imaging according
to an embodiment of the present invention;
[0037] FIGS. 22 and 22A show a side view of the distal end portion
of a steerable catheter wherein the biopsy device comprises an
echogenic pattern of partially spherical indentations visible via
ultrasonic imaging according to an embodiment of the present
invention;
[0038] FIGS. 23 and 23A show a side view of the distal end portion
of a steerable catheter wherein the biopsy device comprises an
echogenic pattern that is visible via ultrasonic imaging according
to an embodiment of the present invention;
[0039] FIG. 24 is a side cutaway view of the distal end portion of
a steerable catheter wherein the biopsy device comprises an
actuatable sensor-equipped forceps device according to an
embodiment of the present invention;
[0040] FIGS. 25A and 25B are side cutaway views of the distal end
portion of a steerable catheter wherein the biopsy device comprises
a navigated auger device according to an embodiment of the present
invention;
[0041] FIGS. 26A and 26B are side cutaway views of the distal end
portion of a steerable catheter wherein the biopsy device comprises
a non-navigated auger device according to an embodiment of the
present invention;
[0042] FIG. 27 is a side view of the distal end portion of a
steerable catheter wherein the biopsy device comprises an auger
device having wherein the tissue collection region comprises a
viewing window according to an embodiment of the present
invention;
[0043] FIGS. 28A and 28B are side cutaway views of the distal end
portion of a steerable catheter wherein the biopsy device comprises
a navigated boring bit device according to an embodiment of the
present invention;
[0044] FIG. 29 is a side perspective cutaway view of the distal end
portion of a steerable catheter wherein the biopsy device comprises
a boring bit device according to an embodiment of the present
invention;
[0045] FIGS. 30A and 30B are side cutaway views of the distal end
portion of a steerable catheter wherein the biopsy device comprises
a non-navigated boring bit according to an embodiment of the
present invention;
[0046] FIGS. 31A and 31B are side cutaway views of the distal end
portion of a steerable catheter wherein the biopsy device comprises
a navigated boring bit device wherein the actuation wire is hollow
and to which a vacuum pressure is applied to assist in the removal
of tissue according to an embodiment of the present invention;
[0047] FIG. 32 is a side perspective cutaway view of the distal end
portion of a steerable catheter wherein the biopsy device comprises
a boring bit device wherein the actuation wire is hollow and to
which a vacuum pressure is applied to assist in the removal of
tissue according to an embodiment of the present invention;
[0048] FIG. 33 is a side cutaway view of the distal end portion of
a steerable catheter wherein the biopsy device comprises an
aspiration needle according to an embodiment of the present
invention;
[0049] FIGS. 34A and 34B show a side view and a side perspective
cutaway view of the distal end portion of a steerable catheter
wherein the biopsy device comprises a brush device according to an
embodiment of the present invention;
[0050] FIG. 35 is a front perspective view of the surgical catheter
with a side exiting medical instrument according to an embodiment
of the present invention;
[0051] FIG. 36 is a side view illustrating the calibration of path
of the medical instrument as it extends out the side exit of the
surgical catheter according to an embodiment of the present
invention;
[0052] FIG. 37 is a side cutaway view of the surgical catheter
wherein the medical instrument may comprise possible devices
including a forceps device (FIG. 37A), a boring bit device (FIG.
37B), a brush device (FIG. 37C), and an auger device (FIG. 37D)
according to various embodiment of the present invention;
[0053] FIG. 38 is a side cutaway view of the surgical catheter with
a medical instrument extended through the side exit, wherein the
medical instrument is an aspiration needle, and a localization
element is at the distal end portion of an elongate flexible shaft
according to an embodiment of the present invention;
[0054] FIG. 39 is a side cutaway view of the surgical catheter with
a medical instrument extended through the side exit and a
localization element is at the tip of the side exiting tip
component according to an embodiment of the present invention;
[0055] FIG. 40 is a side cutaway view of the surgical catheter
wherein the medical instrument comprises a shape memory alloy
extended out of the side exit according to an embodiment of the
present invention;
[0056] FIGS. 41A-41D are side views of the medical instrument in
the extended position disposed at various angles relative to the
longitudinal axis of an elongate flexible shaft at a side exit
according to an embodiment of the present invention;
[0057] FIG. 41E is a side view of the medical instrument in the
extended position disposed at an angle relative to the longitudinal
axis of an elongate flexible shaft at a side exit wherein an arc is
introduced into the elongate flexible shaft according to an
embodiment of the present invention;
[0058] FIGS. 42A, 42B, and 42C are a side, top, and bottom view of
the surgical catheter comprising an angled or directional pattern
visible via fluoroscopic imaging according to an embodiment of the
present invention;
[0059] FIGS. 43A, 43B, and 43C are a side, top, and bottom view of
the surgical catheter comprising markers visible via fluoroscopic
imaging according to an embodiment of the present invention;
[0060] FIGS. 44A, 44B, and 44C are a side, top, and bottom view of
the surgical catheter comprising rings visible via fluoroscopic
imaging according to an embodiment of the present invention;
[0061] FIGS. 45 and 45A show a side view of the surgical catheter
comprising an echogenic pattern visible via ultrasonic imaging
according to an embodiment of the present invention;
[0062] FIGS. 46 and 46A show a side view of the surgical catheter
comprising an echogenic pattern of partially spherical indentations
visible via ultrasonic imaging according to an embodiment of the
present invention;
[0063] FIG. 47 is a side cutaway view of the surgical catheter
comprising an echogenic pattern visible via ultrasonic imaging that
is on the medical instrument according to an embodiment of the
present invention;
[0064] FIG. 48 is a side cutaway view of the surgical catheter with
a medical instrument extended through the side exit and a
localization element in the distal end portion of the elongate
flexible shaft according to an embodiment of the present
invention;
[0065] FIGS. 49A, 49B, and 49C show a side, top, and bottom view of
the surgical catheter comprising an angled or directional pattern
visible via fluoroscopic imaging according to an embodiment of the
present invention.
[0066] FIGS. 50A and 50B are side views of a port offset device
according to an embodiment of the present invention;
[0067] FIGS. 51A and 51B are side views of a port offset device
according to an embodiment of the present invention;
[0068] FIGS. 52A, 52B, 52C, and 52D are perspective views of
affixing localization elements to existing surgical instruments
according to an embodiment of the present invention;
DETAILED DESCRIPTION
[0069] Referring now to FIG. 1, a surgical instrument navigation
system 10 in accordance with one embodiment of the present
invention is operable to visually simulate a virtual volumetric
scene within the body of a patient, such as an internal body
cavity, from a point of view of a surgical instrument 12 residing
in the cavity of a patient 13. The surgical instrument navigation
system 10 comprises a surgical instrument 12, a processor 16 having
a display 18, and a tracking subsystem 20. The surgical instrument
navigation system 10 may further include (or is accompanied by) an
imaging device 14 that is operable to provide image data to the
system.
[0070] Imaging device 14 can be used to capture images or data of
patient 13. Imaging device 14 can be, for example, a computed
tomography (CT) device (e.g., respiratory-gated CT device,
ECG-gated CT device), a magnetic resonance imaging (MRI) device
(e.g., respiratory-gated MRI device, ECG-gated MRI device), an
X-ray device, or any other suitable medical imaging device. In one
embodiment, imaging device 14 is a computed tomography--positron
emission tomography device that produces a fused computed
tomography--positron emission tomography image dataset. Imaging
device 14 is in communication with processor 16 and can send,
transfer, copy and/or provide image data taken (captured) of
patient 13 to processor 16.
[0071] Processor 16 includes a processor-readable medium storing
code representing instructions to cause processor 16 to perform a
process. Processor 16 may be, for example, a commercially available
personal computer, or a less complex computing or processing device
that is dedicated to performing one or more specific tasks. For
example, processor 16 may be a terminal dedicated to providing an
interactive graphical user interface (GUI). Alternatively,
processor 16 may be a commercially available microprocessor, an
application-specific integrated circuit (ASIC) or a combination of
ASICs, which are designed to achieve one or more specific
functions, or enable one or more specific devices or applications.
In yet another embodiment, processor 16 may be an analog or digital
circuit, or a combination of multiple circuits.
[0072] Processor 16 preferably includes a memory component (not
shown) comprising one or more types of memory devices. For example,
the memory component may comprise a read only memory (ROM) device
and/or a random access memory (RAM) device. The memory component
may also comprise other types of memory devices that may be
suitable for storing data in a form retrievable by processor 16.
For example, the memory component may comprise electronically
programmable read only memory (EPROM), erasable electronically
programmable read only memory (EEPROM), flash memory, as well as
other suitable forms of memory. The memory component may also
comprise a non-transitory processor-readable medium. Processor 16
may also include a variety of other components, such as for
example, coprocessors, graphic processors, etc., depending upon the
desired functionality of the code. Processor 16 can store data in
or retrieve data from the memory component.
[0073] Processor 16 may also comprise components to communicate
with devices external to processor 16 by way of an input/output
(I/O) component (not shown). According to one or more embodiments
of the invention, the I/O component can include a variety of
suitable communication interfaces. For example, the I/O component
can include wired connections, such as standard serial ports,
parallel ports, universal serial bus (USB) ports, S-video ports,
local area network (LAN) ports, and small computer system interface
(SCSI) ports. Additionally, the I/O component may include, for
example, wireless connections, such as infrared ports, optical
ports, Bluetooth.RTM. wireless ports, wireless LAN ports, or the
like.
[0074] In one embodiment, processor 16 is connected to a network
(not shown), which may be any form of interconnecting network
including an intranet, such as a local or wide area network, or an
extranet, such as the World Wide Web or the Internet. The network
can be physically implemented on a wireless or wired network, on
leased or dedicated lines, including a virtual private network
(VPN).
[0075] In one embodiment, processor 16 can receive image data from
imaging device 14 and generate a segmented image dataset using
various segmentation techniques, such as Hounsfield unit
thresholding, convolution, connected component, or other
combinatory image processing and segmentation techniques. For
example, in one embodiment processor 16 can determine a distance
and direction between the position of any two data points within a
respiratory-gated point cloud (as described in greater detail
elsewhere herein) during multiple instants in time, and store the
image data, as well as the position and distance data, within the
memory component. Multiple images can be produced providing a
visual image at multiple instants in time through the path of
motion of the patient's body.
[0076] Surgical instrument 12 may be any medical device used in a
medical procedure. In one embodiment, surgical instrument 12
comprises a relatively flexible catheter that may be guided to the
region or tissue of interest. Thus, for example, surgical
instrument 12 may comprise or be used to implant one or more
surgical devices such as a guide wire, a pointer probe, a stent, a
seed, an implant, or an endoscope. It is also envisioned that the
surgical instruments may encompass medical devices which are used
for exploratory purposes, testing purposes or other types of
medical procedures. Additionally or alternatively, surgical
instrument 12 may incorporate one or more localization elements 24
that are detectable by tracking subsystem 20. As illustrated in
FIG. 10, surgical instrument 12 is connected by wire to tracking
subsystem 20; in alternative embodiments, surgical instrument 12
may be wirelessly connected to tracking subsystem 20.
[0077] Imaging device 14 may be used to capture volumetric scan
data (see box 32 of FIG. 2) representative of an internal region of
interest within patient 13. The scan data, preferably
three-dimensional data, may be obtained prior to and/or during
surgery on patient 13 and stored in the memory component associated
with processor 16. It should be understood that volumetric scan
data may be acquired using various known medical imaging devices
14, including but not limited to a magnetic resonance imaging (MRI)
device, a computed tomography (CT) imaging device, a positron
emission tomography (PET) imaging device, a 2D or 3D fluoroscopic
imaging device, and 2D, 3D or 4D ultrasound imaging devices. In the
case of a two-dimensional ultrasound imaging device or other
two-dimensional image acquisition device, a series of
two-dimensional data sets may be acquired and then assembled into
volumetric data as is well known in the art using a two-dimensional
to three-dimensional conversion.
[0078] Dynamic reference frame 19 may be attached to patient 13
proximate to the region (tissue) of interest within the patient 13.
For ease of illustration, dynamic reference frame 19 is attached to
the forehead of patient 13 in FIG. 1; in an actual medical
procedure, dynamic reference frame 19 may be located in a cavity,
vessel or otherwise within patient 13. In one embodiment, dynamic
reference frame 19 includes localization elements detectable by the
tracking subsystem 20 to enable dynamic reference frame 19 to
function as a point of reference for tracking subsystem 20 during
the procedure as further described below.
[0079] Tracking subsystem 20 is also configured to track
localization elements 24 associated with surgical instrument 12. In
general, tracking subsystem 20 may comprise any tracking system
typically employed in image guided surgery, including but not
limited to an electromagnetic tracking system. An example of a
suitable electromagnetic tracking subsystem is the AURORA
electromagnetic tracking system, commercially available from
Northern Digital Inc. in Waterloo, Ontario Canada. In one
embodiment, tracking subsystem 20 is an electromagnetic tracking
system, typically comprising an electromagnetic field generator 22
that emits a series of electromagnetic fields designed to engulf
patient 13, and localization elements 24 coupled to surgical
instrument 12 could be coils that would receive an induced voltage
that could be monitored and translated into a coordinate position
of localization elements 24. In certain embodiments, localization
element 24 may be electrically coupled to twisted pair conductors
to provide electromagnetic shielding of the conductors. This
shielding prevents voltage induction along the conductors when
exposed to the magnetic flux produced by the electromagnetic field
generator. The twisted pair conductors extend from the localization
element through surgical instrument 12.
[0080] FIG. 2 illustrates a flowchart of a technique for simulating
a virtual volumetric scene of a body cavity from a point of view of
a surgical instrument positioned within the patient. Volumetric
scan data captured by imaging device 14 (see box 32) may be
registered to patient 13 (see box 34) using dynamic reference frame
19. This registration process is sometimes referred to as
registering image space to patient space. Often, the volumetric
scan data captured by imaging device 14 is also registered to other
image datasets, typically an image dataset acquired at an earlier
point time or an atlas. Registration of the image space to patient
space is accomplished through knowledge of the coordinate vectors
of at least three non-collinear points in the image space and the
patient space. FIG. 3A, for example, illustrates an initially
generated point cloud superimposed on a segmented image dataset of
a patient's respiratory system and FIG. 3B illustrates a point
cloud registered to a segmented image dataset of a patient's
respiratory system.
[0081] Registration of image space to patient space for image
guided surgery (see box 34 of FIG. 2) can be completed by different
known techniques. Registration can be performed in multiple ways:
point registration, pathway registration, 2D/3D image registration,
etc. Such registration may be performed using 4D-gating information
to track the patient's motion such as respiration and/or heartbeat.
For example, point-to-point registration may be accomplished by
identifying points in an image space and then touching the same
points in patient space. These points are generally anatomical
landmarks that are easily identifiable on the patient. By way of
further example, surface registration involves the user's
generation of a surface in patient space by either selecting
multiple points or scanning, and then accepting the best fit to
that surface in image space by iteratively calculating with the
processor until a surface match is identified. By way of further
example, repeat fixation devices entail the user repeatedly
removing and replacing a device (i.e., dynamic reference frame,
etc.) in known relation to the patient or image fiducials of the
patient. By way of further example, automatic registration is
accomplished by first attaching the dynamic reference frame to the
patient prior to acquiring image data. It is envisioned that other
known registration procedures are also within the scope of the
present invention, such as that disclosed in U.S. Pat. No.
6,470,207, which is hereby incorporated by reference in its
entirety. Once registration is complete the system can determine
potential regions of the image dataset that may not match the
patient's real-time anatomy. After image registration (see box 34
of FIG. 2) the image data may be rendered (see box 36 of FIG. 2) as
a volumetric perspective image and/or a surface rendered image of
the region of interest based on the scan data using rendering
techniques well known in the art.
[0082] During surgery, surgical instrument 12 is directed by the
physician or other healthcare professional to the region (or
tissue) of interest within patient 13. Tracking subsystem 20
preferably employs electromagnetic sensing to capture position data
(see box 37 of FIG. 2) indicative of the location and/or
orientation of surgical instrument 12 within patient 13. Tracking
subsystem 20 may be defined as an electromagnetic field generator
22 and one or more localization elements 24 (e.g., electromagnetic
sensors) may be integrated into the items of interest, such as the
surgical instrument 12. In one embodiment, electromagnetic field
generator 22 may be comprised of three or more field generators
(transmitters) mounted at known locations on a plane surface and
localization elements (receivers) 24 are further defined as a
single coil of wire. The positioning of the field generators
(transmitter) and the localization elements (receivers) may also be
reversed, such that the generators are associated with surgical
instrument 12 and the receivers are positioned elsewhere. Although
not limited thereto, electromagnetic field generator 22 may be
affixed to an underneath side of the operating table that supports
the patient.
[0083] In certain embodiments, localization element 24 comprises a
six (6) degree of freedom (6DOF) electromagnetic sensor. In other
embodiments, localization element 24 comprises a five (5) degree of
freedom (5DOF) electromagnetic sensor. In other embodiments,
localization element 24 comprises other localization devices such
as radiopaque markers that are visible via fluoroscopic imaging and
echogenic patterns that are visible via ultrasonic imaging. In yet
other embodiments, localization elements 24 can be, for example,
infrared light emitting diodes, and/or optical passive reflective
markers. Localization elements 24 can also be, or be integrated
with, one or more fiber optic localization (FDL) devices. In other
embodiments surgical instrument 12 is non-navigated, such that it
does not include any localization elements.
[0084] In operation, the field generators of localization device 22
generate magnetic fields which are detected by localization element
24. By measuring the magnetic field generated by each field
generator at localization element 24, the location and orientation
of localization element 24 may be computed, thereby determining
position data for localization element 24 associated with surgical
instrument 12. Although not limited thereto, exemplary
electromagnetic tracking subsystems are further described in U.S.
Pat. Nos. 5,913,820; 5,592,939; and 6,374,134 which are
incorporated herein by reference in their entirety. In addition, it
is envisioned that other types of position tracking devices are
also within the scope of the present invention. For instance,
tracking subsystem 20 may comprise a non-line-of-sight device based
on sonic emissions or radio frequency emissions. In another
instance, a rigid surgical instrument, such as a rigid endoscope
may be tracked using a line-of-sight optical-based tracking
subsystem (i.e., LED's, passive markers, reflective markers,
etc.).
[0085] Position data for localization element 24, such as location
and/or orientation data from the tracking subsystem 20 is in turn
relayed to the processor 16. Processor 16 is adapted to receive
position/orientation data (see box 37 of FIG. 2) from tracking
subsystem 20 and the volumetric perspective and/or surface image
data may be further manipulated (see box 38 of FIG. 2) based on the
position/orientation data for surgical instrument 12 received from
tracking subsystem 20. Specifically, the volumetric perspective or
surface rendered image is rendered from a point of view which
relates to position of the surgical instrument 12. For instance, at
least one localization element 24 may be positioned at the distal
end of surgical instrument 12, such that the image is rendered from
a leading point on the surgical instrument. In this way, surgical
instrument navigation system 10 of the present invention is able,
for example, to visually simulate a virtual volumetric scene of an
internal cavity from the point of view of surgical instrument 12
residing in the cavity without the use of an endoscope. It is
readily understood that tracking two or more localization elements
24 which are embedded in surgical instrument 12 enables orientation
of surgical instrument 12 to be determined by the system 10.
