In vivo sensor for detecting bone surface
A device and a method are described for finding the location of a bone surface in patients or living animals by using a thin probe equipped with bone contacting detection functionality for a minimally invasive procedure.
1. Apparatus for determining the position, in three dimensional space, of a bone covered by soft tissue, said apparatus comprising:
a needle having a tip for penetrating soft tissue;
position-determining means for determining the position of said tip of said needle in three-dimensional space;
force-sensing means for sensing the level of force encountered by said tip of said needle;
discriminating means for determining the rate of change in the level of force encountered by said tip of said needle in relation to the distance travelled by said needle so as to discriminate between (i) when said tip of said needle is engaging soft tissue, and (ii) when said tip of said needle is engaging bone;
recording means for recording the position of said tip of said needle in three dimensional space when said discriminating means indicate that said tip of said needle is engaging bone; and
processing means for receiving a plurality of data points from said recording means and, using the plurality of data points from said recording means, determining the position, in three dimensional space, of a bone covered by soft tissue.
2. A method for determining the position, in three dimensional space, of a bone covered by soft tissue, said method comprising:
directing a tip of a needle through the soft tissue and toward the bone while sensing the level of force encountered by said tip of said needle;
determining the rate of change in the level of force encountered by said tip of said needle in relation to the distance travelled by said needle;
identifying a spike in the rate of change in the level of force encountered by said tip of said needle in relation to the distance travelled by said needle, wherein the spike is reflective of said tip of said needle encountering bone;
recording the position of said tip of said needle in three-dimensional space when said spike is identified; and
repeating the foregoing steps a sufficient number of times and determining the position, in three dimensional space, of a bone covered by soft tissue.
3. Apparatus for determining the position, in three dimensional space, of a first type of tissue which is covered by a second type of tissue, wherein said first type of tissue has a greater resistance to penetration than said second type of tissue, said apparatus comprising:
a needle having a tip for penetrating tissue;
position-determining means for determining the position of said tip of said needle in three-dimensional space;
force-sensing means for sensing the level of force encountered by said tip of said needle when engaging tissue;
discriminating means for determining the rate of change in the level of force encountered by said tip of said needle in relation to the distance travelled by said needle so as to discriminate between (i) when said tip of said needle is engaging said first type of tissue, and (ii) when said tip of said needle is engaging said second type of tissue;
recording means for recording the position of said tip of said needle in three dimensional space when said discriminating means indicate that said tip of said needle is engaging said first type of tissue; and
processing means for receiving a plurality of data points from said recording means and, using the plurality of data points from said recording means, determining the position, in three dimensional space, of a bone covered by soft tissue.
4. A method for determining the position, in three dimensional space, of a first type of tissue which is covered by a second type of tissue, wherein said first type of tissue has a greater resistance to penetration than said second type of tissue, said method comprising:
directing a tip of a needle through the second type of tissue and toward the first type of tissue while sensing the level of force encountered by said tip of said needle;
determining the rate of change in the level of force encountered by said tip of said needle in relation to the distance travelled by said needle;
identifying a change in the rate of change in the level of force encountered by said tip of said needle in relation to the distance travelled by said needle, wherein said change is reflective of said tip of said needle encountering said first type of tissue;
recording the position of said tip of said needle in three-dimensional space when said change is identified; and
repeating the foregoing steps a sufficient number of times and determining the position, in three dimensional space, of a bone covered by soft tissue.