Methods and systems for performing navigation-assisted medical procedures

{
  "publication_number": "US10383654B2",
  "country": "US",
  "kind": "B2",
  "title": "Methods and systems for performing navigation-assisted medical procedures",
  "abstract": "Systems and methods are described for performing navigation-assisted medical procedures such as biopsies, surgeries and pathology procedures by obtaining location information of an item of interest located within at least a portion of a subject; sensing position information of a moveable device; determining a relative position of the moveable device to the item of interest using the location information of the item of interest and the position information of the moveable device; and providing feedback based on the relative position of the moveable device to the item of interest that can be used to change the relative position of the moveable device to the item of interest.",
  "claims": [
    "1. A system for providing feedback on a position of a tool in relation to an item of interest during medical procedures comprising: a medical imaging device that acquires image information of an item of interest located within at least a portion of a subject using targeted or non-targeted techniques; a tool comprising a sensor, wherein the sensor senses position and orientation information of the tool; a programmable processor that executes computer-readable instructions in communication with the medical imaging device and the sensor, wherein the processor: receives the acquired image information of the item of interest from the medical imaging device; estimates location information of the item of interest located within at least the portion of the subject using an algorithmic deformation model based on the acquired image information to estimate unobserved motion of the item of interest within at least the portion of the subject; receives the position and orientation information of the tool from the sensor; determines a relative position of the tool to the item of interest using the location information of the item of interest and the position and orientation information of the tool; and provides directional and distance active feedback based on the relative position of the tool to the item of interest, wherein the active feedback is used to change the relative position of the tool to the item of interest during a navigation-assisted medical procedure, wherein the active feedback changes as the moveable device moves closer to or further away from the item of interest, and wherein the distance active feedback comprises distance encoded vibration frequencies provided through the tool.",
    "2. The system of claim 1, wherein the sensor comprises an inertial sensor.",
    "3. The system of claim 1, wherein the item of interest can be one or more of a tumor within at least a portion of a subject, cancerous tissue within at least a portion of a subject, a tissue sample of the subject, or an organ within a body of the subject.",
    "4. The system of claim 1, wherein the item of interest is located within a tissue specimen.",
    "5. The system of claim 1, wherein the item of interest is located within a body of the subject or an organ of the subject.",
    "6. The system of claim 1, wherein the tool is configured to be inserted into the item of interest and the processor provides feedback that indicates a depth that the tool has been inserted into the item of interest.",
    "7. The system of claim 1, further comprising one or more cameras in communication with the processor that acquire a real-time image of the at least a portion of the subject, wherein the acquired real-time image is referenced to the same coordinate system as the location information of the item of interest and the position information of the tool.",
    "8. The system of claim 1, wherein the processor executes computer-readable instructions that further cause the processor to provide one or more of visual or audible feedback that is used to move the tool closer to the item of interest.",
    "9. The system of claim 1 further comprising a robotic surgical device, wherein the processor executes computer-readable instruction that cause the computing device to provide a control signal that is used to provide robotic control of tool.",
    "10. The system of claim 1, wherein the tool comprises a biopsy needle, a scalpel, a pathology wand, a locator wand, or a bone segment.",
    "11. The system of claim 1, wherein the sensor comprises a three-dimensional sensor.",
    "12. The system of claim 1, wherein the targeted imaging or non-targeted medical imaging device that acquires image information of the item of interest located within the at least a portion of the subject re-registers the location information of the item of interest located within at least a portion of a subject.",
    "13. The system of claim 1, wherein estimating location information of the item of interest located within at least the portion of the subject using the algorithmic deformation model based on the acquired image information is performed by a soft tissue motion engine, wherein the soft tissue motion engine estimates the unobserved movement or deformation of the item of interest caused by movement or palpation of the at least a portion of the subject.",
    "14. The system of claim 1, wherein the medical imaging device for acquiring the imaging information using targeted techniques include one or more of positron emission tomography/computed tomography (PET/CT), single photon emission computed tomography/computed tomography (SPECT/CT), positron emission tomography magnetic resonance imaging (PET MRI), or fluorescence spectroscopy.",
    "15. The system of claim 1, wherein the medical imaging device for acquiring the imaging information using non-targeted techniques include one or more of x-ray, ultrasound, computed tomography (CT), or magnetic resonance imaging (MRI).",
