System for guiding interventional instrument to internal target

1 . A system for guiding an interventional instrument to a target internal to a subject, the system comprising:

a guide device configured to rest on an outer surface of the subject, the guide device comprising:

at least one holder configured to receive the interventional instrument and to guide the interventional instrument to the target according to an entry trajectory;

an outer frame forming an outer perimeter of the guide device, wherein the outer frame comprises at least one cross-support configured to attach the holder to the outer frame within the outer perimeter of the guide device; and

a fastener attached to or attachable to a portion of the outer frame having a fixed shape with at least one identifiable shape feature; and

a shape sensing device secured to the guide device by the fastener when the fastener is attached to the portion of the outer frame such that at least a portion of the shape sensing device secured to the guide device has the fixed shape with the at least one identifiable shape feature, the shape sensing device being arranged to provide shape sensing data relating to the fixed shape of the at least a portion of the shape sensing device secured to the guide device by the fastener, wherein a distal end of the shape sensing device is attached to the interventional instrument.

2 . The system of claim 1 , further comprising:

a processing unit and memory for storing instructions that, when executed by the processing unit, cause the processing unit to:

receive image data from an image including the target in the subject;

define a location in a coordinate system of the target using the image data;

receive the shape sensing data from the shape sensing device;

determine a position and orientation of the guide device in the coordinate system using the shape sensing data;

determine the position of the interventional instrument relative to the at least a portion of the shape sensing device secured to the guide device by the fastener, including an entry point and the entry trajectory of the interventional instrument, using the shape sensing data; and

provide an indication of the determined position of the interventional instrument in the coordinate system, usable by a user interface to enable a user or a robot to maneuver the interventional instrument to the target.

3 . The system of claim 2 , wherein the guide device is connectable to an ultrasound probe configured to obtain ultrasound images of the interventional instrument in a region of interest and/or of the target, and

wherein, when executed by the processing unit, the instructions further cause the processing unit to continuously update the location of the target and/or the entry trajectory using ultrasound image data from the ultrasound images.

4 . The system of claim 2 , wherein image data comprise:

x-ray image data, CT image data, or fluoroscopy image data from an x-ray system, which is registered with the shape sensing device;

ultrasound image data from an ultrasound system, which is registered with the shape sensing device; or

comprise magnetic resonance imaging (MRI) image data from an MRI system, which is registered with the shape sensing device.

5 . The system of claim 1 , further comprising a processing unit and memory for storing instructions that, when executed by the processing unit, cause the processing unit to:

receive image data from an image including the target in the subject;

register the position and orientation of the guide device to the image data using the shape sensing data;

determine an adjustment of the guide device on the outer surface of the subject so that the entry trajectory of the interventional instrument will guide the interventional instrument to the target; and

provide an adjustment parameter to enable implementation of the determined adjustment.

6 . The system of claim 1 , wherein the shape sensing device comprises an optical shape sensing device.

7 . The system of claim 1 , wherein the fastener comprises a sleeve, through which the shape sensing device is insertable, the sleeve being attached to or attachable to a portion of the outer frame defining at least one identifiable shape feature to enable detection of the guide device when the shape sensing device is inserted through the sleeve.

8 . The system of claim 1 , wherein the guide device is deformable in at least one of a lateral direction or a longitudinal direction, enabling adjusting of the interventional instrument.

9 . The system of claim 1 , wherein the at least one holder is arranged such that a plurality of discrete angular positions of the interventional instrument are selectable corresponding to a plurality of angles with respect to the outer surface of the subject.

10 . The system of claim 1 , wherein the at least one holder is arranged such that a plurality of discrete angular positions of the interventional instrument are selectable corresponding to a plurality of angles with respect to the outer surface of the subject.

11 . The system of claim 1 , wherein the at least one holder is arranged with a pivot joint movable through a continuous range of angles with respect to the outer surface of the subject.

12 . The system of claim 1 , wherein the at least one holder is arranged with a pivot joint movable through a continuous range of angles with respect to the outer surface of the subject.

13 . The system of claim 1 , further comprising:

a plurality of indicators on the guide device configured to indicate a desired direction of rotation and/or a desired position of the guide device on the outer surface of the subject.