[0086] As surgical instrument 12 is moved by the physician or other
healthcare professional within the region of interest, its position
and orientation may be tracked and reported on a real-time basis by
tracking subsystem 20. Referring again to FIG. 2, the volumetric
perspective image may then be updated by manipulating (see box 38)
the rendered image data (see box 36) based on the position of
surgical instrument 12. The manipulated volumetric perspective
image (see box 38) is displayed 40 as a primary image on a display
device 18 associated with the processor 16. The display 18 is
preferably located such that it can be easily viewed by the
physician or other healthcare professional during the medical
procedure. In one embodiment, the display 18 may be further defined
as a heads-up display or any other appropriate display. The image
may also be stored by processor 16 for later playback, should this
be desired.
[0087] It is envisioned that the primary of the region of interest
may be supplemented by other secondary images. For instance, known
image processing techniques may be employed to generate various
multi-planar images of the region of interest. Alternatively,
images may be generated from different view points (see box 39) as
specified by a physician or other healthcare professional,
including views from outside of the vessel or cavity or views that
enable the user to see through the walls of the vessel using
different shading or opacity. In another instance, the location
data of the surgical instrument may be saved and played back in a
movie format. It is envisioned that these various secondary images
may be displayed simultaneously with or in place of the primary
perspective image.
[0088] In addition, surgical instrument 12 may be used to generate
real-time maps corresponding to an internal path traveled by the
surgical instrument or an external boundary of an internal cavity.
Real-time maps may be generated by continuously recording the
position of the instrument's localized tip and its full extent. A
real-time map may be generated by the outermost extent of the
instrument's position and minimum extrapolated curvature as is
known in the art. The map may be continuously updated as the
instrument is moved within the patient, thereby creating a path or
a volume representing the internal boundary of the cavity. It is
envisioned that the map may be displayed in a wire frame form, as a
shaded surface or other three-dimensional computer display modality
independent from or superimposed on the volumetric perspective
image of the region of interest. It is further envisioned that the
map may include data collected from a localization element embedded
into the surgical instrument, such as pressure data, temperature
data or electro-physiological data. In this case, the map may be
coded with a color or some other visual indicia to represent the
collected data.
[0089] FIG. 4 illustrates another type of secondary image 28 which
may be displayed in conjunction with the primary perspective image
30. In this instance, primary perspective image 30 is an interior
view of an air passage within patient 13. Secondary image 28 is an
exterior view of the air passage which includes an indicia or
graphical representation 29 that corresponds to the location of
surgical instrument 12 within the air passage. In FIG. 4, indicia
29 is shown as a crosshairs. It is envisioned that other indicia
may be used to signify the location of the surgical instrument in
the secondary image. As further described below, secondary image 28
may be constructed by superimposing indicia 29 of surgical
instrument 12 onto the manipulated image data 38.
[0090] The displayed indicia 29 of surgical instrument 12 tracks
the movement of surgical instrument 12 as it is moved by the
physician or other healthcare professional within patient 13. In
certain instances, the cardiac or respiration cycle of the patient
may cause surgical instrument 12 to flutter or jitter within the
patient. For instance, a surgical instrument 12 positioned in or
near a chamber of the heart will move in relation to the patient's
heart beat. In this instance, the indicia of the surgical
instrument 12 will likewise flutter or jitter on the displayed
image (see box 40 of FIG. 2). It is envisioned that other
anatomical functions which may affect the position of the surgical
instrument 12 within the patient are also within the scope of the
present invention. Rather than display indicia 29 of surgical
instrument 12 on a real-time basis, the display of indicia 29 of
surgical instrument 12 is periodically updated based on a timing
signal from timing signal generator 26. In one exemplary
embodiment, the timing signal generator 26 is electrically
connected to tracking subsystem 20.
[0091] As shown by the flowchart of FIG. 5, another embodiment may
be a technique for synchronizing the display of an indicia or
graphical representation of surgical instrument 12 with cardiac or
respiration cycle of the patient in order to reduce flutter. The
display of an indicia of surgical instrument 12 may be synchronized
with an anatomical function, such as the cardiac or respiration
cycle of the patient. As described above, imaging device 14 may be
used to capture (see box 32 of FIG. 5) volumetric scan data
representative of an internal region of interest within a given
patient. An may then be rendered (see box 36 of FIG. 5) from the
volumetric scan data by processor 16. A timing signal generator 26
(not shown) may be operable to generate and transmit a timing
signal (see box 46 of FIG. 5) that correlates to at least one of
(or both) the cardiac cycle or the respiration cycle of patient 13.
For a patient having a consistent rhythmic cycle, the timing signal
might be in the form of a periodic clock signal. Alternatively, the
timing signal may be derived from an electrocardiogram signal from
the patient 13. One skilled in the art will readily recognize other
techniques for deriving a timing signal that correlate to at least
one of the cardiac or respiration cycle or other anatomical cycle
of the patient. The acquisition of position data (see box 37 of
FIG. 5) for surgical instrument 12 may then be synchronized to the
timing signal.
[0092] Tracking subsystem 20 is, in turn, operable to report
position data (see box 37 of FIG. 5) for surgical instrument 12 in
response to a generated timing signal (see box 46 of FIG. 5)
received from timing signal generator 26. The position of indicia
29 of surgical instrument 12 may then be updated and superimposed
(see box 50 of FIG. 5) on the display of the image data (see box 40
of FIG. 5). It is readily understood that other techniques for
synchronizing the display of indicia 29 of surgical instrument 12
based on the timing signal are within the scope of the present
invention, thereby eliminating any flutter or jitter which may
appear on the displayed image (see box 40 of FIG. 5). It is also
envisioned that a path (or projected path) of surgical instrument
12 may also be illustrated on displayed image data (see box 40 of
FIG. 5).
[0093] In another aspect of the present invention, surgical
instrument navigation system 10 may be further adapted to display
four-dimensional image data for a region of interest as shown in
the flowchart of FIG. 6. In this case, imaging device 14 is
operable to capture 4D volumetric scan data (see box 62) for an
internal region of interest over a period of time, such that the
region of interest includes motion that is caused by either the
cardiac cycle or the respiration cycle of patient 13. A volumetric
perspective image of the region may be rendered (see box 64) from
the captured 4D volumetric scan data (see box 62) by processor 16
as described above. The four-dimensional image data may be further
supplemented with other patient data, such as temperature or blood
pressure, using a color code or some other visual indicia.
[0094] The display of the volumetric perspective image may be
synchronized (see box 66) in real-time with the cardiac or
respiration cycle of patient 13 by adapting processor 16 to receive
a generated timing signal (see box 46) from timing signal generator
26. As described above, the timing signal generator 26 is operable
to generate and transmit a timing signal that correlates to either
the cardiac cycle or the respiration cycle of patient 13. In this
way, the 4D volumetric perspective image may be synchronized (see
box 66) with the cardiac or respiration cycle of patient 13. The
synchronized image is then displayed (see box 68) on the display 18
of the system. The four-dimensional synchronized image may be
either (or both of) the primary image rendered from the point of
view of the surgical instrument or the secondary image depicting
the indicia of the position of surgical instrument 12 within
patient 13. It is readily understood that the synchronization
process is also applicable to two-dimensional image data acquire
over time.
[0095] To enhance visualization and refine accuracy of the
displayed image data, the surgical navigation system can use prior
knowledge such as a segmented vessel or airway structure to
compensate for error in the tracking subsystem or for inaccuracies
caused by an anatomical shift occurring since acquisition of scan
data. For instance, it is known that surgical instrument 12 being
localized is located within a given vessel or airway and, therefore
may be displayed within the vessel or airway. Statistical methods
can be used to determine the most likely location; within the
vessel or airway with respect to the reported location and then
compensate so the display accurately represents surgical instrument
12 within the center of the vessel or airway. The center of the
vessel or airway can be found by segmenting the vessels or airways
from the three-dimensional datasets and using commonly known
imaging techniques to define the centerline of the vessel or airway
tree. Statistical methods may also be used to determine if surgical
instrument 12 has potentially punctured the vessel or airway. This
can be done by determining the reported location is too far from
the centerline or the trajectory of the path traveled is greater
than a certain angle (worse case 90 degrees) with respect to the
vessel or airway. Reporting this type of trajectory (error) may be
desired by the physicians or other healthcare professionals. The
tracking along the center of the vessel or airway may also be
further refined by correcting for motion of the respiratory or
cardiac cycle, as described above. While navigating along the
vessel or airway tree, prior knowledge about the last known
location can be used to aid in determining the new location.
Surgical instrument 12 or other navigated device follows a
pre-defined vessel or airway tree and therefore cannot jump from
one branch to the other without traveling along a path that would
be allowed. The orientation of surgical instrument 12 or other
navigated device can also be used to select the most likely pathway
that is being traversed. The orientation information can be used to
increase the probability or weight for selected location or to
exclude potential pathways and therefore enhance system
accuracy.
[0096] Surgical instrument navigation system 10 of the present
invention may also incorporate atlas maps. It is envisioned that
three-dimensional or four-dimensional atlas maps may be registered
with patient specific scan data or generic anatomical models. Atlas
maps may contain kinematic information (e.g., heart models) that
can be synchronized with four-dimensional image data, thereby
supplementing the real-time information. In addition, the kinematic
information may be combined with localization information from
several instruments to provide a complete four-dimensional model of
organ motion. The atlas maps may also be used to localize bones or
soft tissue which can assist in determining placement and location
of implants.
[0097] In general, a consistent feature between lung scans is the
existence of an airway tree within the lung tissue, consisting of
multiple branches and carinas. The branches and carinas, however,
move as a consequence of a patient's respiration. To provide more
accurate navigation of an instrument through the airway tree of a
patient, a set of data points may be collected from a patient
pathway (e.g., an airway) and a model of points may be calculated
to match the image dataset. In one embodiment, each discrete
segment of the image dataset and its corresponding information are
matched to the collected points, creating a "point cloud" of
information. Then, the data points that create the outer region or
shell of the point cloud are determined, followed by correlation or
matching of the outer points to the patient's 3D image data
sets.
[0098] A respiratory-gated point cloud comprises a plurality of
data points corresponding to the internal volume of a patient's
respiratory system measured by a localization element during the
respiration cycle of a patient. Each data point of the
respiratory-gated point cloud comprises three dimensional data (x,
y, and z location) in reference to a 3D coordinate system. In this
embodiment, each data point of the respiratory-gated point cloud
may be gated to the respiration cycle of the patient. The
respiratory-gated point cloud also comprises a fourth dimension
representing the phase (inspiration, expiration, and, if desired,
points in between) of the respiration cycle of the patient at which
point the individual data point was generated. The phase
information may be provided by a patient tracker that real-time
tracks the patient's respiratory cycle. In certain embodiments, the
generation of the individual data points in the point cloud may
occur on a time-gated basis triggered by a physiological signal of
the patient's respiration cycle. In other embodiments, a
respiratory-gated point cloud can be collected at inspiration and
another respiratory-gated point cloud collected at expiration.
These two respiratory-gated point clouds can then be matched to an
image dataset to assist registration. Alternatively, a single
respiratory-gated point cloud can be collected including data
points from both inspiration and expiration and matched to an image
dataset.
[0099] Referring now to FIG. 7, a respiratory-gated point cloud can
be collected in one embodiment using a surgical instrument
navigation system 10 (not shown) comprising catheter 612 having
localization element 624 at the distal end thereof. More
specifically, a physician or other healthcare professional moves
catheter 612 through a plurality of locations 614 within the
branches of a patient's respiratory system 602, including trachea
608, right main bronchus (RMB) 604, and left main bronchus (LMB)
606 over a full respiration cycle of patient 613 to form
respiratory-gated point cloud corresponding to position/orientation
data of localization element 624. According to one particular
embodiment, a respiratory signal is used to gate the localization
information. Additionally or alternatively, the respiratory signal
can be derived, for example, using a device that records the
resistance between two locations on the patient; such a method is
similar to a variable potentiometer in that the resistance of the
patient changes between two fixed points as the patient inhales and
exhales. Thus, the resistance can be measured to create a
respiratory signal. When a signal indicating a particular phase of
the respiration cycle is received, the processor begins acquiring
valid position/orientation data regarding the localization
element(s) 624 in catheter 612 through a plurality of locations 614
within the branches of a patient's respiratory system 602, thereby
generating respiratory-gated point cloud. Once the respiration
cycle moves outside of that phase, a stop signal halts the point
cloud data collection. In this way, it is not necessary to track
the motion of the patient's anatomy if the respiratory motion is
the only motion occurring.
[0100] Density filtering of the generated respiratory-gated point
clouds can reduce the number of duplicate data points generated
which can significantly decrease the processing time. Depending on
the desired strength of filtering, a duplicate data point in the
respiratory-gated point is defined as having identical three
dimensional coordinates (x, y, and z) to another data point in the
respiratory-gated point cloud wherein both points were generated in
the same respiratory phase or a duplicate data point in the
respiratory-gated point is defined as having three dimensional
coordinates x1, y1, and z1 within a certain distance to another
data point in the respiratory-gated point cloud having three
dimensional coordinates x2, y2, and z2 wherein both points were
generated in the same respiratory phase. This duplicated data
point, and any additional duplicate data points can be eliminated,
leaving only one data point for each three dimensional coordinate
and corresponding respiratory phase. In another embodiment,
additional density filtering can be done by eliminating duplicate
data points without reference to a given respiratory phase. This
would eliminate duplicate data points from the respiratory-gated
point cloud that were generated throughout multiple phases. By
eliminating the duplicate data points, a processor need not perform
subsequent calculations of unnecessary data points.
[0101] Additionally, in certain embodiments, the generated point
cloud may be compared to the segmented image data to determine the
strength or weighting of each point collected in the point cloud.
Calculating the strength or weighting of discrete points in the
point cloud can enhance registration accuracy. By way of example,
collecting a single string of points that are only 1 mm wide to
represent an airway that is 5-6 mm wide as determined in the image
model would be an insufficient point cloud. Feedback can be
provided to the user such as color coding or some other visual
indicia to identify the strength of the point cloud.
[0102] In one exemplary embodiment, a physician or other healthcare
professional captures a respiratory-gated point cloud and the
captured cloud is density filtered as previously described to form
a density-filtered point cloud comprising unclassified point cloud
data points. The density-filtered point cloud may then be
classified using a first k-means algorithm which performs
orientation classification resulting in the data points in the
respiratory-gated point cloud being classified into the trachea,
the right main bronchus and the left main bronchus. A second
k-means algorithm is performed to further classify the data points
in the respiratory-gated point cloud into control points. The
respiratory-gated point cloud may then be registered to a
pre-existing image dataset and the data points of the
respiratory-gated point cloud are weighted. Each data point in the
respiratory-gated point cloud may then be displayed to the user
with a color code or some other visual indicia corresponding to the
calculated weight for each data point in the respiratory-gated
point cloud. In certain embodiments, feedback may be provided to
the physician or other healthcare professional indicating that
additional respiratory-gated point cloud data points may be
collected in locations having lesser weighting. This method may
then be repeated until a desired weighting is achieved across the
respiratory-gated point cloud.
[0103] Image datasets may not perfectly match if the image data was
acquired at a different phase in the respiration cycle (e.g., full
inspiration, partial inspiration, full expiration, etc.) or if the
patient's anatomy has been changed due to positioning on the table,
weight gain/loss, skin shift, delivery of drugs, etc. In such
embodiments, an image dataset taken at a first time point can be
modified or deformed to better correspond to the respiratory-gated
point cloud generated during the medical procedure (i.e., a second
and subsequent time point). Additionally, a sequence of motion of
the respiratory-gated point cloud can be generated over the
complete procedure or significant period of time. The distance,
range, acceleration, and speed between one or more selected pairs
of respiratory-gated data points within the point cloud generated
by the localization element 624 (see FIG. 7) can be determined and
various algorithms can be used to analyze and compare the distance
between selected data points at given instants in time.
[0104] Referring now to FIG. 8, a method for modifying or deforming
a segmented image dataset for a region of a respiratory system of a
patient to the corresponding anatomy of a patient's respiratory
system in one embodiment comprises forming (see box 700) a
respiratory-gated point cloud of data that demarcates anatomical
features in a region of a patient's respiratory system at one or
more discrete phases within a respiration cycle of a patient. The
respiratory-gated point cloud is then density filtered (see box
702). The density filtered point cloud is then classified (see box
703) according to anatomical points of reference in a segmented
image dataset for the region of the patient's respiratory system
(as described above), and a segmented image dataset for the region
of the respiratory system is modified (or deformed) (see box 704)
using a deformation vector field to correspond to the classified
anatomical points of reference in the density filtered
respiratory-gated point cloud. In certain embodiments, the phases
at which the respiratory-gated point cloud is formed include
inspiration, expiration and phases in between.
[0105] A deformation vector field can be calculated between a first
set of points in the respiratory-gated point cloud that correspond
to inspiration and a second set of points in the respiratory-gated
point cloud that correspond to expiration. This deformation vector
field may then be used to modify or deform a pre-existing or
pre-acquired segmented image dataset, taken from a first time
interval, to correspond to the correlated anatomical points of
reference in the respiratory-gated point cloud, taken during a
second time interval. In certain embodiments, the segmented image
dataset to be modified is from a first discrete phase of the
patient's respiration cycle and the respiratory-gated point cloud
is from a second and different discrete phase of the patient's
respiration cycle. Accordingly, a pre-existing or pre-acquired
segmented image dataset can be from an inspiration phase and it can
be modified or deformed to the expiration phase using the
deformation vector field calculated from the respiratory-gated
point cloud. Thus a segmented image dataset need not require an
image for each phase of the patient's respiration cycle.
[0106] A deformation vector field can be calculated between data
points in the respiratory-gated point cloud that correspond to
different phases of the patient's respiratory cycle. The image
dataset from a first time interval may then be modified or deformed
by the deformation vector field to match the anatomy of the patient
during the second time interval. This modification or deformation
process can be done continuously during the medical procedure,
producing simulated real-time, intra-procedural images illustrating
the orientation and shape of the targeted anatomy as a catheter,
sheath, needle, forceps, guidewire, fiducial delivery devices,
therapy device (ablation modeling, drug diffusion modeling, etc.),
or similar structure(s) is/are navigated to the targeted anatomy.
Thus, during the medical procedure, the physician or other
healthcare professional can view selected modified or deformed
image(s) of the targeted anatomy that correspond to and simulate
real-time movement of the anatomy. In addition, during a medical
procedure being performed during the second time interval, such as
navigating a catheter or other instrument or component thereof to a
targeted anatomy, the location(s) of a localization element (e.g.,
an electromagnetic coil sensor) coupled to the catheter during the
second time interval can be superimposed on an image of a catheter.
The superimposed image(s) of the catheter can then be superimposed
on the modified or deformed image(s) from the first time interval,
providing simulated real-time images of the catheter location
relative to the targeted anatomy. This process and other related
methods are described in U.S. Pat. No. 7,398,116, the entire
disclosure of which is incorporated herein by reference.
[0107] The deformation vector field may be calculated between a
first set of points in the respiratory-gated point cloud that
correspond to a first respiration phase and a second set of points
in the respiratory-gated point cloud that correspond to a second
respiration phase. Typically, the first respiration phase is
inspiration and the second respiration phase is expiration.
Additionally, the two phases can be reversed wherein the first
phase is expiration and the second phase is inspiration. For
example, the deformation vector field can be applied to modify or
deform an image dataset of 3D fluoroscopic images or CT images in
order to compensate for different patient orientations, patient
position, respiration, deformation induced by the catheter or other
instrument, and/or other changes or perturbations that occur due to
therapy delivery or resection or ablation of tissue.
