Dynamic reference method and system for interventional procedures
View Patent ↗An interventional device configured for placement in or near an internal organ or tissue is provided. The interventional device includes a reference portion having three or more sensor elements. In one implementation, the interventional device and associated sensor elements provide dynamic referencing of the internal organ, tissue or associated vasculature after registration of the sensor data with images and/or volumetric representations of the internal organ or tissue.
1. A tracking system comprising:
an interventional tool including a proximal region that remains outside a patient and a terminal region that is suitable for insertion into the patient and placement proximate to or inside an internal organ of the patient, said interventional tool comprising:
a reference portion that is disposed in said terminal region, wherein the reference portion is not physically attached to the internal organ when so placed;
two or more electromagnetic coils integrated on the reference portion of the interventional tool, wherein each of the two or more electromagnetic coils is configured to provide at least position information, wherein each electromagnetic coil of the two or more electromagnetic coils is either sized differently so as to be identifiable in a radiographic image or the two or more electromagnetic coils are positioned so as to be identifiable in the radiographic image based, at least in part, upon their known spatial relationship to one another; and
a controller comprising processing circuitry operatively coupled to memory circuitry, wherein the processing circuitry is configured to execute instructions stored on the memory circuitry to cause the processing circuitry to receive the position information generated by the two or more electromagnetic coils and to register the two or more electromagnetic coils to the corresponding position information in the radiographic image of the internal organ based, at least in part, upon either the size differences or known spatial relationship between the two or more electromagnetic coils.
2. The tracking system of claim 1 wherein the interventional device comprises a or a biopsy needle catheter.
3. The tracking system of claim 1 comprising one or more antennas configured to detect electromagnetic fields generated by the two or more electromagnetic coils.
4. The tracking system of claim 1 wherein each electromagnetic coil provides position information in three dimensions and orientation information in two directions.
5. The tracking system of claim 1 comprising at least one imaging modality configured to generate the radiographic image of the internal organ.
6. The tracking system of claim 1 wherein the processing circuitry is configured to execute instructions stored on the memory circuitry to cause the processing circuitry to track the interventional tool using at least the registered position information and the radiographic image of the internal organ.
7. The tracking system of claim 1 wherein the two more electromagnetic coils of the interventional tool are arranged in a non-linear arrangement on a curved portion of the interventional tool.
8. The tracking system of claim 7 comprising one or more antennas configured to detect electromagnetic fields generated by the two or more electromagnetic coils.
9. The tracking system of claim 1 wherein each electromagnetic coil of the two or more electromagnetic coils is sized differently so as to be identifiable in a radiographic image.
10. The tracking system of claim 1 wherein each electromagnetic coil of the two or more electromagnetic coils are positioned so as to be identifiable in the radiographic image based, at least in part, upon their known spatial relationship to one another.
11. A tracking system comprising:
an interventional tool including a proximal region that remains outside a patient and a terminal region that is suitable for insertion into the patient and placement proximate to or inside an internal organ of the patient, said interventional tool comprising:
a reference portion;
two or more electromagnetic coils integrated on the reference portion of the interventional tool, wherein each coil of the two or more electromagnetic coils is configured to provide at least position information, wherein each coil of the two or more electromagnetic coils is either sized differently so as to be identifiable in a radiographic image or the two or more electromagnetic coils are positioned so as to be identifiable in the radiographic image based, at least in part, upon their known spatial relationship to one another; and
a controller comprising processing circuitry operatively coupled to memory circuitry, wherein the processing circuitry is configured to execute instructions stored on the memory circuitry to cause the processing circuitry to receive the position information generated by the two or more electromagnetic coils and to register the two or more electromagnetic coils to the corresponding position information in the radiographic image of the internal organ based, at least in part, upon either the size differences or known spatial relationship between the two or more electromagnetic coils.