    "16. A system for providing feedback on a position of a tool in relation to an item of interest during medical procedures comprising: a medical imaging device that obtains image information of an item of interest located within at least a portion of a subject using targeted or non-targeted techniques; a tool comprising a sensor, wherein the sensor senses position and orientation information of the tool; at least one pair of augmented reality glasses; a stereo electro-optical (EO) camera pair with overlapping field-of-views; a programmable processor that executes computer-readable instructions, wherein the programmable processor: receives the image information of the item of interest from the medical imaging device; estimates location information of the item of interest located within at least the portion of the subject using an algorithmic deformation model based on the acquired image information to estimate unobserved motion of the item of interest within at least the portion of the subject; receives the position information of the tool; determines a relative position of the tool to the item of interest using the location information of the item of interest and the position and orientation information of the tool; and provides distance and directional feedback based on the relative position of the tool to the item of interest that can be used to change the relative position of the tool to the item of interest during a navigation-assisted medical procedure, wherein the directional feedback includes displaying in the augmented reality glasses a real-time image of the at least a portion of a subject as captured by the EO camera pair with the image information of the item of interest superimposed on the real-time image of the at least a portion of a subject and the distance feedback comprises distance encoded vibration frequencies provided through the tool, wherein the distance and directional feedback changes as the tool moves closer to or further away from the item of interest.",
    "17. The system of claim 1, wherein the tool further comprises a haptic feedback generator and the active feedback provided through the tool comprises haptic feedback provided by the haptic feedback generator.",
    "18. The system of claim 17, wherein the haptic feedback comprises multipoint haptic feedback to provide vibration to denote distance and position of the tool to the item of interest or distance encoded vibration frequency provided through the tool.",
    "19. The system of claim 16, wherein the medical imaging device for acquiring the imaging information using targeted techniques include one or more of positron emission tomography/computed tomography (PET/CT), single photon emission computed tomography/computed tomography (SPECT/CT), positron emission tomography magnetic resonance imaging (PET MRI), or fluorescence spectroscopy.",
    "20. The system of claim 16, wherein the medical imaging device for acquiring the imaging information using non-targeted techniques include one or more of x-ray, ultrasound, computed tomography (CT), or magnetic resonance imaging (MM)."
  ],
  "description_excerpt": "When performing medical procedures such as surgery, obtaining pathological samples, biopsies, and the like, medical personnel still use methods such as palpation, sight and static two-dimensional imaging to locate and sample or review items of interest when performing such procedures. Such reliance upon the skill and experience of the medical personnel and dimensionally-limited imaging of the item of interest may result in reduced quality and accuracy of the medical procedure. For example, pathologic staging of solid tumors involves determining the presence and extent of disease. Precise specimen processing is desired for establishing patient customized management plans that may indicate the need for post-operative chemotherapy and/or radiation therapy. Failure to identify malignant involvement in tissues can lead to the misdiagnosis and mismanagement of patients, leading to undesirable outcomes. Furthermore, correctly determining the extent of disease involves accurate assessment of the tumor's size, and the presence or absence of metastatic disease involving lymph nodes and distant tissues. Hence, the pathologist's assessment is crucial, and it plays a key role in basing future treatment options for patients.\n\nSimilarly, surgery has offered the best opportunity of a cure for patients with solid malignancies. Furthermore, the best surgery is the first surgery. Optimal surgical approaches to cancer resection in the past were limited to visual and tactile cues in identifying the tumor's location and extent. Surgical procedures were based upon surgical anatomy and traditional planes of resection that cancer cells disregard.",
  "cpc": [
    "A61B 17/3211",
    "A61B 2010/045",
    "A61B 2017/00115",
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    "A61B 2090/3762",
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    "A61B 90/11",
    "B25J 9/1664",
    "B25J 9/1694",
    "G05B 2219/40121",
    "G05B 2219/40131",
    "Y10S 901/09"
  ],
  "ipc": [
    "A61B 10/04",
    "A61B 17/00",
    "A61B 17/3211",
    "A61B 34/00",
    "A61B 34/20",
    "A61B 34/30",
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    "A61B 90/00",
    "A61B 90/11",
    "A61B 90/50",
    "B25J 9/16"
  ],
  "assignees": [
    "Ohio State Innovation Foundation"
  ],
  "inventors": [
    "Alper Yilmaz",
    "Edward W. Martin",
    "Stephen P. Povoski",
    "Charles L. Hitchcock",
    "Enver Ozer",
    "Ronald Xu"
  ],
  "filing_date": "2014-11-20",
  "publication_date": "2019-08-20",
  "grant_date": "2019-08-20",
  "priority_date": "2014-11-20",
  "application_number": "US-201414549258-A",
  "family_id": "56009068",
  "cited_by_count": 70,
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  ]
}