[0108] In some embodiments, for example, real-time respiration
compensation can be determined by applying an
inspiration-to-expiration deformation vector field. In combination
with the respiratory signal, for example, the surgical instrument
location can be calculated using the deformation vector field. A
real-time surgical instrument tip correction vector can be applied
to a 3D localized instrument tip. The real-time correction vector
is computed by scaling an inspiration-to-expiration deformation
vector (found from the inspiration-to-expiration deformation vector
field) based on the respiratory-gated point cloud. This correction
vector can then be applied to the 3D localized surgical instrument
tip. This can further optimize accuracy during navigation.
[0109] An example of an algorithm for real-time respiration
compensation can be found in FIG. 9. In accordance with this
algorithm, for each 3D localized point
[0110] (a) find v, such that scalar d is minimized;
[0111] (b) compute c, wherein:
c=-v.sub.it
and (c) compute, wherein:
l'=l+c
Thus, l' is a respiration compensated version of l.
[0112] Although FIG. 9 and the above discussion generally relate to
real-time respiration motion, it will be understood that these
calculations and determinations may also be applied to real-time
heartbeat and/or vessel motion compensation, or any other motion of
a dynamic body (e.g., the patient's body, an organ, or tissue
thereof) as described herein. In one embodiment, for example, the
deformation vector field is calculated based upon inspiration and
expiration. In another embodiment, for example, the deformation
vector field is calculated based upon heartbeat. In yet another
embodiment, for example, the deformation vector field is based upon
vessel motion. In these and other embodiments, it is also possible
to extend these calculations and determinations to develop multiple
deformation vector fields across multiple patient datasets, by
acquiring the multiple datasets over the course of, for example, a
single heartbeat cycle or a single respiration cycle.
[0113] Deformation of 2D images can also be calculated based upon
therapeutic change of tissue, changes in Hounsfield units for
images, patient motion compensation during the imaging sequence,
therapy monitoring, and temperature monitoring with fluoroscopic
imaging, among other things. One potential issue with conventional
therapy delivery, for instance, is monitoring the therapy for
temperature or tissue changes. In accordance with the methods
described herein, this monitoring can be carried out using
intermittent fluoroscopic imaging, where the images are compensated
between acquisition times to show very small changes in image
density, which can represent temperature changes or tissue changes
as a result of the therapy and/or navigation.
[0114] Another method to modify/deform the image dataset and match
to the patient is to segment the airway from the image dataset and
skeletonize it to find the central airway tree. The physician or
other healthcare professional can then modify/deform the image
dataset by identifying points within the image space and patient
space that match such as the main carina and/or collect multiple
branch information that defines branches and carina points between
branches. These points can be used to modify or deform the image
dataset. Deformation of a complete 3D volume would be time
consuming so methods to create deformation matrices for regions may
be preferred.
[0115] In general, the embodiments described herein have
applicability in "Inspiration to Expiration"-type CT scan fusion.
According to various methods, the user navigates on the expiration
CT scan to aid accuracy, while using the inspiration scan to aid
airway segmentation. In one embodiment, for example, a user could
complete planning and pathway segmentation on an inspiration scan
of the patient. Preferably, a deformation vector field is created
between at least two datasets. The deformation vector field may
then be applied to the segmented vessels and/or airways and the
user's planned path and target. In these and other embodiments, the
deformation vector field can also be applied to multiple datasets
or in a progressive way to create a moving underlying dataset that
matches the patient's respiratory or cardiac motion. In other
embodiments, using a respiratory-gated point cloud, a deformation
vector field is calculated between a first set of points in the
respiratory-gated point cloud that correspond to inspiration and a
second set of points in the respiratory-gated point cloud that
correspond to expiration. This deformation vector field may then
used to modify or deform a pre-existing or pre-acquired segmented
image dataset to correspond to the correlated anatomical points of
reference in the respiratory-gated point cloud.
[0116] In accordance with various embodiments, "Inspiration to
Expiration" CT fusion using the lung lobe centroid and vector
change to modify an airway model may be used to translate and scale
each airway based on the lung lobe change between scans. The lung
is constructed of multiple lobes and these lobes are commonly
analyzed for volume, shape, and translation change. Each lobe
changes in a very different way during the patient's respiration
cycle. Using this information to scale and translate the airways
that are located in each lobe, it is possible to adapt for airway
movement. This scaled airway model can then be linked to the 4D
tracking of the patient as described herein. In accordance with
various embodiments using a respiratory-gated point cloud, this
technique may be used to translate and scale each airway based on
the lung lobe change between respiration phases. The lung is
constructed of multiple lobes and these lobes are commonly analyzed
for volume, shape, and translation change. Each lobe changes in a
very different way during the patient's respiration cycle. Using
the respiratory-gated point cloud information to scale and
translate the airways that are located in each lobe, it is possible
to adapt for airway movement. This scaled airway model can then be
linked to the 4D tracking of the patient as described herein.
[0117] In general, it may also be preferable to reduce the level of
radiation that patients are exposed to before or during a procedure
(or pre-procedural analysis) as described herein. One method of
reducing radiation during the acquisition of a 3D fluoroscopic
dataset (or other dataset described herein), for example, is to use
a deformation vector field between data points in a
respiratory-gated point cloud to reduce the actual number of 2D
images that need to be acquired to create the 3D dataset. In one
particular embodiment, the deformation field is used to calculate
the deformation between images in the acquisition sequence to
produce 2D images between the acquired slices, and these new slices
can be used to calculate the 3D fluoroscopic dataset. For example,
if 180 2D image slices were previously required, e.g., an image(s)
taken every 2 degrees of a 360 degree acquisition sequence, in
accordance with some embodiments 90 2D images can be acquired over
a 360 degree acquisition sequence and the data from the images that
would have ordinarily been acquired between each slice can be
calculated and imported into the 3D reconstruction algorithm. Thus,
the radiation is effectively reduced by 50%.
[0118] In another embodiment, illustrated by FIG. 10, a process of
registration and deformation may assist the navigation of a
surgical instrument. One method of preparing a segmented image
dataset to match the anatomy of a patient's respiratory system
comprises the steps of (i) forming (see box 700) a
respiratory-gated point cloud of data that demarcates anatomical
features in a region of a patient's respiratory system at one or
more discrete phases within a respiration cycle of a patient, (ii)
density filtering (see box 702) the respiratory-gated point cloud,
(iii) classifying (see box 703) the density filtered
respiratory-gated point cloud according to anatomical points of
reference in a segmented image dataset for the region of the
patient's respiratory system, (iii) registering (see box 800) the
classified respiratory-gated point cloud to the segmented image
dataset, (iv) comparing (see box 802) the registered
respiratory-gated point cloud to a segmented image dataset to
determine the weighting of points comprised by the classified
respiratory-gated point cloud, (v) distinguishing (see box 804)
regions of greater weighting from regions of lesser weighting and
optionally increasing the data set comprised by the registered
respiratory-gated point cloud for regions of lesser weighting, and
(vi) modifying or deforming (see box 704) the segmented image
dataset to correspond to the classified respiratory-gated point
cloud. In alternative embodiments, the user may optionally perform
a loop 806 and generate additional data points in the
respiratory-gated point cloud to increase the weighting of certain
points in the respiratory-gated point cloud. In certain
embodiments, the phases at which the respiratory-gated point cloud
is formed include inspiration, expiration and phases in
between.
[0119] In addition to modifying or deforming the segmented image
dataset, in one embodiment of the present invention the movement of
a patient's respiratory system in the patient's respiration cycle
over the patient's entire respiration cycle may be simulated in a
method comprising (i) forming (see box 700 of FIG. 10) a
respiratory-gated point cloud of data that demarcates anatomical
features in a region of a patient's respiratory system at one or
more discrete phases within a respiration cycle of a patient, (ii)
density filtering (see box 702 of FIG. 10) the respiratory-gated
point cloud, (iii) classifying (see box 703 of FIG. 10) the density
filtered respiratory-gated point cloud according to anatomical
points of reference in a segmented image dataset for the region of
the patient's respiratory system, (iv) creating a cine loop
comprising a plurality of modified segmented image datasets through
multiple modifications of the segmented image dataset to correspond
to a plurality of classified anatomical points of reference in the
respiratory-gated point cloud over the respiration cycle, and (v)
displaying the cine loop comprising the plurality of modified
segmented image datasets over the patient's respiration cycle. In
certain embodiments, the phases at which the respiratory-gated
point cloud is formed include inspiration, expiration and phases in
between. In certain embodiments, the plurality of modified
segmented image datasets may be created by modifying a segmented
image dataset according to the deformation vector field. In yet
other embodiments, this simulated movement of the patient's
respiratory system can be synchronized with the patient's
respiration cycle. Accordingly, the gating information from the
respiratory-gated point cloud is matched to a real-time gating
signal corresponding to the patient's respiration cycle. The
physician can then observe the modified or deformed image during
the medical procedure on a targeted portion of the patient's body.
Thus, during the medical procedure, the above simulation process
can be continuously executed such that multiple modified images are
displayed and modified images corresponding to real-time positions
of the patient's body can be viewed. In certain embodiments, the
plurality of modified segmented image datasets comprises 2 or more
segmented image datasets. In other embodiments, the plurality of
modified segmented image datasets comprises 3 or more segmented
image datasets. In yet other embodiments, the plurality of modified
segmented image datasets comprises 4 or more segmented image
datasets. In certain embodiments, the creation and display of the
cine loop comprising the plurality of modified segmented image
datasets can be over the patient's entire respiratory cycle.
[0120] In another aspect, the system involves generating a
respiratory-gated point cloud of a dynamic anatomy using implanted
localization elements. In general, one or more (and typically
multiple, e.g., 2, 3, 4, or more) localization elements may be
placed in the organ and tracked continuously and registered to a
discrete section of the organ. In this embodiment, the localization
elements may have a pigtail or anchoring mechanism that allows it
to be attached to an internal organ or along a vessel. Using image
processing techniques, voxels from an image dataset, or set of
voxels from an image dataset; multiple 3D data sets of the organ
can be used to create discrete sections of the organ (i.e., in a
grid-like pattern). For each section, a deformation vector field
analysis can be performed between the phases of the organ and/or
based upon the motion of the organ tracked by localization elements
attached to or adjacent to a wall of the organ such that the motion
of the organ is translated to the sensors. Each section will then
have unique signature or deformation vector field, which can be
matched to the tracked motion of the localization element(s)
attached to the organ. For example, the wall localization element
motion will match the space-time signature of the device.
Preferably, a deformation vector field is created between at least
two datasets. The deformation vector field may then be applied to
the segmented vessels and/or airways and the user's planned path
and target.
[0121] Another technique for maximizing registration accuracy is a
centroid finding algorithm that can be used for refining point
locations in a local area. Often, a user will want to select a
vessel bifurcation. The vessel bifurcation will be seen as a bright
white location on the CT and US images. An algorithm can be used to
help the user select the center location for these locations. Once
a user selects a point on the image, the local algorithm can be
employed to find similar white voxels that are connected and, for
that shape in the 3D space, refine the point to the centroid or any
other point (such as, for example, the most anterior or most
posterior point).
[0122] Skeletonization of the segmented image dataset can help
refine the respiratory-gated point cloud. It may be difficult to
capture a respiratory-gated point cloud that would match a patient
image dataset due to the inability to physically touch the airway
wall in many orientations. Therefore the system can use the
calculated centerlines between the dataset and the
respiratory-gated point cloud to refine accuracy. Various methods
of skeletonization are well known in the art and can be applied to
the image datasets of certain embodiments of the present
invention.
[0123] In an alternative embodiment, registering the classified
respiratory-gated point cloud to the segmented image dataset
comprises registering the classified respiratory-gated point cloud
representing at least one branch of the patient's respiratory
system to corresponding anatomical points of reference in the
registered segmented image data set representing the branch(es) of
the patient's respiratory system. In certain embodiments, the
classified respiratory-gated point cloud sections corresponding to
the trachea, the right main bronchus (RMB), and the left main
bronchus (LMB) are registered to a plurality of branches of the
patient's respiratory system, wherein the plurality of branches
comprise the trachea, the right main bronchus (RMB), and the left
main bronchus (LMB). Rotational shifts may be found through lumen
data collection. Matching the trachea, RMB, and LMB in patient
space and image space will provide rotational registration
refinement. While the lung is commonly defined as one organ, in
certain embodiments separate registrations between the right and
left lung or even different lobes of the lung can provide
additional refinement. Carina touch points can be used to perform
translational shifts to the registration between patient space and
image space.
[0124] In one embodiment a lung atlas can be used to develop
patient specific airway trees, lung regions, lobes, lymph nodes,
vessels, and other structures. These structures can be key to
things such as correctly staging lung cancer. Correctly identifying
the spread of cancer to lymph nodes can determine the best course
of patient treatment. Recording the sampled locations to determine
a consistent staging methodology and correctly identifying the
region of the lung is key. A lung atlas can also be used to
automatically select registration points within a patient such as
the Main Carina or other branch points that can be touched by the
user to register a dataset to the patient space. Using a lung atlas
with an airway tree segmented, a patient specific airway tree can
be determined by deforming the lung atlas to the patient's dataset
to produce a patient specific airway tree. This can be used for a
navigation pathway map, initialization points for other image
processing steps, or to produce an error metric for multiple
algorithms. Accordingly, in certain embodiments, a lung atlas can
be modified or deformed according to the respiratory-gated point
cloud.
[0125] In another embodiment, 3D image datasets of an organ (e.g.,
the heart or lung(s)) are segmented to determine a center line of
the pathway, such that a string of points, shape or diameter of the
pathway can be determined. Patient image information can be matched
to the localization information in order to match 3D image space to
actual patient space. Thus, an airway shape may be provided along
with discrete segments providing shape, orientation, and location
information.
[0126] In yet another embodiment, 3D image datasets of an organ
(e.g., the heart or lung(s)) are segmented to determine a wall,
inner surface, or effective inner surface of the pathway, such that
a shape or diameter of the pathway can be determined. An effective
inner surface may be the representation of an airway that can be
tracked based upon the instrumentation used to collect points. An
instrument dragged through or passed through and airway may be
limited to its ability to track exactly along the surface of the
airway and is generally a fixed distance from the wall (i.e., a 5
mm diameter airway may only be tracked in a 3 mm diameter space as
there is a 1 mm offset of the sensor from the instrument or device
it is inserted to the outer wall). Patient image information may be
matched to the localization information in order to match 3D image
space to actual patient space. Thus, an airway shape is provided
along with discrete segments providing shape, orientation, and
location information.
[0127] In one embodiment, the tracking of therapy delivery such as
energy, material, device, or drug is described. Delivery of a
therapy for COPD, asthma, lung cancer and other lung diseases needs
tracking of the delivery location and/or pattern. This can be done
over treatment sessions (i.e., Bronchial Thermoplasty) or have a
dynamically changing dose or energy (RF, cryo, microwave, steam,
radiation, or drugs) based on location and trajectory of the
delivery device. Using the tracking location and trajectory to
modify the dose or energy real-time is described. The power of an
ablation device can be changed as the device is directed at the
target or can be turned off if outside a defined region. For
delivery of therapy that is delivered over multiple sessions, the
recorded locations of treated areas can be merged together for each
session to give the patient a complete treatment. The treatments
can also be modeled before delivery to determine a more effective
delivery pattern, dose, or energy.
[0128] In another embodiment, a catheter used in the forming of the
respiratory-gated point cloud can be integrated with one or more
fiber optic localization (FDL) devices and/or techniques. In this
way, the localization element (such as an electromagnetic (EM)
sensor) provides the 3D spatial orientation of the device, while
the FDL provides shape sensing of the airway, vessel, pathway,
organ, environment and surroundings. Conventional FDL techniques
can be employed. In various embodiments, for example, the FDL
device can be used to create localization information for the
complete pathway or to refine the localization accuracy in a
particular segment of the pathway. By either using 3D localization
information, shape, or both detected by the FDL device, the system
can use a weighted algorithm between multiple localization devices
to determine the location and orientation of the instrument in the
patient. The FDL device can also be used as or in conjunction with
the PTD to track the patient's motion such as respiration or
heartbeat.
[0129] In other embodiments, surgical instrument 12 (see FIG. 1)
may be a bronchoscope that can capture a video view. This
embodiment may comprise, a guidewire or other navigated instrument
with one to one rotation to continuously align a virtual display
view to be consistent with the actual bronchoscopic video view. A
similar technique can be used with OCT, IVUS, or EBUS devices to
orient the virtual view to the image captured by the OCT, IVUS, or
EBUS devices.
[0130] Still other embodiments involve using video input of the
bronchoscope to adjust the virtual "fly-through" view to be
consistent with the user's normal perspective. For example,
conventional video processing and matching techniques can be used
to align the real-time video and the virtual image.
[0131] Still other embodiments involve using bronchoscopic video to
provide angular information at a current location to provide
targeting or directional cues to the user. Angular information can
be derived from the location of patient anatomy in the image and
the relative size of each within the image. Using information
extracted from the video captured by the bronchoscope, the system
can determine the direction of the display. This can be done using,
for example, translation, rotation, or a combination of both. By
comparing the real-time image captured to the modified image
constructed from the respiratory-gated point cloud, the system can
use this information to align the modified image and/or enhance the
system accuracy.
[0132] In yet another embodiment, a high-speed three-dimensional
imaging device, such as an optical coherence tomography (OCT)
device, can be tracked. In accordance with conventional methods,
such a device can only view 1-2 mm below the surface. With a
localization element (e.g., electromagnetic sensor) attached in
accordance with the systems and methods described herein, multiple
3D volumes of data can be collected and a larger 3D volume of
collected data can be constructed. Knowing the 3D location and
orientation of the multiple 3D volumes will allow the user to view
a more robust image of, for example, pre-cancerous changes in the
esophagus or colon. This data can also be correlated to
pre-acquired or intra-procedurally acquired CT, fluoroscopic,
ultrasound, or 3D fluoroscopic images to provide additional
information.
[0133] Among several potential enhancements that could be provided
by a surgical instrument navigation system as described herein is
that a user could overlay the planned pathway information on to the
actual/real-time video image of the scope or imaging device (such
as ultrasound based device). Additionally, the system and apparatus
could provide a visual cue on the real-time video image showing the
correct direction or pathway to take.
[0134] According to another particular embodiment, 3D location
information may be used to extend the segmented airway model. The
3D airway can be extended as the instrument is passed along the
airway by using this location information as an additional
parameter to segment the airway from the CT data. Using an
iterative segmentation process, for instance, the 3D location
information of the instrument can be used to provide seed points,
manual extension, or an additional variable of likelihood of a
segmented vessel or airway existing in the 3D image volume. These
added airways can be displayed in a different format or color (for
example) or some other visual indicia to indicate to the user that
they are extending the segmented airway using instrument location
information.
[0135] The multi-dimensional imaging modalities described herein
may also be coupled with digitally reconstructed radiography (DRR)
techniques. In accordance with a fluoroscopic image acquisition,
for example, radiation passes through a physical media to create a
projection image on a radiation-sensitive film or an electronic
image intensifier. Given a 3D or 4D dataset as described herein,
for example, a simulated image can be generated in conjunction with
DRR methodologies. DRR is generally known in the art, and is
described, for example, by Lemieux et al. (Med. Phys. 21(11),
November 1994, pp. 1749-60).
[0136] When a DRR image is created, a fluoroscopic image is formed
by computationally projecting volume elements, or voxels, of the 3D
or 4D dataset onto one or more selected image planes. Using a 3D or
4D dataset of a given patient as described herein, for example, it
is possible to generate a DRR image that is similar in appearance
to a corresponding patient image. This similarity can be due, at
least in part, to similar intrinsic imaging parameters (e.g.,
projective transformations, distortion corrections, etc.) and
extrinsic imaging parameters (e.g., orientation, view direction,
etc.). The intrinsic imaging parameters can be derived, for
instance, from the calibration of the equipment.
