System and method for magnetic occult lesion localization and imaging
Systems and methods for marking the location and extent of an anatomical region-of-interest, such as a tumor, using magnetic seeds whose position and orientation are measured or otherwise detected using a detection device that includes two or more magnetic sensors are described. One or more magnetic seeds are implanted to mark and define the center and extent of an anatomical region-of-interest and a magnetic sensor-based detector system is used to accurately identify the location of the magnetic seeds.
1. A magnetic detector system for localizing a magnetic seed that generates a magnetic field, comprising:
a detector probe comprising:
a housing extending along a central axis from a distal end to a proximal end;
a first magnetic sensor arranged at the proximal end of the housing;
a second magnetic sensor arranged at the distal end of the housing;
wherein the first magnetic sensor and the second magnetic sensor detect the magnetic field generated by the magnetic seed and in response thereto generate signal data representative of the magnetic field;
a processor in communication with the first magnetic sensor and the second magnetic sensor to receive the signal data therefrom and to process the signal data to compute a location of the magnetic seed, wherein processing the signal data includes accounting for an anisotropic geometry of the magnetic field generated by the magnetic seed; and
an output in communication with the processor that provides feedback to a user based on the computed location of the magnetic seed.
2. The magnetic detector system as recited in claim 1 , wherein at least one of the first magnetic sensor or the second magnetic sensor is arranged in the housing to be offset from the central axis of the housing.
3. The magnetic detector system as recited in claim 2 , wherein the first magnetic sensor and the second magnetic sensor are not coaxial with the central axis.
4. The magnetic detector system as recited in claim 1 , wherein the processor calibrates the first magnetic sensor and the second magnetic sensor independent from each other based on a known spatial relationship between the first magnetic sensor, the second magnetic sensor, and the Earth's magnetic field.
5. The magnetic detector system as recited in claim 4 , wherein calibrating the first magnetic sensor and the second magnetic sensor subtracts effects of the Earth's magnetic field in the signal data received by the processor from each of the first magnetic sensor and the second magnetic sensor.
6. The magnetic detector system as recited in claim 4 , further comprising a memory in communication with the processor, and wherein the processor and the memory are housed within the housing of the detector probe, and wherein calibrating the first magnetic sensor and the second magnetic sensor generates calibration data that are stored in the memory.
7. The magnetic detector system as recited in claim 1 , wherein the processor accounts for the anisotropic geometry of the magnetic field generated by the magnetic seed by using a physical model of the magnetic seed when estimating a distance of the magnetic seed from the detector probe.
8. The magnetic detector system as recited in claim 1 , wherein at least one of the first magnetic sensor and the second magnetic sensor is a magnetometer.
9. The magnetic detector system as recited in claim 1 , wherein at least one of the first magnetic sensor and the second magnetic sensor comprise an array of magnetometers.
10. The magnetic detector system as recited in claim 9 , wherein the array of magnetometers define a viewing window and the processor computes the location of the magnetic seed only when the magnetic seed is located within a volume defined by the viewing window.
11. The magnetic detector system as recited in claim 1 , wherein the processor computes an error in the location of the magnetic seed and the output provides a display of the error to the user.
12. The magnetic detector system as recited in claim 1 , wherein the output provides at least one of a visual feedback to the user or an auditory feedback to the user.
13. The magnetic detector system as recited in claim 12 , wherein the output provides visual feedback to the user, wherein the visual feedback comprises one or more numerical values associated with the location of the magnetic seed relative to the detector probe.
14. The magnetic detector system as recited in claim 12 , wherein the output provides visual feedback to the user, wherein the visual feedback comprises a display element representing the location of the magnetic seed.
15. The magnetic detector system as recited in claim 1 , wherein the processor includes at least one of a computer system in communication with the detector probe or a processor contained within the housing of the detector probe.
16. The magnetic detector system as recited in claim 1 , wherein the output comprises a display and the processor is configured to retrieve a diagnostic image depicting an anatomical region in which the magnetic seed is located and provide the diagnostic image to the display.
17. The magnetic detector system as recited in claim 1 , further comprising a removable tip coupled to the distal end of the housing, wherein the second magnetic sensor is arranged within the removable tip.
18. The magnetic detector system as recited in claim 17 , wherein the second magnetic sensor comprises a plurality of magnetic sensors.
19. A kit for localization of an implantable magnetic seed, comprising:
an introducer device, comprising:
a needle composed of a non-magnetic material and having a lumen that extends from a distal end to a proximal end of the needle, the lumen being sized to receive the magnetic seed for implantation in a subject;
a plunger composed of a non-magnetic material and arranged within the lumen of the needle, wherein the plunger is sized and shaped to be received by the lumen of the needle such that when the plunger is translated along a length of the lumen air is allowed to flow past the plunger so as not to generate a vacuum effect in the lumen;
a detector probe comprising:
a housing extending along a central axis from a distal end to a proximal end;
a first magnetic sensor arranged at the proximal end of the housing;
a second magnetic sensor arranged at the distal end of the housing;
wherein the first magnetic sensor and the second magnetic sensor detect a magnetic field generated by the magnetic seed and in response thereto generate signal data representative of the magnetic field;
a processor in communication with the first magnetic sensor and the second magnetic sensor to receive the signal data therefrom and to process the signal data to compute a location of the magnetic seed, wherein processing the signal data includes accounting for an anisotropic geometry of the magnetic field generated by the magnetic seed; and
an output that provides feedback to a user based on the computed location of the magnetic seed.
20. The kit as recited in claim 19 , wherein the plunger is sized to have an outer diameter that is smaller than an inner diameter of the lumen of the needle, such that when the plunger is translated along a length of the lumen air is allowed to flow past the plunger so as not to generate a vacuum effect in the lumen.
21. The kit as recited in claim 19 , wherein the plunger is sized to have an outer diameter that contacts an inner surface of the lumen of the needle, and wherein at least one hole is formed in the plunger such that when the plunger is translated along a length of the lumen air is allowed to flow past the plunger via the at least one hole so as not to generate a vacuum effect in the lumen.