System and method for a tissue resection margin measurement device
Embodiments of the invention provide a system and method for resecting a tissue mass. The system for resecting a tissue mass includes a first sensor for measuring a signal corresponding to the position and orientation of the tissue mass. The first sensor is dimensioned to fit inside of or next to the tissue mass. The system also includes a second sensor attached to a surgical instrument configured to measure the position and orientation of the surgical instrument. A controller is in communication with the first sensor and the second sensor, and the controller executes a stored program to calculate a distance between the first sensor and the second sensor. Accordingly, visual, auditory, haptic or other feedback is provided to the clinician to guide the surgical instrument to the surgical margin.
1 . A method for mapping and tracking a plurality of lumens in an anatomical structure, wherein the anatomical structure is deformable, the method comprising:
providing a virtual model of the anatomical structure while the anatomical structure is in a first configuration;
while the anatomical structure is in the first configuration, positioning a fiducial sensor in the anatomical structure and positioning a catheter, comprising a catheter tracker, in one of the lumens in the anatomical structure which is to be mapped and tracked, and determining (i) a position of the catheter in that lumen using the catheter tracker, and (ii) the position of the fiducial sensor, whereby to map a position of that lumen relative to the fiducial sensor;
repeating the foregoing step for each of the lumens in the anatomical structure which is to be mapped and tracked so that those lumens are mapped;
supplementing the virtual model with the mapped lumens, whereby to provide a supplemented virtual model of the anatomical structure and the mapped lumens while the anatomical structure is in the first configuration;
maintaining the catheter in one of the mapped lumens of the anatomical structure and maintaining the fiducial sensor in the anatomical structure as the anatomical structure is deformed from the first configuration to a second configuration;
determining a position of the catheter in the anatomical structure relative to the position of the fiducial sensor using the catheter tracker while the anatomical structure is in the second configuration;
determining a change in the relative positions of the catheter and the fiducial sensor based on the difference between (i) the determined positions of the catheter and the fiducial sensor when the anatomical structure is in the first configuration, and (ii) the determined positions of the catheter and the fiducial sensor when the anatomical structure is in the second configuration; and
modifying the supplemented virtual model using the determined change in the relative positions of the catheter and the fiducial sensor so as to represent the anatomical structure and the mapped lumens while the anatomical structure is in the second configuration, whereby to provide a modified supplemented virtual model.
2 . A method according to claim 1 wherein the deformation of the anatomical structure from the first configuration to the second configuration comprises at least one from a group consisting of translation, rotation and deformation.
3 . A method according to claim 1 wherein the anatomical structure comprises a lung, and further wherein the body lumen comprises an airway.
4 . A system for mapping and tracking a plurality of lumens in an anatomical structure, wherein the anatomical structure is deformable, the system comprising:
a catheter sized to be disposed in the plurality of lumens of the anatomical structure which are to be mapped and tracked, and configured to remain in a selected lumen of the anatomical structure during deformation of the anatomical structure;
a catheter tracker for providing a catheter signal representative of a position of the catheter tracker, the catheter tracker being carried by the catheter;
a fiducial sensor configured to be positioned in the anatomical structure;
a virtual model of the anatomical structure representing the anatomical structure while it is in a first configuration; and
a controller for:
determining (i) a position of the catheter as the catheter is disposed within each of the plurality of lumens using the catheter tracker and (ii) the position of the fiducial sensor, whereby to map the positions of the plurality of lumens relative to the fiducial sensor while the anatomical structure is in the first configuration; and
supplementing the virtual model with the mapped lumens, whereby to provide a supplemented virtual model of the anatomical structure and the mapped lumens representing the anatomical structure while the anatomical structure is in the first configuration;
determining the position of the catheter while the catheter is maintained in one of the mapped lumens of the anatomical structure and the anatomical structure is deformed from the first configuration to a second configuration;
determining a change in the relative positions of the catheter and the fiducial sensor based on the difference between (i) the determined positions of the catheter and the fiducial sensor when the anatomical structure is in the first configuration, and (ii) the determined positions of the catheter and the fiducial sensor when the anatomical structure is in the second configuration; and
modifying the supplemented virtual model using the determined change in the relative positions of the catheter and the fiducial sensor so as to represent the anatomical structure and the mapped lumens while the anatomical structure is in the second configuration, whereby to provide a modified supplemental virtual model.
5 . A system according to claim 4 wherein the deformation of the anatomical structure from the first configuration to the second configuration comprises at least one from a group consisting of translation, rotation and deformation.