[0137] Referring now to FIGS. 11A and 11B, in one embodiment of the
present invention, the generated DRR image simulates bi-planar
fluoroscopy wherein an image of a region (or tissue) of interest
1602 near the ribs 1208 of a patient 13 can be displayed for two
planes of a 3D or 4D image dataset. In certain embodiments, the two
image planes of the simulated bi-planar fluoroscopy are oriented 90
degrees apart, however it is understood that other angles are
contemplated. One image view that may be displayed is the
anterior-to-posterior (A-P) plane (FIG. 11A) and another image view
that may be displayed is the lateral plane (FIG. 11B). The display
of these two image views provides another method to see the
up-and-down (and other directional) movement of the surgical
instrument 12 (not shown). This simulated bi-planar fluoroscopy
further provides the ability to see how the surgical instrument 12
moves in an image(s), which translates to improved movement of
surgical instrument 12 in a patient 13. Additional information can
be simultaneously integrated with the simulated bi-planar
fluoroscopy (in A-P and lateral views) using minP (minimum
intensity projection or maxP (maximum intensity projection) volume,
including one or more of: (i) the segmented airway 1601, (ii) the
region (or tissue) of interest 1602, (iii) a real-time or simulated
real-time rendering of the trajectory and location 1606 of surgical
instrument 12, (iv) and the historical pathway 1204 of the surgical
instrument 12. Displaying the historical pathway 1204 of surgical
instrument 12 can assist the navigation of surgical instrument 12
in areas or situations in which there may be incomplete
segmentation of the images of the patient's respiratory system. In
another embodiment, a physician or other healthcare professional
may be able to zoom in or out or pan through the simulated
bi-planar fluoroscopy images.
[0138] According to another embodiment of the present invention,
FIG. 12 depicts a CT minP/maxP volume reading where precise
navigation of a surgical instrument 12 (not shown) having a
localization element 24 (e.g., using an electromagnetic sensor)
(not shown) near a region(s) (or tissue) of interest is carried out
with incomplete segmentation results. This embodiment may provide
the physician or other healthcare professional with a view or image
1600 using minP (minimum intensity projection) or maxP (maximum
intensity projection) volume renderings to simultaneously integrate
one or more of the segmented airway 1601, the region(s) (or tissue)
of interest 1602, and a visually distinct representation of
previously traversed paths that are "bad" (i.e., incorrect) 1603.
Additionally, this embodiment may also simultaneously integrate the
distance and angle 1604 to the region(s) (or tissue) of interest
1602 (e.g., a target lesion or tumor) using a vector fit to the
last 1 cm (or so) of travel (in addition to, or in place of,
instantaneous orientation provided by a 5DOF localization element
as described herein) and may incorporate user provided "way points"
to create a final-approach tube 1605 to the region(s) (or tissue)
of interest 1602. As described herein, the image 1600 may also
provide a real-time or simulated real-time rendering the trajectory
and location 1606 of surgical instrument 12 (e.g., the tip
component as shown with a virtual extension 1607 to the region(s)
(or tissue) of interest).
[0139] In another embodiment, an alternative method of generating a
4D dataset for 4D thoracic registration using surgical instrument
navigation system 10 is illustrated by FIGS. 13A and 13B. In
general, the 4D dataset may be acquired through respiratory gating
or tracheal temporal registration. In accordance with the methods
described herein, for example, acceleration of N data collectors
(e.g., magnetic or MEMS accelerometers, for instance) are measured
to register the thorax in time and space, using the general
formula: dataT.sub.thorax=F(t). As shown in FIGS. 13A and 13B, the
various sensors 1701 and tracheal sensor 1702 provide data as
described herein, as does sternum sensor 1703 (e.g., x, y, and z
dynamic tracking). The position and trajectory of a device (e.g.,
biopsy device or other device or medical instrument described
herein) is further capable of being tracked as described
herein.
[0140] FIG. 14 shows another embodiment of an apparatus and method
for respiratory 4D data acquisition and navigation. As shown in the
upper box, a respiratory problem or issue is scanned (e.g., by a CT
and/or MR scanner) and signal S from the tracking subsystem is
provide to the CT/IR unit (lower box). The 4D registration based on
the motion of the fiducial and tracker units (which could be, e.g.,
electromagnetic sensors, MEMS devices, combinations thereof, and
the like) is provided to the user (shown as an interventional
radiologist (IR)) on computer C. The system is capable of
displaying the current position of the device tip in the image data
shown to the IR, using the fiducial or tracker locations in the
scan coupled with the real-time motion information provided by the
device tip (e.g., which can include a sensor as described herein),
thus providing registration.
[0141] Other embodiments include, for example, using an
electromagnetic sensor as an LC or energy transmission device. This
stored energy could be used to actuate a sampling device such as
forceps or power a diagnostic sensor.
[0142] In various aspects and embodiments described herein, one can
use the knowledge of the path traveled by the surgical instrument
and segmented airway or vessel from the acquired image (e.g., CT)
to limit the possibilities of where the surgical instrument is
located in the patient. The techniques described herein, therefore,
can be valuable to improve virtual displays for users. Fly through,
fly-above, or image displays related to segmented paths are
commonly dependent upon relative closeness to the segmented path.
For a breathing patient, for example, or a patient with a moving
vessel related to heartbeat, the path traveled information can be
used to determine where in the 4D patient motion cycle the system
is located within the patient. By comparing the 3D location, the
patient's tracked or physiological signal is used to determine 4D
patient motion cycle, and with the instrument's traveled path, one
can determine the optical location relative to a segmented airway
or vessel and use this information to provide the virtual
display.
[0143] The surgical instrument navigation system of certain
embodiments of the present invention may also incorporate atlas
maps. It is envisioned that three-dimensional or four-dimensional
atlas maps may be registered with patient specific scan data,
respiratory-gated point clouds, or generic anatomical models. Atlas
maps may contain kinematic information (e.g., heart and lung
models) that can be synchronized with four-dimensional image data,
thereby supplementing the real-time information. In addition, the
kinematic information may be combined with localization information
from several instruments to provide a complete four-dimensional
model of organ motion. The atlas maps may also be used to localize
bones or soft tissue which can assist in determining placement and
location of implants.
[0144] As noted herein, a variety of instruments and devices can be
used in conjunction with the systems and methods described
herein.
[0145] As a result of or in the course of certain surgical
procedures, a patient's physical state may be changed relative to
an acquired image dataset. Incisions, insufflations, and deflation
of the lung and re-positioning of the patient are just some of the
procedures that may cause a change in the patient's physical state.
Such changes in physical state may make it more difficult to find a
lesion or point in an organ of the patient. For example, in a lung
wedge resection the thoracic surgeon is palpating the lung to find
the lesion to resect; if this lesion is 1-2 cm under the surface it
can be very difficult to find.
[0146] In one embodiment, a first localization element is placed at
a location or region of interest (e.g., a tumor) within an organ of
a patient and a second localization element is used to identify the
location of the first localization element from outside the organ
in which the first localization element has been positioned.
Preferably, the first localization element is attached or otherwise
connected to tissue or situated such that its position relative to
the location or region of interest remains fixed. In some
embodiments, for example, the first localization element can be
sutured in place, and/or or may have barbs, hooks, flexed spring
shape (bowed) and/or wires, or other suitable connection
techniques, to hold it substantially in place.
[0147] Referring now to FIG. 15A, in one embodiment first
localization element 904 is attached to tissue in a region of the
organ 900 of the patient. First localization element 904 may be
placed, for example, percutaneously, endobronchially, or via the
vasculature. As illustrated, first localization element may be
wireless, however in other embodiments first localization element
may be wired. In one embodiment, first localization element 904 is
placed using an endolumenal device 902. In percutaneous (or other)
methods, the leads of the first localization element may exit the
patient and the device removed during or after a procedure (e.g.,
during resection of a tumor).
[0148] In one embodiment, first localization element 904 is
positioned in the organ and may be registered to a segmented image
dataset prior to any procedural resection or incision has occurred.
Otherwise, pre-procedural images may not match the patient's
anatomy (e.g., once an incision is made, the patient is insufflated
for a VATS procedure, or the patient is otherwise
re-positioned).
[0149] After the first localization element 904 is positioned in an
organ and registered, as shown in FIG. 15B, the patient may then be
manipulated in a manner that would potentially induce a physical
change that would cause the patient's anatomy to not match a
pre-procedure acquired segmented image dataset. A second
localization element 908 (e.g., a pointer probe) may then be used
to identify the location of the first localization element 904 from
outside the patient's organ 900. Typically, second localization
element 908 is placed near patient's organ 900 or other area of
interest, e.g., via an incision or through a working port of a VATS
procedure or otherwise in a position to locate first localization
element 904.
[0150] Although the second localization element 908 will be outside
the organ into which first localization element 904 is placed, it
need not be outside the body of the patient. In certain embodiments
of the present invention, second localization element 908 can be
inserted into the patient through a surgical portal. In other
embodiments, second localization element 908 will be outside the
body of the patient. Optionally, and as illustrated in FIG. 15, in
one embodiment a third localization element 906 may be used to
locate first localization element 904 and second localization
element 908 relative to third localization element 906, wherein the
third localization element 906 may comprise a 3D localizing device
(e.g., an electromagnetic field generator) with a 3D coordinate
system. In another embodiment, third localization element 906 may
be used to locate second localization element 908 relative to third
localization element 906.
[0151] As illustrated in FIG. 15, in one embodiment, the organ to
which first localization element 904 is attached is a lung. In
other embodiments, however, first localization element 904 may be
attached in another organ such as a kidney or the liver.
[0152] In certain embodiments, the first, second and (optional)
third localization elements may all be elements of a tracking
subsystem 20 (see FIG. 1). If tracking subsystem 20 is an
electromagnetic tracking system, the third localization element
would typically comprise an electromagnetic field generator
(transmitter) that emits a series of electromagnetic fields
designed to engulf the patient, and the first and second
localization elements could be coils that would receive (receivers)
an induced voltage that could be monitored and translated into a
coordinate position. However, the positioning of the
electromagnetic field generator (transmitter), and the first and
second localization elements (receivers) may also be reversed, such
that the first localization element is a generator and the second
and third localization elements are receivers or the second
localization element is a generator and the first and third
localization elements are receivers. Thus in certain embodiments,
first localization element 904 may be a receiver, while in other
embodiments, first localization element 904 may be a receiver. In
certain embodiments, second localization element 908 may be a
receiver, while in other embodiments, second localization element
908 may be a receiver. In certain embodiments, third localization
element 906 may be a receiver, while in other embodiments, third
localization element 906 may be a receiver.
[0153] In one embodiment of the present invention, surgical
instrument 12 (see FIG. 1) comprises a surgical catheter that is
steerable (referred herein to as "steerable catheter") to gain
access to, manipulate, remove or otherwise treat tissue within the
body including, for example, heart or lung tissue. Generally,
steerable catheters can be remotely manipulated via a steering
actuator. In a typical medical procedure, the steering actuator is
located outside of the patient's body and is manipulated in order
to steer the steerable catheter to a desired location within the
body.
[0154] In accordance with one embodiment of the present invention
and referring now to FIG. 16, steerable catheter 200 comprises
actuating handle 216 and elongate flexible shaft 230. Elongate
flexible shaft 230 has proximal end portion 232, distal end portion
234, central longitudinal axis 207 extending from proximal end
portion 232 to distal end portion 234, and outer wall 236
comprising a biocompatible material extending from proximal end
portion 232 to distal end portion 234. In certain embodiments, the
biocompatible material is a biocompatible polymer.
[0155] In certain embodiments, elongate flexible shaft comprises a
flexible shaft portion 202 at its proximal end portion 232 and a
steerable shaft portion 203 at its distal end portion 234. In other
embodiments, elongate flexible shaft 230 comprises flexible shaft
portion 202 at its distal end portion 234 and a steerable shaft
portion at its proximal end portion 232. Flexible shaft portion 202
has a first stiffness and steerable shaft portion 203 has a second
stiffness that is less than the first stiffness. Stated
differently, flexible shaft portion 202 may be comprised of a more
rigid material which has a first stiffness, while steerable shaft
portion 203 may be comprised of a softer material having a second
stiffness. In certain embodiments, flexible shaft portion 202 is
formed from a relatively high-durometer material and steerable
shaft portion 203 is formed from a less stiff, lower-durometer
material than the flexible shaft portion. Additionally, flexible
shaft portion 202 may be reinforced with a molded-in braided
reinforcement material. In one alternative embodiment, flexible
shaft portion 202 comprises a spring having a first coil diameter
and steerable shaft portion 203 comprises a spring having a second
coil diameter. The first coil diameter may be greater than the
second coil diameter and, accordingly, the first coil diameter of
the flexible shaft portion has a greater stiffness than the second
coil diameter of the steerable shaft portion. In one embodiment,
elongate flexible shaft 230, including flexible shaft portion 202
and steerable shaft portion 203, are preferably formed from a
biocompatible material such as Pebax.TM., manufactured by
Arkema.
[0156] Biopsy device 220 is at distal end portion 234 of elongate
flexible shaft 230 and, in certain embodiments, may be used to
access or manipulate tissue. In one embodiment, biopsy device 220
is operated by actuation wire 212 (see FIG. 16A) which is housed
within actuation channel 209 extending through elongate flexible
shaft 230. Actuation wire 212 has a proximal end (not shown)
attached to handle 216 and a distal end (not shown) attached to
biopsy device 220. As illustrated in FIG. 17A and as described in
greater detail elsewhere herein, a variety of biopsy devices 220
can be used with the steerable catheter, including, but not limited
to, for example, a forceps device 17B, an auger device 17E, a
boring bit device 17C, an aspiration needle device 17F, or a brush
device 17D. In one embodiment, biopsy device 220 is comprised by a
side exiting tip component 17G comprising a forceps device, and
auger device, a boring bit device, a brush device, or an aspiration
needle device as described in greater detail elsewhere herein.
[0157] Referring again to FIG. 16, steerable catheter 200 further
includes a steering mechanism comprising steering actuator 218
(proximate actuating handle 216) and at least one pull wire 210
(see FIG. 16A) housed in elongate flexible shaft 230 and attached
to steering actuator 218. In certain embodiments, manipulation of
steering actuator 218 applies a tension to pull wire(s) 210 and
effects a deflection of steerable shaft portion 203 (located at or
near the distal end portion of elongate flexible shaft 230)
relative to flexible shaft portion 202. In certain embodiments,
pull wire 210 extends the entire length of elongate flexible shaft
230. In other embodiments, pull wire 210 may extend only into
proximal end portion 232 of elongate flexible shaft 230. In yet
other embodiments, pull wire 210 may extend only into distal end
portion 234 of elongate flexible shaft 230. In certain embodiments,
pull wire 210 is operably connected at its proximal end to steering
actuator 218 and anchored at its distal end to biopsy device 220
mounted on distal end portion 234 of elongate flexible shaft 230.
Thus, pull wire 210 passes through the flexible shaft portion and
the steerable shaft portion of the elongate flexible shaft. The
material for pull wire 210 may be any suitable material usable with
a catheter, such as stainless steel wire.
[0158] Referring now to FIG. 18A, distal end portion 234 may be
deflected relative to proximal end portion 232 such that an arc
.beta. of at least 20 degrees may be introduced into elongate
flexible shaft 230 by manipulation of steering actuator 218. As
shown in FIGS. 18A and 18B, biopsy device is shown as an aspiration
needle device 1100 (described in greater detail elsewhere herein).
In other embodiments, as described in greater detail elsewhere
herein, biopsy device 220 may comprise any of a range of other
biopsy devices such as an auger device, a boring bit device, a
brush device, a side exiting tip component, etc. In one embodiment,
an arc of at least about 30 degrees (i.e., .beta. is at least 30
degrees) may be introduced into elongate flexible shaft 230. By way
of further example, an arc of at least about 40 degrees may be
introduced into elongate flexible shaft 230. By way of further
example, an arc of at least about 45 degrees may be introduced into
elongate flexible shaft 230. By way of further example, an arc of
at least about 60 degrees may be introduced into elongate flexible
shaft 230. By way of further example, an arc of at least about 70
degrees may be introduced into elongate flexible shaft 230. By way
of further example, an arc of at least about 80 degrees may be
introduced into elongate flexible shaft 230. By way of further
example, an arc of at least about 90 degrees may be introduced into
elongate flexible shaft 230. By way of further example, an arc of
at least about 100 degrees may be introduced into elongate flexible
shaft 230. By way of further example, an arc of at least about 110
degrees may be introduced into elongate flexible shaft 230. By way
of further example, an arc of at least about 120 degrees may be
introduced into elongate flexible shaft 230. By way of further
example, an arc of at least about 130 degrees may be introduced
into elongate flexible shaft 230. By way of further example, an arc
of at least about 140 degrees may be introduced into elongate
flexible shaft 230. By way of further example, an arc of at least
about 150 degrees may be introduced into elongate flexible shaft
230. By way of further example, an arc of at least about 160
degrees may be introduced into elongate flexible shaft 230. By way
of further example, an arc of at least about 170 degrees may be
introduced into elongate flexible shaft 230. By way of further
example, an arc of about 180 degrees may be introduced into
elongate flexible shaft 230.
[0159] As illustrated in FIG. 18B, in one embodiment, manipulation
of steering actuator 218 introduces an arc .beta. of at least 180
degrees into elongate flexible shaft 230. Distal end portion 234
may be moved such that a distance of no more than 1.5 inch
separates two regions of elongate flexible shaft 230 located at
opposing ends of a chord X connecting to two points separated by at
least 180 degrees on the arc. In certain embodiments, a distance of
no more than 1 inch separates two regions of elongate flexible
shaft 230 located at opposing ends of chord X. In certain
embodiments, a distance of no more than 0.75 inches separates two
regions of elongate flexible shaft 230 located at opposing ends of
chord X. In certain embodiments, a distance of no more than 0.5
inches separates two regions of elongate flexible shaft 230 located
at opposing ends of chord X. In certain embodiments, a distance of
no more than 0.25 inches separates two regions of elongate flexible
shaft 230 located at opposing ends of chord X. In other
embodiments, manipulation of steering actuator 218 introduces an
arc .beta. of at least 120 degrees into elongate flexible shaft
230. Distal end portion 234 may be moved such that a distance of no
more than 1.5 inch separates two regions of elongate flexible shaft
230 located at opposing ends of a chord X connecting to two points
separated by at least 120 degrees on the arc. In certain
embodiments, a distance of no more than 1 inch separates two
regions of elongate flexible shaft 230 located at opposing ends of
chord X. In certain embodiments, a distance of no more than 0.75
inches separates two regions of elongate flexible shaft 230 located
at opposing ends of chord X. In certain embodiments, a distance of
no more than 0.5 inches separates two regions of elongate flexible
shaft 230 located at opposing ends of chord X. In certain
embodiments, a distance of no more than 0.25 inches separates two
regions of elongate flexible shaft 230 located at opposing ends of
chord X.
[0160] In another embodiment, elongate flexible shaft 230 of
steerable catheter 200 houses more than one pull wire 210 attached
to steering actuator 218.
[0161] The use of multiple pull wires may be preferred in some
embodiments over steerable catheters having a single pull wire. A
steerable catheter having only one pull wire 210 attached to
steering actuator 218 will typically bend in only one direction,
commonly referred to as uni-directional steering. A steerable
catheter capable of only uni-directional steering could be rotated,
such that any point surrounding the distal end of the elongate
flexible shaft may be reached by bending the catheter tip and
rotating the catheter. Two or more pull wires (e.g., two, three,
four, or even more) attached to steering actuator 218, however,
could provide multi-directional steering thereby permitting the
elongate flexible shaft to be deflected in two or more
directions.