14 . The system of claim 13 , wherein the plurality of indicators comprise:

a plurality of light emitting diodes (LEDs) configured to emit light to indicate the desired direction of rotation of the guide device and/or a direction of movement of the guide device toward the desired position;

a plurality of audible sensors configured to emit sound to indicate the desired direction of rotation of the guide device and/or a direction of movement of the guide device toward the desired position; or

a plurality of haptic sensors configured to cause vibrations to indicate the desired direction of rotation of the guide device and/or a direction movement of the guide device toward the desired position.

15 . The system of claim 13 , further comprising a processing unit programed to enable determination of a position and orientation of the guide device on the outer surface of the subject based on the shape sensing data.

16 . The system of claim 1 , further comprising a processing unit programed to enable determination of a position and orientation of the guide device on the outer surface of the subject based on the shape sensing data.

17 . The system of claim 16 , further comprising:

a display interfacing with the processing unit for displaying a representation of the guide device overlaid with an image including the target in the subject.

18 . The system of claim 1 , further comprising a processing unit programmed to enable determination of a position of the interventional instrument relative to the at least a portion of the shape sensing device secured to the guide device, including an entry point and the entry trajectory of the interventional instrument.

19 . The system of claim 18 , further comprising:

a display interfacing with the processing unit for displaying a representation of the interventional instrument overlaid with an image including the target in the subject.

20 . A system for guiding an interventional instrument to a target internal to a subject, the system comprising:

a guide device configured to rest on an outer surface of the subject, the guide device comprising:

at least one holder configured to receive the interventional instrument and to guide the interventional instrument to the target according to an entry trajectory; and

an outer frame forming an outer perimeter of the guide device, wherein the outer frame comprises at least one cross-support configured to attach the holder to the outer frame within the outer perimeter of the guide device;

a fastener attached or attachable to a portion of the outer frame having a fixed shape with at least one identifiable shape feature;

an optical shape sensing (OSS) device secured to the guide device by the fastener when the fastener is attached to the portion of the outer frame such that at least a portion of the OSS device secured to the guide device has the fixed shape with the at least one identifiable shape feature, wherein a distal end of the OSS device is attached to the interventional instrument; and

a processing unit and memory for storing instructions that, when executed by the processing unit, cause the processing unit to:

receive image data from an image of the target in the subject;

define a location of the target using the image data;

receive shape sensing data from the OSS device indicating a shape of the at least a portion of the OSS device secured to the guide device;

determine a position and orientation of the guide device using the shape sensing data; and

cause an indication of a position of the interventional instrument overlaid with the image of the target to be displayed on a display, enabling maneuvering of the interventional instrument to the target using the image data.

21 . The system of claim 20 , wherein, when executed by the processing unit, the instructions further cause the processing unit to:

determine a position of the interventional instrument relative to the at least a portion of the OSS device secured to the guide device, including an entry point and the entry trajectory of the interventional instrument, using the shape sensing data.

22 . The system of claim 20 , wherein the guide device is deformable in at least one of a lateral and a longitudinal direction, enabling adjusting of the interventional instrument.

23 . The system of claim 20 , wherein the instructions further cause the processing unit to:

register the position and orientation of the guide device to the image data using the shape sensing data;

determine an adjustment of the guide device on the outer surface of the subject so that the entry trajectory of the interventional instrument will guide the interventional instrument to the target; and

provide an adjustment parameter for maneuvering the interventional instrument to the target.

24 . A system for guiding an interventional instrument to a target internal to a subject, the system comprising:

a guide device configured to rest on an outer surface of the subject, the guide device comprising:

at least one holder configured to receive the interventional instrument and to guide the interventional instrument to the target according to an entry trajectory; and

an outer frame forming an outer perimeter of the guide device, wherein the outer frame comprises at least one cross-support configured to attach the holder to the outer frame within the outer perimeter of the guide device, and wherein a portion of the outer frame has a predetermined shape with at least one identifiable shape feature;

a fastener attached to the portion of the outer frame having the predetermined shape, wherein the fastener adopts the predetermined shape of the portion of the outer frame with the at least one identifiable shape feature; and

a shape sensing device secured to the guide device by the fastener when the fastener is attached to the portion of the outer frame such that at least a portion of the shape sensing device secured to the guide device has the fixed shape with the at least one identifiable shape feature, the shape sensing device being arranged to provide shape sensing data relating to the fixed shape of the at least a portion of the shape sensing device secured to the guide device by the fastener.