[0162] In one embodiment, elongate flexible shaft 230 comprises one
or more lumens extending from proximal end portion 232 to distal
end portion 234 of elongate flexible shaft 234 that may be used to
deliver a medical device or therapy to a surgical site (e.g.,
fluids, biopsy devices, drugs, radioactive seeds, combinations
thereof, or the like). In other embodiments, the lumen(s) may house
additional structures such as electrical wires or optical fibers
connected to biopsy device 220 on distal end portion 234 of
elongate flexible shaft 230. In other embodiments, a vacuum
pressure may be applied to the lumen(s) to assist removal of tissue
or fluid. In certain embodiments, the lumen may be a working
channel in which a biopsy device such as an aspiration needle is
housed and operated, wherein the aspiration needle is described in
greater detail elsewhere herein (see FIG. 33).
[0163] Referring now to FIG. 19, in another embodiment elongate
flexible shaft 230 of steerable catheter 200 comprises articulated
spline 204 containing a plurality of spline rings 206. Spline rings
206 are affixed in series to at least one hollow spline guide 208
and extend in the direction of longitudinal central axis 207.
Articulated spline 204 may be covered in a casing 214 comprising a
biocompatible material. In other embodiments, articulated spline
204 is at distal end portion 234 of elongate flexible shaft 230. In
yet other embodiments, articulated spline 204 is at proximal end
portion 232 of elongate flexible shaft 230. In yet other
embodiments, steerable shaft portion 203 comprises articulated
spline 204.
[0164] In one embodiment, as illustrated in FIG. 19, steerable
catheter 200 further comprises forceps device 300 as the biopsy
device 220. In other embodiments, as described in greater detail
elsewhere herein, biopsy device 220 may comprise any of a range of
other biopsy devices such as an auger device, a boring bit device,
a brush device, a side exiting tip component, etc. Forceps device
300 comprises forceps housing 301, first and second forceps jaws
302, localization element 24 and localization element lead wire
103, wherein the first and second forceps jaws 302 are operably
connected to actuation wire 212. The physician or other healthcare
professional actuates forceps device 300 by manipulating handle 216
causing first and second forceps jaws 302 to pivot relative to one
another, thereby closing first and second forceps jaws 302 thereby
removing tissue. In certain embodiments, forceps device 300 may
also comprise a tissue collection region where the removed tissue
can be collected. In other embodiments, forceps device 300 can be
equipped with, or used in conjunction with, a vacuum pressure
(suction) may be used to pull the removed tissue into tissue
collection region. In yet other embodiments, tissue collection
region of forceps device 300 may have a viewing window through
which the removed tissue can be inspected from outside forceps
device 300 (see FIG. 27). In other embodiments, localization
element 24 may be attached to actuation wire 212 such that movement
of actuation wire 212 as handle 215 is manipulated causes
coordinated movement of localization element 24 thereby providing
an indication that forceps device 300 is being operated. A number
of mechanically operated forceps devices are known in the prior art
and can be adapted to operably connect to the actuation wire 212 of
the steerable catheter 200. As described in greater detail
elsewhere herein, biopsy device 220 may comprise any of a range of
other biopsy devices such as an auger device, a boring bit device,
an aspiration needle device, a brush device, a side exiting tip
component, etc.
[0165] Referring now to FIG. 19A, hollow spline guides 208 are
affixed to opposing inner surfaces of spline rings 206. Pull wires
210 are housed in hollow spline guides 208 with one pull wire
housed within each hollow spline guide 208. The hollow spline
guides 208 can be made of, for example, stainless steel or other
metal, or from a hard polymeric material, such as polyimide or
PTFE, or from a polymer lined metal tube, such as a Teflon lined
stainless steel tube. Each hollow spline guide 208 may be made of a
type of tube commonly used to fabricate hypodermic needles, e.g., a
stainless steel tube having an outside diameter of about 0.050
inches or less, and more preferably about 0.018 inches or less.
This tubing is sometimes referred to as "hypotube." By way of
example, the guide tube may be a 26 gauge stainless steel
hypodermic tube, with a nominal outside diameter of 0.0183 inches
and a nominal wall thickness of 0.004 inches. The hollow spline
guides 208 provide and exhibit high strength and resiliency that
resists compression. In one embodiment, by way of example, hollow
spline guides 208 are affixed to spline rings 206 by a laser weld.
In another embodiment, by way of further example, hollow spline
guides 208 are affixed to spline rings 206 by an epoxy. In another
embodiment, by way of further example, hollow spline guides 208 are
affixed to the spline rings 206 by solder. In another embodiment,
by way of further example, hollow spline guides 208 are affixed to
spline rings 206 by a brazed joint.
[0166] Typically, the outer diameter of elongate flexible shaft 230
of steerable catheter 200 is less than 5 mm. By way of example, in
certain embodiments, the outer diameter of elongate flexible shaft
230 of steerable catheter 200 is less than 1 mm. By way of further
example, in certain embodiments, the outer diameter of elongate
flexible shaft 230 of steerable catheter 200 is less than 2 mm. By
way of further example, in certain embodiments, the outer diameter
of elongate flexible shaft 230 of steerable catheter 200 is less
than 3 mm. By way of further example, in certain embodiments, the
outer diameter of elongate flexible shaft 230 of steerable catheter
200 is less than 4 mm. By way of further example, in certain
embodiments, the outer diameter of elongate flexible shaft 230 of
steerable catheter 200 is less than 5 mm.
[0167] While in certain embodiments the steerable catheter 200 is
non-navigated, other embodiments of the steerable catheter 200 are
navigated. In certain embodiments in which steerable catheter 200
is navigated, a localization element 24 is positioned in elongate
flexible shaft 230 or biopsy device 220, preferably at or near the
distal end thereof. In certain embodiments, localization element 24
may comprise electromagnetic sensors. However, in other embodiments
the steerable catheter 200 may be navigated wherein elongate
flexible shaft 230 or biopsy device 220 may further comprise
radiopaque markers visible via fluoroscopic imaging, or echogenic
materials or patterns that increase visibility of the tip component
under an ultrasonic beam. In yet other embodiments the steerable
catheter 200 may be navigated wherein distal end portion 234 of
elongate flexible shaft 230 or distal end of biopsy device 220 may
further comprise radiopaque markers visible via fluoroscopic
imaging, or echogenic materials or patterns that increase
visibility of the tip component under an ultrasonic beam. In one
embodiment, localization element 24 comprises a six (6) degree of
freedom (6DOF) electromagnetic sensor. In another embodiment the
localization element comprises a five (5) degree of freedom (5DOF)
electromagnetic sensor. Using the localization element, the user
can have the location of the biopsy device 220 is defined on the
navigation screen.
[0168] In one embodiment, localization element 24 may be attached
to actuation wire 212. Movement of actuation wire 212 as handle 216
is manipulated causes coordinated movement of localization element
24 thereby providing an indication that biopsy device 220 is being
operated. In accordance with other embodiments, for example, a
localization element as described herein (e.g., an electromagnetic
(EM) sensor) is affixed (preferably permanently affixed, but may
also be removable) to a biopsy device or medical instrument so that
both the biopsy device or medical instrument (or component thereof)
and the localization element move together, such that they can be
imaged and viewed. In one embodiment, for example, biopsy device
220 is an aspiration needle and the needle tip and the sensor move
together. In another embodiment, for example, biopsy device 220 is
a brush, forceps, or forceps tissue capture mechanism and these
components and the localization element move together. In these and
other embodiments, handle 216 may be coupled with localization
element 24, thus allowing movement tracking. These various
embodiments allow the biopsy device or medical instrument (and
components thereof) to be tracked using the localization element,
improving overall accuracy and reliability.
[0169] Referring now to FIGS. 20A, 20B and 20C, in one embodiment
biopsy device 220 further comprises an angled or directionally
arranged radiopaque marker pattern 115 that is visible via
fluoroscopic imaging. The radiopaque marker pattern 115 may be made
of stainless steel, tantalum, platinum, gold, barium, bismuth,
tungsten, iridium, or rhenium, alloys thereof, or of other
radiopaque materials known in the art. The radiopaque marker
pattern 115 allows for tracking of the location and orientation of
the biopsy device 220. Based upon the orientation of the radiopaque
marker pattern 115 on the biopsy device 220 with respect to the
incident fluoroscopic beam, a distinct image is visible on a
fluoroscope. As the biopsy device 220 is navigated and rotated into
position at the patient target, the orientation of the radiopaque
marker pattern 115 with respect to the incident fluoroscopic beam
will be altered resulting in a corresponding change to the
fluoroscopic image, thereby allowing the user to know the location
and orientation of the biopsy device 220. Accordingly, the user can
then operate the biopsy device 220 at the desired patient target.
In other embodiments, radiopaque marker pattern 115 may be at
distal end portion 234 of elongate flexible shaft 230. In this
embodiment, biopsy device 220 may comprise any of the biopsy
devices described elsewhere herein (see, e.g., FIGS. 17A-17G).
[0170] Referring now to FIGS. 21A, 21B, and 21C, in one embodiment
biopsy device 220 further comprises generally circular radiopaque
markers 116 placed around biopsy device 220, with 3 radiopaque
markers on one side of biopsy device 220 and 1 radiopaque marker on
the opposite side of biopsy device 220. By way of example, in
certain embodiments, 4 radiopaque markers are placed on one side of
biopsy device 220 and 2 radiopaque markers are placed on the
opposite side of biopsy device 220. By way of further example, in
certain embodiments, 5 radiopaque markers are placed on one side of
biopsy device 220 and 3 radiopaque markers are placed on the
opposite side of biopsy device 220. In other embodiments, circular
radiopaque markers 116 may be at distal end portion 234 of elongate
flexible shaft 230. In this embodiment, biopsy device 220 may
comprise any of the biopsy devices described elsewhere herein (see,
e.g., FIGS. 17A-17G).
[0171] Referring now to FIGS. 22 and 23, in one embodiment biopsy
device 220 further comprises an echogenic pattern that may be
viewed via ultrasonic imaging. Several approaches of enhancing the
ultrasonic signature of medical instruments through modification of
the instrument surface reflectivity are known in the prior art and
can be applied to embodiments of the present invention. In one
embodiment, an echogenic pattern can be positioned around the side
wall of biopsy device 220, such that the echogenic pattern fully
encompasses the exterior circumference of biopsy device 220. In
other embodiments, an echogenic pattern may be at distal end
portion 234 of elongate flexible shaft 230. In this embodiment,
biopsy device 220 may comprise any of the biopsy devices described
elsewhere herein (see, e.g., FIGS. 17A-17G).
[0172] Referring now to FIGS. 22 and 22A, the echogenic pattern
comprises a plurality of partially spherical indentations 114 on
the exterior surface of biopsy device 220, such that the radius of
the partially spherical indentations is less than the wavelength of
the incident ultrasonic beam. The plurality of partially spherical
indentations 114 cause constructive interference of the ultrasonic
beam to affect an amplification of the reflecting beam along the
line of the incident beam; such amplification may occur at any
incident ultrasonic beam angle. In this embodiment, biopsy device
220 may comprise any of the biopsy devices described elsewhere
herein (see, e.g., FIGS. 17A-17G).
[0173] Referring now to FIGS. 23 and 23A, the echogenic pattern
comprises a plurality of grooves 113 cut into the exterior surface
of biopsy device 220 that increase the reflective coefficient of
biopsy device 220. The plurality of grooves 113 may cause
constructive interference of the ultrasonic beam to affect an
amplification of the reflecting beam along the line of the incident
beam. In this embodiment, biopsy device 220 may comprise any of the
biopsy devices described elsewhere herein (see, e.g., FIGS.
17A-17G).
[0174] In certain embodiments, as discussed herein, localization
element 24 may be positioned at or near the distal end of biopsy
device 220. Alternatively, in other embodiments, localization
element 24 is positioned at or near the proximal end of biopsy
device 220. In yet other embodiments, multiple localization
elements 24 (e.g., 5DOF or 6DOF electromagnetic sensors) and/or
radiopaque markers, echogenic patterns, etc. may be positioned at
or near the proximal end of biopsy device 220. Alternatively, in
other embodiments, multiple localization elements 24 (e.g., 5DOF or
6DOF electromagnetic sensors) and/or radiopaque markers, echogenic
patterns, etc. may be positioned at or near the distal end of the
biopsy device 220. In yet other embodiments, multiple localization
elements 24 (e.g., 5DOF or 6DOF electromagnetic sensors) and/or
radiopaque markers, echogenic patterns, etc. may be positioned at
or near the proximal and distal ends of the biopsy device 220. In
another embodiment of the present invention, biopsy device 220
contains no localization element 24. Alternatively, localization
element 24 is positioned at or near distal end portion 234 of
elongate flexible shaft 230. By positioning localization element 24
at or near distal end portion 234 of elongate flexible shaft 230,
in certain embodiments, the biopsy device 220 could be made smaller
or at a lesser cost. In this embodiment, biopsy device 220 may
comprise any of the biopsy devices described elsewhere herein (see,
e.g., FIGS. 17A-17G).
[0175] In yet other embodiments, forceps device 300 (see FIG. 17B)
may be visible via fluoroscopic imaging wherein an angled or
directionally arranged radiopaque marker pattern 115 is at or near
the proximal end and/or the distal end of forceps device 300 (see
FIGS. 20A, 20B, and 20C). In yet other embodiments, forceps device
300 may be visible via fluoroscopic imaging wherein a radiopaque
marker pattern 115 comprising generally circular radiopaque markers
116 is placed around forceps device 300 (see FIGS. 21A, 21B, and
21C). In yet other embodiments, forceps device 300 may be visible
via ultrasonic imaging wherein an echogenic pattern comprising a
plurality of grooves 113 is in forceps device 300 (see FIG. 23). In
yet other embodiments, forceps device 300 may be visible via
ultrasonic imaging wherein an echogenic pattern comprising a
plurality of partially spherical indentations 114 is in forceps
device 300 (see FIG. 22).
[0176] Referring now to FIG. 24, in an alternative embodiment,
steerable catheter 200 comprises an alternative forceps device 300
as the biopsy device 220. Instead of a mechanical forceps device
actuated by an actuation wire (see FIG. 19), first and second
forceps jaws 302 are operated by a solenoid coil 1601. Solenoid
coil 1601 is housed within in forceps housing 301 and when the
solenoid is in an "active" mode, it is activated by energy stored
in capacitor 1603 thereby actuating the first and second forceps
jaws 302 via armature 1604. In a "passive" mode solenoid coil 1601
may act as a localization element 24 (e.g., an electromagnetic or
other sensor). In other embodiments, other biopsy devices as
described elsewhere herein (see, e.g., FIGS. 17A-17G), may be
actuated or operated in a similar manner.
[0177] Referring now to FIGS. 25A and 25B, in an alternative
embodiment, steerable catheter 200 comprises an auger device 400 as
the biopsy device 220. Auger device 400 may be positioned proximate
to the region (or tissue) of interest and is adapted to remove
tissue from the respiratory system of a patient. In certain
embodiments, auger device 400 may comprise an auger bit housing
401, and an auger bit 402 within the auger bit housing 401. Auger
bit 402 has a base and a tip, and a tissue collection region 406 at
the base of the auger bit 402, wherein the auger bit 402 may be
operably connected to the actuation wire 212. Auger bit 402 may be
helical in shape. Auger bit housing 401 has a closed proximal end
attached to distal end portion 234 of elongate flexible shaft 230
and an open distal end. The proximal end of auger bit housing 401
has a hole through which the actuation wire extends toward the open
distal end. In certain embodiments, auger bit housing 401 and auger
bit 402 can be made of, for example, stainless steel or other
metal, plastic, for example PVC, or from a hard polymeric material.
In one particular embodiment, the auger bit 402 has a constant
diameter from the base to the tip. In another embodiment, the
diameter of auger bit 402 decreases from the base to the tip. In
this particular embodiment, as illustrated in FIG. 25B, auger bit
402 is extendable out the open distal end of auger bit housing 401
and rotatable by manipulation of the actuation wire 212 at handle
216 (not shown). Auger device 400 may be navigated via the
inclusion of a localization element 24 with a sensor lead 103
extending to proximal end portion 232 of elongate flexible shaft
230. In other embodiments, localization element 24 may be attached
to actuation wire 212 such that movement of actuation wire 212 as
handle 216 is manipulated causes coordinated movement of
localization element 24 thereby providing an indication that auger
device 400 is being operated. In other embodiments, localization
element 24 may be attached to auger bit 402. Once the target tissue
of a patient's respiratory system is reached by steerable catheter
200, the physician or other healthcare professional actuates auger
device 400 by manipulating handle 216 which actuates actuating wire
212 thereby causing auger bit 402 to extend and rotate, removing
tissue from the patient. Rotation of auger bit 402 draws the
removed tissue into the auger bit housing 401 and into tissue
collection region 406. In other embodiments, a vacuum pressure may
be used to pull the removed tissue into tissue collection region
406. In yet other embodiments as illustrated by FIGS. 26A and 26B,
auger device 400 may have no localization element.
[0178] As shown in FIG. 27, in another embodiment of auger device
400, tissue collection region 406 of auger device 400 has a viewing
window 408. Viewing window 408 allows for inspection, e.g., via
bronchoscope or other viewing or sensing device such as described
herein while the steerable catheter 200 is still in the patient's
body, of when the tissue collection region 406 is full or a
sufficient sample size has been collected. In other embodiments,
the removed tissue can be viewed through viewing window 408 after
the steerable catheter 200 has been removed from the patient's body
or it can be viewed by a bronchoscope inserted into the patient's
body.
[0179] In yet other embodiments, auger device 400 may be visible
via fluoroscopic imaging wherein an angled or directionally
arranged radiopaque marker pattern 115 is at or near the proximal
end and/or the distal end of auger device 400 (see FIGS. 20A, 20B,
and 20C). In yet other embodiments, auger device 400 may be visible
via fluoroscopic imaging wherein a radiopaque marker pattern 115
comprising generally circular radiopaque markers 116 is placed
around auger device 400 (see FIGS. 21A, 21B, and 21C). In yet other
embodiments, auger device 400 may be visible via ultrasonic imaging
wherein an echogenic pattern comprising a plurality of grooves 113
is in auger device 400 (see FIG. 23). In yet other embodiments,
auger device 400 may be visible via ultrasonic imaging wherein an
echogenic pattern comprising a plurality of partially spherical
indentations 114 is in auger device 400 (see FIG. 22).
[0180] Referring now to FIGS. 28A and 28B, in an alternative
embodiment, steerable catheter 200 comprises a boring bit device
500 as the biopsy device 220. Boring bit device 500 may be
positioned proximate to the region (or tissue) of interest and is
adapted to remove tissue from the respiratory system of a patient.
Additionally, in certain embodiments, elongate flexible shaft 200
further comprises a vacuum channel 506. In certain embodiments,
boring bit device 500 may comprise a boring bit housing 501 and a
boring bit 502 within boring bit housing 501. Boring bit 502 may
comprise a hollow cylinder having a closed proximal end and an open
distal end having a plurality of cutting teeth around the
circumference of the cylinder, wherein boring bit 502 may be
operably connected to actuation wire 212. Boring bit housing 501
and boring bit 502 can be made of, for example, stainless steel or
other metal, plastic, for example PVC, or from a hard polymeric
material. Boring bit device 500 may be navigated via the inclusion
of an attached localization element 24 with a sensor lead 103
extending to the proximal end portion 232 of elongate flexible
shaft 230. In other embodiments, localization element 24 may be
attached to actuation wire 212 such that movement of actuation wire
212 as handle 216 is manipulated causes coordinated movement of
localization element 24 thereby providing an indication that boring
bit device 500 is being operated. In other embodiments,
localization element 24 may be attached to boring bit 502. In this
particular embodiment, as illustrated in FIG. 28B, boring bit 502
is extendable out the open distal end of boring bit housing 501 and
rotatable by manipulation of the actuation wire 212 at handle 216
(not shown). Once the target tissue of a patient's respiratory
system is reached by steerable catheter 200, the physician or other
healthcare professional actuates boring bit device 500 by
manipulating handle 216 which actuates actuating wire 212 thereby
causing boring bit 502 to extend and rotate, removing tissue from
the patient. In certain embodiments, boring bit device 500 may also
comprise a tissue collection region where the removed tissue can be
collected. In yet other embodiments, tissue collection region of
boring bit device 500 may have a viewing window through which the
removed tissue can be inspected from outside boring bit device 500
(see FIG. 27). In certain embodiments, boring bit device 500 may
have no localization element as illustrated in FIGS. 30A and
30B.
[0181] FIG. 29 illustrates another embodiment where, boring bit
housing 501 may have at least one opening 510 in the proximal end
attached to distal end portion 234 of elongate flexible shaft 230
and an open distal end through which the boring bit 502 is
extended. Additionally, in this embodiment, the proximal end of
boring bit 502 may have at least one opening 510. The proximal end
of boring bit housing 501 has a hole through which the actuation
wire 212 extends toward the open distal end. In this particular
embodiment, boring bit 502 is extendable out the open distal end of
the boring bit housing 501 and rotatable by manipulation of the
actuation wire 212 at handle 216 (not shown). Once the target
tissue of a patient's respiratory system is reached by the
steerable catheter 200, the physician or other healthcare
professional actuates boring bit device 500 by manipulating handle
216 which actuates actuating wire 212 thereby causing boring bit
502 to extend and rotate, removing tissue from the patient.
Additionally, a vacuum pressure may be applied at proximal end
portion 232 of elongate flexible shaft 230 wherein this pressure
acts on the vacuum channel 506, the at least one opening 510 in the
proximal end of boring bit housing 501, and the at least one
opening 510 in the proximal end of boring bit 502 to aid in the
removal of the patient's tissue. In other embodiments, wherein
boring bit device 500 may further comprise a tissue collection
region, the applied vacuum pressure may be used to pull the removed
tissue into tissue collection region.
[0182] In another embodiment, as illustrated by FIGS. 31A and 31B,
boring bit housing 501 has closed proximate end attached to the
distal end portion 234 of elongate flexible shaft 230 and an open
distal end through which boring bit 502 is extended. The proximal
end of boring bit housing 501 has a hole through which the
actuation wire 504 extends toward the open distal end.
Additionally, in this embodiment, actuation wire 504 is hollow. In
this particular embodiment, as illustrated in FIG. 32, boring bit
502 is extendable out the open distal end of boring bit housing 501
and rotatable by manipulation of hollow actuation wire 504 at
handle 216. Once the target tissue of a patient's respiratory
system is reached by steerable catheter 200, the physician or other
healthcare professional actuates the boring bit device 500 by
manipulating handle 216 which actuates hollow actuating wire 504
thereby causing boring bit 502 to extend and rotate, removing
tissue from the patient. Additionally, a vacuum pressure may be
applied at proximal end portion 232 of elongate flexible shaft 230
wherein this pressure acts on hollow actuation wire 504 to aid in
the removal of the patient's tissue.
[0183] In yet other embodiments, boring bit device 500 may be
visible via fluoroscopic imaging wherein an angled or directionally
arranged radiopaque marker pattern 115 is at or near the proximal
end and/or the distal end of boring bit device 500 (see FIGS. 20A,
20B, and 20C). In yet other embodiments, boring bit device 500 may
be visible via fluoroscopic imaging a radiopaque marker pattern 115
comprising generally circular radiopaque markers 116 is placed
around boring bit device 500 (see FIGS. 21A, 21B, and 21C). In yet
other embodiments, boring bit device 500 may be visible via
ultrasonic imaging wherein an echogenic pattern comprising a
plurality of grooves 113 is in boring bit device 500 (see FIG. 23).
In yet other embodiments, boring bit device 500 may be visible via
ultrasonic imaging wherein an echogenic pattern comprising a
plurality of partially spherical indentations 114 is in boring bit
device 500 (see FIG. 22).
[0184] Referring now to FIG. 33, in an alternative embodiment,
steerable catheter 200 comprises an aspiration needle device 1100
as the biopsy device 220. Aspiration needle device 1100 may be
positioned proximate to the region (or tissue) of interest and is
adapted to remove tissue from the respiratory system of a patient.
In certain embodiments, aspiration needle device 1100 may comprise
an aspiration needle housing 1101 and an aspiration needle 1102
within aspiration needle housing 1101. Aspiration needle device
1100 may be navigated via the inclusion of an attached localization
element 24 with a sensor lead 103 extending to proximal end portion
232 of elongate flexible shaft 230. In other embodiments,
localization element 24 may be attached to hollow actuation wire
504 such that movement of hollow actuation wire 504 as handle 216
is manipulated causes coordinated movement of localization element
24 thereby providing an indication that aspiration needle device
1100 is being operated. In other embodiments, localization element
24 may be attached to aspiration needle 1102. In certain
embodiments, aspiration needle device 1100 may have no localization
element. In certain embodiments, aspiration needle 1102 may be
between 18 and 22 ga. Aspiration needle housing 1101 and aspiration
needle 1102 can be made of, for example, nitinol, stainless steel
or other metal, plastic, for example PVC, or from a hard polymeric
material. In certain embodiments, aspiration needle 1102 may be a
flexible needle. In other embodiments, aspiration needle 1102 may
be a relatively rigid (non-flexible) needle. In yet other
embodiments, aspiration needle 1102 may comprise a shape memory
alloy, as described in greater detail elsewhere herein. There are a
number of mechanically operated aspiration needle devices that are
known in the prior art and can be adapted to operably connect to a
hollow actuation wire of the steerable catheter 200. In additional
embodiments, the aspiration needle device comprises a single biopsy
device that is attached at the proximal end portion 232 of elongate
flexible shaft 230 and extends to the distal end portion 234 of
elongate flexible shaft 232. Aspiration needle device 1100 may be
navigated via the inclusion of an attached localization element 24
with a sensor lead 103 extending to proximal end portion 232 of
elongate flexible shaft 230. Once the target tissue of a patient's
respiratory system is reached by steerable catheter 200, the
physician or other healthcare professional actuates aspiration
needle device 1100 by manipulating handle 216 which actuates the
actuating wire 504 thereby causing aspiration needle 1102 to extend
and pierce tissue in the patient. Additionally, a vacuum pressure
may be applied at proximal end portion 232 of elongate flexible
shaft 230 wherein this pressure acts on hollow actuation wire 504
to aid in the removal of the patient's tissue. In another
embodiments, aspiration needle device 1100 comprises a single
biopsy device that is attached at proximal end portion 232 of
elongate flexible shaft 230 and extends to distal end portion 234
of elongate flexible shaft 230, the physician or other healthcare
professional actuates aspiration needle device 1100 by manipulating
handle 216 which causes aspiration needle 502 to extend and pierce
tissue from the patient. Additionally, a vacuum pressure may be
applied at proximal end portion 232 of elongate flexible shaft 230
wherein this pressure acts on aspiration needle 1102 to aid in the
removal of the patient's tissue. In certain embodiments, aspiration
needle device 1100 may also comprise a tissue collection region
where the removed tissue can be collected. In other embodiments,
the applied vacuum pressure may be used to pull the removed tissue
into tissue collection region. In yet other embodiments, tissue
collection region of aspiration needle device 1100 may have a
viewing window through which the removed tissue can be inspected
from outside aspiration needle device 1100 (see FIG. 27).
[0185] In yet other embodiments, aspiration needle device 1100 may
be visible via fluoroscopic imaging wherein an angled or
directionally arranged radiopaque marker pattern 115 is at or near
the proximal end and/or the distal end of aspiration needle device
1100 (see FIGS. 20A, 20B, and 20C). In yet other embodiments,
aspiration needle device 1100 may be visible via fluoroscopic
imaging wherein a radiopaque marker pattern 115 comprising
generally circular radiopaque markers 116 is placed around
aspiration needle device 1100 (see FIGS. 21A, 21B, and 21C). In yet
other embodiments, aspiration needle device 1100 may be visible via
ultrasonic imaging wherein an echogenic pattern comprising a
plurality of grooves 113 is in aspiration needle device 1100 (see
FIG. 23). In yet other embodiments, aspiration needle device 1100
may be visible via ultrasonic imaging wherein an echogenic pattern
comprising a plurality of partially spherical indentations 114 is
in aspiration needle device 1100 (see FIG. 22).
[0186] Referring now to FIGS. 34A and 34B, in an alternative
embodiment, steerable catheter 200 comprises a brush device 1000 as
the biopsy device 220. Brush device 1000 may be positioned
proximate to the region (or tissue) of interest and is adapted to
remove tissue from the respiratory system of a patient. In certain
embodiments, brush device 1000 may comprise a brush housing 1001
and a brush 1002 wherein brush 1002 comprises a plurality of
bristles affixed to an actuation wire 212. Brush housing 1001 may
have a closed proximal end attached to the distal end portion 234
of elongate flexible shaft 230 and an open distal end. Additionally
brush housing 1001 may have an internal wall 1003 with an aperture
1004 having a diameter less than that of the diameter of brush
1002. The proximal end of brush housing 1001 has a hole through
which the actuation wire 212 extends toward the open distal end.
Brush housing 1001 can be made of, for example, stainless steel or
other metal, plastic, for example PVC, or from a hard polymeric
material. Brush 1002 is extendable out the open distal end of brush
housing 1001 and rotatable by manipulation of the actuation wire
212 at handle 216. Brush device 1000 may be navigated via the
inclusion of an attached localization element 24 with a sensor lead
103 extending to proximal end portion 232 of elongate flexible
shaft 230. In other embodiments, localization element 24 may be
attached to actuation wire 212 such that movement of actuation wire
212 as handle 216 is manipulated causes coordinated movement of
localization element 24 thereby providing an indication that brush
device 1000 is being operated. In other embodiments, localization
element 24 may be attached to brush 1002. In certain embodiments,
brush device 1000 may have no localization element. Once the target
tissue of a patient's respiratory system is reached by steerable
catheter 200, the physician or other healthcare professional
actuates brush device 1000 by manipulating handle 216 which
actuates actuating wire 212 thereby causing brush 1002 to extend
and rotate, removing tissue 1005 from the patient. The physician or
other healthcare professional may then withdraw brush 1002 into
brush housing 1001 whereby removed tissue 1006 is scraped from
brush 1002 by aperture 1004. Additionally, in another embodiment,
elongate flexible shaft 230 further comprises a vacuum channel and
the proximal end of brush housing 1001 further comprises at least
one hole to which a vacuum pressure can be applied. Additionally, a
vacuum pressure may be applied at proximal end portion 232 of
elongate flexible shaft 230 wherein this pressure acts on the
vacuum channel and the at least one opening in the proximal end of
brush housing 1001 to aid in the removal of the patient's tissue.
In certain embodiments, brush device 1000 may also comprise a
tissue collection region where the removed tissue can be collected.
In other embodiments, the applied vacuum pressure may be used to
pull the removed tissue into tissue collection region. In yet other
embodiments, tissue collection region of brush device 1000 may have
a viewing window through which the removed tissue can be inspected
from outside brush device 1000 (see FIG. 27).
[0187] In yet other embodiments, brush device 1000 may be visible
via fluoroscopic imaging wherein an angled or directionally
arranged radiopaque marker pattern 115 is at or near the proximal
end and/or the distal end of brush device 1000 (see FIGS. 20A, 20B,
and 20C). In yet other embodiments, brush device 1000 may be
visible via fluoroscopic imaging wherein a radiopaque marker
pattern 115 comprising generally circular radiopaque markers 116 is
placed around brush device 1000 (see FIGS. 21A, 21B, and 21C). In
yet other embodiments, brush device 1000 may be visible via
ultrasonic imaging an echogenic pattern comprising a plurality of
grooves 113 is in brush device 1000 (see FIG. 23). In yet other
embodiments, brush device 1000 may be visible via ultrasonic
imaging wherein an echogenic pattern comprising a plurality of
partially spherical indentations 114 is in brush device 1000 (see
FIG. 22).
[0188] In another embodiment of a brush device, as brush is pushed
out of the brush housing the brush is squeezed through a smaller
opening to collect the sampled tissue that was trapped when
extended. When fully extended, the brush device end would be open
so that the brush can be retracted and the sampled tissue can be
pulled into the instrument. The brush device would then close as
the brush is extended out and the sampled tissue could be
scraped/squeezed from the brush bristles and collected in a
reservoir. In certain embodiments, a vacuum pressure may be added
to this device in conjunction or in lieu of the scrapping process
to clean the brush.
[0189] In yet another embodiment, biopsy device 220 is extendable
is extendable along a path from a position within the outer wall
236 through a side exit to a position outside the outer wall 236 at
an angle of at least 30 degrees relative to the longitudinal axis,
wherein the path of biopsy device 220 can be calibrated to the
location of an electromagnetic localization sensor positioned at
the distal end portion of the elongate flexible shaft and displayed
by a surgical instrument navigation system. Various embodiments of
biopsy devices exiting from the side of the elongate catheter body
can be seen in FIG. 37.
[0190] In these and other embodiments, a portion of biopsy device
220 may be bent at an angle relative longitudinal axis 207. A bend
in biopsy device 220, may allow the physician or other healthcare
professional to rotate biopsy device 220 and sample the region (or
tissue) of interest via several different pathways or positions.
This may also increase the amount of region (or tissue) of interest
that may be sampled in a single pass, and may improve targeting of
regions (or tissue) of interest to be sampled. Moreover, a bend in
biopsy device 220 may assist in targeting a region that is not
necessarily directly in a patient pathway (e.g., an airway), but
may be next to the pathway, thus enabling the physician or other
healthcare professional to direct biopsy device 220 to a desired
location off the axis of the airway.
[0191] The method or procedure of guiding the steerable catheter
200 of certain embodiments to a desired target tissue in the
respiratory system of a patient comprises: (i) inserting a flexible
lumen into the patient, (ii) inserting into the flexible lumen
steerable catheter 200, (ii) navigating steerable catheter 200
through the respiratory system of the patient, (iii) manipulating
steering actuator 218 to cause a deflection in longitudinal axis
207, and (iv) performing a medical procedure at the region (or
tissue) of interest. In embodiments where steerable catheter 200 is
a navigated catheter, the method or procedure of guiding the
steerable catheter 200 of certain embodiments to a desired target
tissue of a patient includes the additional steps of: (i)
displaying an image of the region of the patient, (ii) detecting a
location and orientation of localization element 24, and (iii)
displaying, in real-time, biopsy device 220 on the image by
superimposing a virtual representation of steerable catheter 200
and biopsy device 220 on the image based upon the location and
orientation of localization element.
[0192] A method or procedure of guiding steerable catheter 200 of
certain embodiments to a desired target tissue in the respiratory
system of a patient may comprise inserting a flexible lumen into
the patient, and inserting into the flexible lumen steerable
catheter 200. Steerable catheter 200 may then be navigated to the
region of interest and steering actuator 218 may be manipulated to
cause a deflection in longitudinal axis 207. Medical procedure may
then be performed at the region (or tissue) of interest. In
embodiments where steerable catheter 200 is a navigated catheter,
the method or procedure of guiding steerable catheter 200 of
certain embodiments to a region (or tissue) of interest may
comprise the additional steps of displaying an image of the region
(or tissue) of interest and detecting a location and orientation of
localization element 24. Then biopsy device 220 may be displayed,
in real-time, on the image by superimposing a virtual
representation of steerable catheter 200 and biopsy device 220 on
the image based upon the location and orientation of localization
element 24.
[0193] In one embodiment of the present invention, surgical
instrument 12 (see FIG. 1) comprises a surgical catheter having a
side exit (referred to herein as "side exiting catheter") which may
be used in a medical procedure to gain access to, manipulate,
remove or otherwise treat tissue within the body including, for
example, heart or lung tissue. Generally, surgical catheters of the
present invention have a distal end portion which can be remotely
manipulated via a proximally located handle.
[0194] In accordance with one embodiment of the present invention
and referring now to FIG. 35, side exiting catheter 100 comprises
actuating handle 110 and elongate flexible shaft 130. Elongate
flexible shaft 130 has proximal end portion 132, distal end portion
134, longitudinal axis 109 extending from proximal end portion 132
to distal end portion 134, outer wall 136 comprising a
biocompatible material extending from proximal end portion 132 to
distal end portion 134, and a side exit 105 at distal end portion
134 of elongate flexible shaft. In certain embodiments, the
biocompatible material is a biocompatible polymer. The stiffness
properties of elongate flexible shaft 130 allow elongate flexible
shaft 130 to be advanced in patient 13 in a desired direction to a
desired region (or tissue of interest) via the application of
torsional or linear force applied to handle 110 at proximal end
portion 132 of elongate flexible shaft 134.
[0195] A localization element 24 may be positioned at distal end
portion 134 of elongate flexible shaft 130. In general any of a
number of localization elements 24 may be used, including, but not
limited to, for example, electromagnetic sensors, radiopaque
markers visible via fluoroscopic imaging, or echogenic materials or
patterns that increase visibility of the tip component under an
ultrasonic beam. In this embodiment, localization element 24
comprises a six (6) degree of freedom (6DOF) electromagnetic
sensor. In other embodiments, localization element 24 comprises a
five (5) degree of freedom (5DOF) electromagnetic sensor. A
localization element lead 103 extends from localization element 24
to proximal end portion 132 of elongate flexible shaft 130. In an
alternative embodiment, localization element 24 and the
electromagnetic field generator may be reversed, such that
localization element 24 positioned at distal end portion 134 of
elongate flexible shaft 130 emits a magnetic field that is sensed
by external sensors.
[0196] Side exiting catheter 100 further comprises medical
instrument 108 that may be extended from a position within outer
wall 136 and through side exit 105 to a position outside outer wall
136 of elongate flexible shaft 130 by manipulation of handle 110.
For ease of illustration, only the portion of medical instrument
108 that is extended outside elongate flexible shaft 130 appears in
FIG. 35; the remaining portion of medical instrument 108 which is
attached to handle 110 is hidden from view (see FIGS. 51A and 51B).
In one embodiment, medical instrument 108 extends through side exit
105 along a path at an angle of at least 10 degrees relative to
longitudinal axis 109.
[0197] In certain embodiments, by using localization element 24
(which in certain embodiments comprises a 6DOF sensor as described
herein), the physician or other healthcare professional can have
the location and direction of side exit 105 of elongate flexible
shaft 130 displayed by surgical instrument navigation system 10. A
real time two- or three-dimensional virtual reconstruction of side
exit 105 and several centimeters of distal end portion 132 of
elongate flexible shaft 130 may be displayed by surgical instrument
navigation system 10. Visualization of the location and orientation
of side exit 105 may allow for more intuitive advancement of side
exiting catheter 100 to a region (or tissue) of interest. An image
plane may be generated that is at side exit 105, as opposed to a
point or position distal to distal end portion 134 of elongate
flexible shaft 130. In certain embodiments, this may allow easier
targeting of lesions, or other region(s) (or tissue) of interest,
that may not be directly in the airway or other pathways, but
rather partially or even completely outside of the airway or other
pathways. In accordance with an exemplary method of using the
device, side exiting catheter 100 may be steered slightly past the
region (or tissue) of interest to align side exit 105. Medical
instrument 108 (e.g., forceps, needle, brush, fiducial delivery
device, etc.) may then be extended out elongate flexible shaft 130
through side exit 105. The directional aspect of distal end portion
134 and medical instrument 108 can be viewed on display 18 (see
FIG. 1) and a simulated medical instrument can be shown to
demonstrate to the physician or other healthcare professional which
region (or tissue) of interest will be sampled. These applications
may be particularly useful in the sampling of lymph nodes that are
outside the patient airways. In some embodiments, for example, side
exiting catheter 100 may be capable of creating an endobronchial
ultrasound (EBUS)-like view. For example, an image plane oriented
with side exit 105 plane may be created and medical instrument 108
may be shown sampling the region (or tissue) of interest on this
plane. In various alternative embodiments, the image(s) may be
oriented in a plane or orthogonally. Additionally in other
embodiments, various curve fitting algorithms may be provided based
upon the type and flexibility of the elongate flexible shaft used.
These algorithms enable estimated curved trajectories of elongate
flexible shaft 130 to be displayed to assist the physician or other
healthcare professional.
[0198] In accordance with another embodiment, systems and methods
may be used to provide the initial location of a localization
element (e.g., an electromagnetic sensor) in a surgical instrument
(e.g., a steerable surgical catheter, a side exiting catheter, a
steering or shape sensing device such as a robotic articulating
arm, fiber optic shape tracking device, or micro-actuator/flex
systems, etc.). In one embodiment, a calibration jig system may be
employed. The calibration jig system comprises at least three
reference localization elements (e.g., electromagnetic sensors)
positioned substantially in a plane and a tool/calibration channel
may be positioned in a known location relative to the localization
element plane. A surgical instrument may then be inserted into the
tool/calibration channel and the surgical instrument pathway shape
may be recorded along with the localization element(s) (e.g., 5DOF
and/or 6DOF electromagnetic sensors) in the surgical instrument
with respect to the location of the reference localization elements
in the localization element plane. By using this calibration jig
system, the alignment of the localization element(s) within the
surgical instrument may be determined relative to the alignment of
the surgical instrument. Additionally, or alternatively, other
sensing mechanisms that report position and/or shape can be
correlated relative to the reference localization element
coordinates and therefore may define the complete or substantially
complete physical coordinate system. Because the position of the
jig tool channel is known relative to the position of the reference
localization elements, the position of sensing mechanisms placed
within the surgical instrument may be determined relative to the
calibration jig and therefore relative to each other.
[0199] In certain embodiments, as illustrated in FIG. 36, after
calibration of the alignment of localization element 24 (e.g., an
electromagnetic sensor) in side exiting catheter 100 using the
calibration jig system, path 122 of a medical instrument (not
shown) may be calibrated relative to the position of localization
element 24. During calibration, the location/coordinates of the tip
of medical instrument 108 will be measured relative to the position
of localization element 24 for an initial position X.sub.0. After
medical instrument 108 is advanced in elongate flexible shaft 130 a
distance X.sub.1 to extend medical instrument 108 through side exit
105 to a position outside the elongate flexible shaft 130 the
location/coordinates of the tip of medical instrument 108 can be
measured at x.sub.tip1, y.sub.tip1, and z.sub.tip1 relative to
local coordinate system 120 of localization element 24. Similarly,
after medical instrument 108 is advanced in elongate flexible shaft
130 a distance X.sub.2 to extend medical instrument 108 to a
further position outside the elongate flexible shaft 130 the
location/coordinates of the tip of medical instrument 108 can be
measured at x.sub.tip2, y.sub.tip2, Z.sub.tip2 relative to local
coordinate system 120 of localization element 24. As medical
instrument 108 extends through side exit 105 (see FIG. 35) the path
122 of medical instrument 108 is at angle .theta. relative to
longitudinal axis 109. As such, the location/coordinates of the tip
of medical instrument 108 can be measured at a plurality of
positions (e.g., 2, 3, 4, or more) within and outside elongate
flexible shaft 130. The calibration can be along the range of
distances for which medical instrument 108 may be advanced.
Accordingly, after path 122 of medical instrument 108 is
determined, the path 122 can be displayed by surgical instrument
navigation system 10 (see FIG. 1) as a virtual path to aid the
physician or other healthcare professional in extending the medical
instrument to the desired region (or tissue) of interest.
[0200] Referring again to FIG. 35, in one embodiment, medical
instrument 108 can be a flexible instrument, which in certain
embodiments, may be an aspiration needle. In certain embodiments,
the flexible instrument may be comprised of flexible nitinol. In
another embodiment, medical instrument 108 can be constructed of a
flexible coil having a stainless steel tip. In yet another
embodiment, medical instrument 108 may be a relatively rigid
(non-flexible). In yet other embodiments, medical instrument 108
may comprise a shape memory alloy, as described in greater detail
elsewhere herein. As illustrated in FIG. 37, medical instrument 108
may comprise a variety of biopsy devices at the end 140 of medical
instrument 108, including, but not limited to, for example, a
forceps device 37A, an auger device 37D, a boring bit device 37B,
and a brush device 37C. In addition to biopsy devices, in yet other
embodiments, a variety of medical instruments may be used such as
fiducial delivery devices, diagnostic imaging devices (such as
OCT), or therapy devices (such as an ablation device, an RF
emitter, a microwave emitter, a laser device, a device to deliver a
radioactive seed, a cryogenic therapy delivery device, a drug
delivery device, or a fluid delivery device, among others), or
combinations thereof, and the like. In other embodiments, medical
instrument 108 may be used to deliver therapy to a surgical site
(e.g., fluids, drugs, radioactive seeds, combinations thereof, or
the like).
[0201] In one embodiment, as illustrated by FIG. 38, medical
instrument 108 extends through side exit 105 along a path at an
angle .theta. of at least 10 degrees relative to longitudinal axis
109. Typically, medical instrument 108 extends through side exit
105 along a path at an angle from about 10 degrees to about 70
degrees relative to longitudinal axis 109. By way of example, in
certain embodiments, medical instrument 108 extends through side
exit 105 along a path at an angle of about 10 degrees relative to
longitudinal axis 109. By way of further example, in certain
embodiments, medical instrument 108 extends through side exit 105
along a path at an angle of about 15 degrees relative to
longitudinal axis 109. By way of further example, in certain
embodiments, medical instrument 108 extends through side exit 105
along a path at an angle of about 20 degrees relative to
longitudinal axis 109. By way of further example, in certain
embodiments, medical instrument 108 extends through side exit 105
along a path at an angle of about 25 degrees relative to
longitudinal axis 109. By way of further example, in certain
embodiments, medical instrument 108 extends through side exit 105
along a path at an angle of about 30 degrees relative to
longitudinal axis 109. By way of further example, in certain
embodiments, medical instrument 108 extends through side exit 105
along a path at an angle of about 35 degrees relative to
longitudinal axis 109. By way of further example, in certain
embodiments, medical instrument 108 extends through side exit 105
along a path at an angle of about 40 degrees relative to
longitudinal axis 109. By way of further example, in certain
embodiments, medical instrument 108 extends through side exit 105
along a path at an angle of about 45 degrees relative to
longitudinal axis 109. By way of further example, in certain
embodiments, medical instrument 108 extends through side exit 105
along a path at an angle of about 50 degrees relative to
longitudinal axis 109. By way of further example, in certain
embodiments, medical instrument 108 extends through side exit 105
along a path at an angle of about 55 degrees relative to
longitudinal axis 109. By way of further example, in certain
embodiments, medical instrument 108 extends through side exit 105
along a path at an angle of about 60 degrees relative to
longitudinal axis 109. By way of further example, in certain
embodiments, medical instrument 108 extends through side exit 105
along a path at an angle of about 65 degrees relative to
longitudinal axis 109. By way of further example, in certain
embodiments, medical instrument 108 extends through side exit 105
along a path at an angle of about 70 degrees relative to
longitudinal axis 109.
[0202] Referring now to FIG. 39, another embodiment of the side
exiting catheter is shown wherein a side exiting tip component 101
is at distal end portion 134 of elongate flexible shaft 130. Side
exiting tip component 101 has a proximal and a distal end and a
side exit 105. In certain embodiments, localization element(s) 24
is positioned at or near the proximal end and/or near the distal
end of side exiting tip component 101. In this embodiment, medical
instrument 108 extends through channel 106 of side exiting tip
component 101 and channel 107 of elongate flexible shaft 130.
Additionally, a medical instrument 108 is shown extended through
side exit 105 along a path at an angle.
[0203] In yet another embodiment, side exiting tip component 101
may comprise medical instrument 108 formed from a shape memory
alloy which transitions between a first and second shape upon the
application or release of stress. In certain embodiments, medical
instrument 108 may be made of a superelastic material such as
Nickel-Titanium (Ni--Ti) alloy (commercially available as nitinol)
that has a martensitic to austenitic transformation temperature
below body temperature and below normal room temperature. In other
embodiments, other suitable shape memory materials for medical
instrument 108 can include elastic biocompatible metals such as
stainless steel, titanium, and tantalum or superelastic or
psuedoelastic copper alloys, such as Cu--Al--Ni, Cu--Al--Zi, and
Cu--Zi. When formed, medical instrument 108 comprising shape memory
alloy will have a bend at a desired location with a bend angle
(i.e., the first shape) and when housed within elongate flexible
shaft 130, medical instrument 108 becomes relatively straight
(i.e., the second shape). When medical instrument 108 is advanced
and extends through side exit 105, the stress is removed and
medical instrument 108 will return back to its preformed (first)
shape. Accordingly, medical instrument 108 comprising shape memory
alloy may be able to interact with regions (or tissues) of interest
at additional angles than can be achieved the by a medical
instrument 108 comprising a non-shape memory material extending
through side exit 105. As illustrated in FIG. 40, the longitudinal
axis of the portion of medical instrument 108 extending outside
distal end portion 134 is at an angle of approximately 90 degrees
relative to the longitudinal axis 109.
[0204] In yet another embodiment, medical instrument 108 comprising
shape memory alloy may be used with a catheter having an exit at
the distal end, wherein medical instrument 108 exits the catheter
along a longitudinal axis. By using a medical instrument comprising
a shape memory alloy with a catheter having an exit along a
longitudinal axis, a physician or other healthcare provider is able
to target lesions, or other targets, that may not be directly in
the airway or other pathways, but rather partially or even
completely outside of the airway or other pathways. Such targeting
may not be possible with a catheter having an exit at the distal
end and non-shape memory instruments. Similar to FIG. 37, medical
instrument 108 comprising shape memory alloy may comprise a variety
of biopsy devices, including, but not limited to, for example, a
forceps device 37A, an auger device 37D, a boring bit device 37B, a
brush device 37C, and an aspiration needle device. In addition to
biopsy devices, in yet other embodiments, a variety of shape memory
instruments may be used such as fiducial delivery devices,
diagnostic imaging devices (such as OCT), therapy devices (such as
an ablation device, an RF emitter, a microwave emitter, a laser
device, a device to deliver a radioactive seed, a cryogenic therapy
delivery device, a drug delivery device, or a fluid delivery
device, among others), or combinations thereof, and the like.
[0205] As shown by FIGS. 41A, 41B, 41C and 41D, in various
embodiments of medical instrument 108 used in steerable catheter
100, wherein medical instrument 108 is in the extended position it
may be disposed at various angles relative to longitudinal axis 109
of elongate flexible shaft 130 at side exit 105. By way of example,
in certain embodiments, wherein medical instrument 108 is in the
extended position it may be disposed at least about 20 degrees
relative to longitudinal axis 109 of elongate flexible shaft 130 at
side exit 105. By way of further example, in certain embodiments,
wherein medical instrument 108 is in the extended position it may
be disposed at least about 30 degrees relative to longitudinal axis
109 of elongate flexible shaft 130 at side exit 105. By way of
further example, in certain embodiments, wherein medical instrument
108 is in the extended position it may be disposed at least about
40 degrees relative to longitudinal axis 109 of elongate flexible
shaft 130 at side exit 105. By way of further example, in certain
embodiments, wherein medical instrument 108 is in the extended
position it may be disposed at least about 50 degrees relative to
longitudinal axis 109 of elongate flexible shaft 130 at side exit
105. By way of further example, in certain embodiments, wherein
medical instrument 108 is in the extended position it may be
disposed at least about 60 degrees relative to longitudinal axis
109 of elongate flexible shaft 130 at side exit 105. By way of
further example, in certain embodiments wherein medical instrument
108 is in the extended position it may be disposed at least about
70 degrees relative to longitudinal axis 109 of elongate flexible
shaft 130 at side exit 105. By way of further example, in certain
embodiments, wherein medical instrument 108 is in the extended
position it may be disposed at least about 80 degrees relative to
longitudinal axis 109 of elongate flexible shaft 130 at side exit
105. By way of further example, in certain embodiments wherein
medical instrument 108 is in the extended position it may be
disposed at least about 90 degrees relative to longitudinal axis
109 of elongate flexible shaft 130 at side exit 105. By way of
further example, in certain embodiments, wherein medical instrument
108 is in the extended position it may be disposed at least about
100 degrees relative to longitudinal axis 109 of elongate flexible
shaft 130 at side exit 105. By way of further example, in certain
embodiments wherein medical instrument 108 is in the extended
position it may be disposed at least about 110 degrees relative to
longitudinal axis 109 of elongate flexible shaft 130 at side exit
105. By way of further example, in certain embodiments, wherein
medical instrument 108 is in the extended position it may be
disposed at least about 120 degrees relative to longitudinal axis
109 of elongate flexible shaft 130 at side exit 105. By way of
further example, in certain embodiments, wherein medical instrument
108 is in the extended position it may be disposed at least about
130 degrees relative to longitudinal axis 109 of elongate flexible
shaft 130 at side exit 105. By way of further example, in certain
embodiments, wherein medical instrument 108 is in the extended
position it may be disposed at least about 140 degrees relative to
longitudinal axis 109 of elongate flexible shaft 130 at side exit
105. By way of further example, in certain embodiments, wherein
medical instrument 108 is in the extended position it may be
disposed at least about 150 degrees relative to longitudinal axis
109 of elongate flexible shaft 130 at side exit 105. By way of
further example, in certain embodiments, wherein medical instrument
108 is in the extended position it may be disposed at least about
160 degrees relative to longitudinal axis 109 of elongate flexible
shaft 130 at side exit 105. By way of further example, in certain
embodiments, wherein medical instrument 108 is in the extended
position it may be disposed at least about 170 degrees relative to
longitudinal axis 109 of elongate flexible shaft 130 at side exit
105. By way of further example, in certain embodiments, wherein
medical instrument 108 is in the extended position it may be
disposed at about 180 degrees relative to longitudinal axis 109 of
elongate flexible shaft 130 at side exit 105.
[0206] As shown in FIG. 17G, in an embodiment of the present
invention, elongate flexible shaft 130 of side exiting catheter 100
can be steerable wherein elongate flexible shaft 130 comprises a
steering mechanism comprising a steering actuator 218 at proximal
end portion 132 and a pull wire connected to steering actuator 218
wherein distal end portion 134 may be moved relative to proximal
end portion 132 by manipulating steering actuator 218 to apply a
tension to the pull wire. Referring now to FIG. 41E, medical
instrument 108 is shown in the extended position through side exit
105 of a steerable catheter comprising elongate flexible shaft 230.
Medical instrument 108 extends through side exit 105 along a path
at an angle .theta. of at least 10 degrees relative to longitudinal
axis 207. As described in greater detail elsewhere herein, in one
embodiment, manipulation of steering actuator 218 (see FIGS. 18A
and 18B) introduces an arc of .beta. degrees into elongate flexible
shaft 230. Distal end portion 234 may be moved to a distance that
separates two regions of elongate flexible shaft 230 located at
opposing ends of a chord X connecting to two points separated by
.beta. degrees on the arc.
[0207] Typically, the outer diameter of elongate flexible shaft 130
of side exiting catheter 100 is less than 5 mm. By way of example,
in certain embodiments, the outer diameter elongate flexible shaft
130 of side exiting catheter 100 is less than 1 mm. By way of
further example, in certain embodiments, the outer diameter of
elongate flexible shaft 130 of side exiting catheter 100 is less
than 2 mm. By way of further example, in certain embodiments, the
outer diameter of elongate flexible shaft 130 of side exiting
catheter 100 is less than 3 mm. By way of further example, in
certain embodiments, the outer diameter of elongate flexible shaft
130 of side exiting catheter 100 is less than 4 mm. By way of
further example, in certain embodiments, the outer diameter of
elongate flexible shaft 130 of side exiting catheter 100 is less
than 5 mm.
[0208] However, in other embodiments, in addition to, or in place
of, localization element 24, side exiting catheter 100 may be
navigated wherein elongate flexible shaft 130 or medical instrument
108 may further comprise radiopaque markers visible via
fluoroscopic imaging, or echogenic materials or patterns that
increase visibility of the tip component under an ultrasonic beam.
In yet other embodiments, side exiting catheter 100 may be
navigated via other types of sensors, such as conductive
localization elements, fiber optic localization elements, or any
other type of localization element.
[0209] In one embodiment, side exiting tip component 101,
illustrated by FIGS. 42A, 42B, and 42C, may be visible via
fluoroscopic imaging. An angled or directionally arranged
radiopaque marker pattern 115 at or near the proximal end and/or
the distal end of side exiting tip component 101. The radiopaque
marker pattern 115 may be made of stainless steel, tantalum,
platinum, gold, barium, bismuth, tungsten, iridium, or rhenium,
alloys thereof, or of other radiopaque materials known in the art.
Radiopaque marker pattern 115 allows for tracking of the location
and orientation of side exit 105. Based upon the orientation of
radiopaque marker pattern 115 with respect to the incident
fluoroscopic beam, a distinct image is visible on a fluoroscope. As
side exiting catheter 100 is navigated and rotated into position at
the region (or tissue of interest), the orientation of radiopaque
marker pattern 115 with respect to the incident fluoroscopic beam
will be altered resulting in a corresponding change to the
fluoroscopic image, thereby allowing the physician or other
healthcare professional to know the location and orientation of
side exit 105. Accordingly, the physician or other healthcare
professional can then extend medical instrument 108 at the region
(or tissue) of interest. Additionally, radiopaque marker pattern
115 may assist the physician or other healthcare professional in
avoiding the passage of the elongate flexible shaft 130 and the
medical instrument 108 into healthy tissue, a blood vessel, or
other undesired patient area. In other embodiments, radiopaque
marker pattern 115 may be on distal end portion 134 of elongate
flexible shaft 130 of side exiting catheter 100. In one embodiment
radiopaque marker pattern 115 may replace a six (6) degree of
freedom (6DOF) electromagnetic sensor. In other embodiments,
radiopaque marker pattern 115, may supplement a six (6) degree of
freedom (6DOF) electromagnetic sensor.
[0210] As illustrated in FIGS. 43A, 43B, and 43C, in another
embodiment radiopaque marker pattern 115 comprises generally
circular radiopaque markers 116 placed around side exiting tip
component 101, with 3 radiopaque markers on one side of side
exiting tip component 101 and 1 radiopaque marker on the opposite
side of side exiting tip component 101. By way of example, in
certain embodiments, 4 radiopaque markers are placed on one side of
side exiting tip component 101 and 2 radiopaque markers are placed
on the opposite side of side exiting tip component 101. By way of
further example, in certain embodiments, 5 radiopaque markers are
placed on one side of side exiting tip component 101 and 3
radiopaque markers are placed on the opposite side of side exiting
tip component 101. In other embodiments, radiopaque marker pattern
115 may be on distal end portion 134 of elongate flexible shaft 130
of side exiting catheter 100.
[0211] In yet another embodiment, at least one ring of radiopaque
material 115 may surround side exit 105. By way of example, in one
embodiment illustrated in FIGS. 44A, 44B, and 44C, side exit 105 of
side exiting tip component 101 is surrounded by a first ring of
radiopaque material 115 that is concentric to and in immediate
connection with side exit 105 of the side exiting tip component
101. This first ring of radiopaque material 115 is further
surrounded by additional separate rings that are concentric to side
exit 105 and the first ring of radiopaque material 115. By way of
example, in certain embodiments, side exit 105 is surrounded by 1
ring of radiopaque material 115. By way of further example, in
certain embodiments, side exit 105 is surrounded by 2 rings of
radiopaque material 115. By way of further example, in certain
embodiments, side exit 105 is surrounded by 3 rings of radiopaque
material 115. By way of further example, in certain embodiments,
side exit 105 is surrounded by 4 rings of radiopaque material 115.
By way of further example, in certain embodiments, side exit 105 is
surrounded by 5 rings of radiopaque material 115. By way of further
example, in certain embodiments, side exit 105 is surrounded by 6
rings of radiopaque material 115. In other embodiments, radiopaque
marker pattern 115 may be on distal end portion 134 of elongate
flexible shaft 130.
[0212] In certain embodiments, all or a portion of side exiting tip
component 101 and/or distal end portion 134 of elongate flexible
shaft 130 of side exiting catheter 100 may be echogenic such that
it may be viewed via ultrasonic imaging. Several approaches of
enhancing the ultrasonic signature of medical devices through
modification of the device surface reflectivity are known in the
prior art and can be applied to certain embodiments of the present
invention. In one embodiment, an echogenic pattern can be
positioned around the side exiting tip component 101 and/or around
distal end portion 134 of elongate flexible shaft 130, such that
the echogenic pattern covers the exterior circumference of side
exiting tip component 101 and/or distal end portion 134 of elongate
flexible shaft 130. Typically an echogenic pattern is on the
exterior surface of side exiting tip component 101 defined as a
length from the distal end of side exiting tip component 101 toward
the proximal end of side exiting tip component 101. By way of
example, in one embodiment, the echogenic pattern has a length of
about 1 cm from the distal end of side exiting tip component 101.
By way of further example, in another embodiment, the echogenic
pattern has a length of about 2 cm from distal end of the side
exiting tip component 101.
[0213] In one embodiment, as illustrated by FIG. 45, the echogenic
pattern comprises a plurality of grooves 113 are cut into the
exterior surface of side exiting tip component 101 such that the
grooves increase the reflective coefficient of side exiting tip
component 101. The plurality of grooves 113 cause constructive
interference of the ultrasonic beam to affect an amplification of
the reflecting beam along the line of the incident beam. In other
embodiments, plurality of grooves 113 may be in distal end portion
134 of elongate flexible shaft 130 of side exiting catheter
100.
[0214] By way of further example, another embodiment of side
exiting tip component 101 with an echogenic pattern is shown in
FIG. 46. In this embodiment, the echogenic pattern comprises a
plurality of partially spherical indentations 114 on the exterior
surface of side exiting tip component 101, such that the radius of
the partially spherical indentations is less than the wavelength of
the incident ultrasonic beam. The plurality of partially spherical
indentations 114 cause constructive interference of the ultrasonic
beam to affect an amplification of the reflecting beam along the
line of the incident beam; such amplification occurs at any
incident ultrasonic beam angle. In other embodiments, plurality of
partially spherical indentations 114 may be in distal end portion
134 of elongate flexible shaft 130 of side exiting catheter
100.
[0215] In certain embodiments, as shown in FIG. 47, all or a
portion of medical instrument 108 may be echogenic such that it may
be viewed via ultrasonic imaging. Several approaches of enhancing
the ultrasonic signature of medical devices through modification of
the device surface reflectivity are known in the prior art and can
be applied to certain embodiments of the present invention.
[0216] In certain embodiments, as discussed herein, localization
element 24 is positioned at or near distal end portion 134 of
elongate flexible shaft 130. In one embodiment, as shown in FIG.
48, localization element 24 comprises a six (6) degree of freedom
(6DOF) electromagnetic sensor in the distal end portion 134 of the
elongate flexible shaft 130. A localization element lead 103
extends from localization element 24 to proximal end portion 132
(not shown) of elongate flexible shaft 130. By way of further
example, in another embodiment, an angled or directional pattern
may be on the outside of elongate flexible shaft 130 that is
visible via fluoroscopic imaging. Accordingly, embodiments of the
present invention are not limited to one type and position of
localization elements 24. In certain embodiments, a combination of
different localization element 24 types or a series of the same
localization element 24 types may positioned at or near distal end
portion 134 of elongate flexible shaft 130 of side exiting catheter
100.
[0217] Another embodiment, with a radiopaque marker pattern
positioned at or near the distal portion 134 of the elongate
flexible shaft 130 is illustrated by FIGS. 49A, 49B, and 49C. In
this embodiment a radiopaque marker pattern 115 comprising
generally circular radiopaque markers 116 may be placed around
distal end portion 134 of elongate flexible shaft 130, with 3
markers on one side of the distal end portion 134 of elongate
flexible shaft 130 and 1 marker on the opposite side of distal end
portion 134 of elongate flexible shaft 130. By way of example, in
certain embodiments, 4 markers are placed on one side of distal end
portion 134 of elongate flexible shaft 130 and 2 markers are placed
on the opposite side of distal end portion 134 of elongate flexible
shaft 130. By way of example, in certain embodiments, 5 markers are
placed on one side of distal end portion 134 of elongate flexible
shaft 130 and 3 markers are placed on the opposite side of distal
end portion 134 of elongate flexible shaft 130 of side exiting
catheter 100.
[0218] A method or procedure of guiding the side exiting catheter
100 of certain embodiments to a desired target tissue in the
respiratory system of a patient may comprise displaying an image of
the region of the patient, inserting a flexible lumen into the
patient, and inserting into the flexible lumen side exiting
catheter 100. Side exiting catheter 100 typically comprises an
electromagnetic localization element at distal end portion 134.
Side exiting catheter may then be navigated to the region of
interest and the location and orientation of the electromagnetic
localization element is detected. Then medical instrument 108 may
be displayed, in real-time, on the image by superimposing a virtual
representation of side exiting catheter 100 and medical instrument
108 on the image based upon the location and orientation of
localization element 24. Then a medical procedure may be performed
at the region (or tissue) of interest. In certain embodiments, side
exiting catheter 100 further comprises an elongate flexible shaft
130 having a proximal end portion 132, an opposite distal end
portion 134, a longitudinal axis 109, and an outer wall 136
comprising a biocompatible material extending from proximal end
portion 132 to distal end portion 134. Side exiting catheter 100
may also comprise a handle 110 attached to proximal end portion
132, and a medical instrument 108 housed within distal end portion
134 of elongate flexible shaft 130 that is extendable along a path
from a position within outer wall 136 through side exit 105 to a
position outside outer wall 136 at an angle of at least 30 degrees
relative to the longitudinal axis 109.
[0219] As illustrated in FIGS. 50A and 50B, another embodiment of
the present invention includes an offset device to control the
extension of a biopsy device or medical instrument. The offset
device may comprise, for example, features (e.g., offsets) that
snap-on or may be otherwise affixed to handle 216 that are capable
of holding a biopsy device 220 in a known or preset (i.e.,
predetermined) location to maintain the biopsy device 220 extension
and free the hands of the physician or other healthcare
professional. In one embodiment, for example, the offset device
includes one or more offset portions that can be adjusted by
combining and/or removing multiple offset segments. In another
embodiment, for example, the offset device includes one or more
offset portions that can be adjusted by the removal of one or more
removable offset segments separated by perforations (i.e., in a
disposable fashion). In yet another embodiment, the offset device
includes an offset that is capable of adjustment using a screw
mechanism (i.e., the length of the offset can be adjusted by
screwing the offset in and out). In various embodiments, each
offset can be represented on the navigation screen showing offset
distance from the distal end portion of the elongate flexible
shaft. This representation is accomplished via sensors on the
offset devices that would register the selected offset position. In
additional embodiments, sensors (e.g., electromagnetic sensors,
proximity sensors, limit switch sensors) at the handle may register
the presence or contact with an offset device such that the
extension depth of the biopsy device can be measured and
represented on the navigation screen. The surgical catheter, in
various embodiments, may include one or more offsets, two or more
offsets, three or more offsets, four or more offsets, or five or
more offsets. In other embodiments, more than five offsets may be
included (e.g., 6-12 offsets, 6-18 offsets, 6-24 offsets, or more).
An embodiment of offset device wherein the biopsy device is a brush
is shown in FIGS. 50A and 50B. Another embodiment of the offset
device wherein the medical instrument is a side exiting tip
component is shown in FIGS. 51A and 51B.
[0220] As illustrated in FIGS. 50A and 50B, handle 216 attached to
elongate flexible shaft 230 of steerable catheter 200 may include
one or more offset devices 1501. The offset device(s) 1501 may be
capable of holding the biopsy device 220, depicted as a brush, in
place and provide a substantially fixed distance or length of
extension out of elongate flexible shaft 230 to take a biopsy. As
shown, multiple offsets 1501 can be provided in stages that allow
extension of biopsy device 220 (e.g., at 1 cm, 2 cm, 3 cm, and so
on) whereby the physician or other healthcare professional can
adjust the offsets by removal or repositioning (removed offsets
1501R, for example, are depicted in dashed lines within the port in
FIG. 50B). Thus, FIG. 50A shows biopsy device 220 prior to
extension, whereas FIG. 50B shows biopsy device extended (e.g., 2
cm of extension) by the removal or repositioning of two offsets
1501R.
[0221] As shown in FIGS. 51A and 51B, another embodiment of the
present invention is directed to an offset device for use with a
medical instrument 108 that exits the side of elongate flexible
shaft 130 of side exiting catheter 100. Handle 110 attached to
elongate flexible shaft 130 may include one or more offset devices
1501. The offset device(s) 1501 may be capable of holding the
medical instrument 108, depicted as an aspiration needle, in place
and provide a substantially fixed distance or length of extension
out of elongate flexible shaft 130 to take a biopsy. As shown,
multiple offsets 1501 can be provided in stages that allow
extension of medical instrument 108 (e.g., at 1 cm, 2 cm, 3 cm, and
so on) out the side exit 105 of the elongate flexible shaft 130
whereby the physician or other healthcare professional can adjust
the offsets by removal or repositioning (removed offsets 1501R, for
example, are depicted in dashed lines within the port in FIG. 51B).
Thus, FIG. 51A shows medical instrument 108 prior to extension,
whereas FIG. 51B shows medical instrument 108 extended (e.g., 2 cm
of extension) out side exit 105 of the elongate flexible shaft 130
by the removal or repositioning of two offsets 1501R.
[0222] Typically, biopsy device 220 may be extended a distance
(extended distance) correlated to movement of handle 216 wherein
extended distance may be from about 0.5 cm to about 4.0 cm. By way
of example, in certain embodiments, the extended distance is at
least about 0.5 cm. By way of further example, in certain
embodiments, the extended distance is at least about 1.0 cm. By way
of further example, in certain embodiments, the extended distance
is at least about 1.5 cm. By way of further example, in certain
embodiments, the extended distance is at least about 2.0 cm. By way
of further example, in certain embodiments, the extended distance
is at least about 2.5 cm. By way of further example, in certain
embodiments, the extended distance is at least about 3.0 cm. By way
of further example, in certain embodiments, the extended distance
is at least about 3.5 cm. By way of further example, in certain
embodiments, the extended distance is about 4.0 cm.
[0223] Typically, medical instrument 108 may be advanced a distance
(advanced distance) correlated to movement of handle 110 wherein
advanced distance may be from about 0.5 cm to about 4.0 cm. By way
of example, in certain embodiments, the advanced distance is at
least about 0.5 cm. By way of further example, in certain
embodiments, the advanced distance is at least about 1.0 cm. By way
of further example, in certain embodiments, the advanced distance
is at least about 1.5 cm. By way of further example, in certain
embodiments, the advanced distance is at least about 2.0 cm. By way
of further example, in certain embodiments, the advanced distance
is at least about 2.5 cm. By way of further example, in certain
embodiments, the advanced distance is at least about 3.0 cm. By way
of further example, in certain embodiments, the advanced distance
is at least about 3.5 cm. By way of further example, in certain
embodiments, the advanced distance is about 4.0 cm.
[0224] In another embodiment, as shown in FIGS. 52A, 52B, 52C, and
52D, a localization element 24 (e.g., electromagnetic sensor) can
be attached to an existing, non-navigated surgical instrument or
device 70 (e.g., steerable catheter, non-steerable catheter,
bronchoscope, forceps device, auger device, boring bit device,
aspiration needle device, brush device, side exiting tip component,
etc.) for use in the systems and methods described herein. In one
embodiment, as illustrated in FIG. 52A, a plastic or polymer sheath
or condom 72 is placed over a localization element lead wire 103
and localization element 24. Then, as illustrated in FIG. 52B, the
sheath or condom 72 may then be shrink-fitted to surgical
instrument or device 70 via the application of a temperature
differential. Typically the application of a heat treatment causes
sheath or condom 72 to shrink to surgical instrument or device 70
and localization element lead wire/localization element
combination, thus converting existing, non-navigated surgical
instrument or device 70 to a navigated surgical instrument or
device 70. While heat treating is a common way to apply a
temperature differential, it is understood that the existing,
non-navigated surgical instrument or device 70 can be cooled before
the plastic or polymer sheath or condom 72 is placed over existing,
non-navigated surgical instrument or device 70. In another
embodiment, as shown in FIG. 52C more than one localization element
24 may be attached to an existing, non-navigated surgical
instrument or device 70 using a stretchable plastic or polymer
sheath or condom 72. As illustrated in FIG. 52D, the stretchable
plastic or polymer sheath or condom 72 may extend past the end of
surgical instrument or device 70 such that a lip 74 is created when
the sheath or condom 72 is affixed to non-navigated surgical
instrument or device 70. This lip 74 may assist in registration of
surgical instrument or device 70. In other embodiments,
localization element 24 may be wireless, such that a localization
element lead wire 103 is not required.
[0225] Other embodiments include, for example, a plastic or polymer
sheath or condom that is custom sized to fit over an existing,
non-navigated surgical instrument or device 70 and may be placed
over a localization element lead wire 103 and localization element
24 to add a localization element 24 (e.g., an electromagnetic
sensor), thus converting existing, non-navigated surgical
instrument or device 70 to a navigated surgical instrument or
device 70. In this embodiment, the plastic or polymer sheath or
condom may be held in place on the existing, non-navigated surgical
instrument or device 70 by a friction fit. In yet other
embodiments, an elastic or stretchable plastic or polymer sheath or
condom may be expanded and placed over a localization element lead
wire 103 and localization element 24 to add a localization element
24 (e.g., an electromagnetic sensor), thus converting the existing,
non-navigated surgical instrument or device 70 to a navigated
surgical instrument or device 70. In this embodiment, the elastic
or stretchable plastic or polymer sheath or condom may also be held
in place on the existing, non-navigated surgical instrument or
device 70 by a friction fit.
[0226] In yet other embodiments, a localization element 24 may be
affixed to an existing, non-navigated surgical instrument or device
70 with tape. In certain embodiments, localization element 24 may
be wireless. In other embodiments, localization element 24 may be
affixed to an existing, non-navigated surgical instrument or device
70 via an adhesive.
[0227] In addition to or in place of localization element 24,
steerable catheter 200 and/or side exiting catheter 100 may be
equipped with one or more sensing devices at or near the distal end
portion of the elongate flexible shaft and/or at the biopsy device
220 or medical instrument 108 of the respective catheters described
herein. Additional sensing devices may include electrodes for
sensing depolarization signals occurring in excitable tissue such
as the heart, nerve or brain. In one embodiment, for use in cardiac
applications, the sensing device may include at least one electrode
for sensing internal cardiac electrogram (EGM) signals. In other
embodiments, the sensing device may be an absolute pressure sensor
to monitor blood pressure. In still other embodiments, surgical
instrument 12 may be equipped with other sensing devices including
physiological detection devices, localization elements, temperature
sensors, motion sensors, optical coherence tomography (OCT)
sensors, endobronchial ultrasound (EBUS) sensors, or Doppler or
ultrasound sensors that can detect the presence or absence of blood
vessels.
[0228] The accompanying Figures and this description depict and
describe certain embodiments of a navigation system (and related
methods and devices) in accordance with the present invention, and
features and components thereof. It should also be noted that any
references herein to front and back, right and left, top and bottom
and upper and lower are intended for convenience of description,
not to limit the present invention or its components to any one
positional or spatial orientation.
[0229] It is noted that the terms "comprise" (and any form of
comprise, such as "comprises" and "comprising"), "have" (and any
form of have, such as "has" and "having"), "contain" (and any form
of contain, such as "contains" and "containing"), and "include"
(and any form of include, such as "includes" and "including") are
open-ended linking verbs. Thus, a method, an apparatus, or a system
that "comprises," "has," "contains," or "includes" one or more
items possesses at least those one or more items, but is not
limited to possessing only those one or more items
[0230] Individual elements or steps of the present methods,
apparatuses, and systems are to be treated in the same manner.
Thus, a step that calls for modifying a segmented image dataset for
a region of a respiratory system to match the corresponding anatomy
of a patient's respiratory system, that includes the steps of: (i)
forming a respiratory-gated point cloud of data that demarcates
anatomical features in a region of a patient's respiratory system
at one or more discrete phases within a respiration cycle of a
patient, (ii) density filtering the respiratory-gated point cloud,
(iii) classifying the density filtered respiratory-gated point
cloud according to anatomical points of reference in a segmented
image dataset for the region of the patient's respiratory system,
and (iv) modifying the segmented image dataset to correspond to the
classified anatomical points of reference in the density filtered
respiratory-gated point cloud, but also covers the steps of (i)
comparing the registered respiratory-gated point cloud to a
segmented image dataset to determine the weighting of points
comprised by the classified respiratory-gated point cloud, (ii)
distinguishing regions of greater weighting from regions of lesser
weighting, and (iii) modifying the segmented image dataset to
correspond to the classified respiratory-gated point cloud.
[0231] The terms "a" and "an" are defined as one or more than one.
The term "another" is defined as at least a second or more. The
term "coupled" encompasses both direct and indirect connections,
and is not limited to mechanical connections.
[0232] Those of skill in the art will appreciate that in the
detailed description above, certain well known components and
assembly techniques have been omitted so that the present methods,
apparatuses, and systems are not obscured in unnecessary
detail.
[0233] While various embodiments of the invention have been
described above, it should be understood that they have been
presented by way of example only, and not limitation. Thus, the
breadth and scope of the invention should not be limited by any of
the above-described embodiments, but should be defined only in
accordance with the following claims and their equivalents.
[0234] The previous description of the embodiments is provided to
enable any person skilled in the art to make or use the invention.
While the invention has been particularly shown and described with
reference to embodiments thereof, it will be understood by those
skilled in art that various changes in form and details may be made
therein without departing from the spirit and scope of the
invention. For example, the elongate flexible shafts, biopsy
device, medical instruments, and localization elements can be
constructed from any suitable material, and can be a variety of
different shapes and sizes, not necessarily specifically
illustrated, while still remaining within the scope of the
invention.
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