WO2020182280A1 - Dispositif de détection et procédé pour suivre une aiguille au moyen d'ultrasons et d'un autre capteur simultanément - Google Patents

Dispositif de détection et procédé pour suivre une aiguille au moyen d'ultrasons et d'un autre capteur simultanément Download PDF

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Publication number
WO2020182280A1
WO2020182280A1 PCT/EP2019/055880 EP2019055880W WO2020182280A1 WO 2020182280 A1 WO2020182280 A1 WO 2020182280A1 EP 2019055880 W EP2019055880 W EP 2019055880W WO 2020182280 A1 WO2020182280 A1 WO 2020182280A1
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WO
WIPO (PCT)
Prior art keywords
medical
medical device
target
needle
ultrasound
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2019/055880
Other languages
English (en)
Inventor
Amilcar ALZAGA
Alois Regensburger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens Healthcare GmbH
Original Assignee
Siemens Healthcare GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Healthcare GmbH filed Critical Siemens Healthcare GmbH
Priority to PCT/EP2019/055880 priority Critical patent/WO2020182280A1/fr
Publication of WO2020182280A1 publication Critical patent/WO2020182280A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3413—Needle locating or guiding means guided by ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A61B2090/3941—Photoluminescent markers

Definitions

  • Medical devices for example needles, screws or K-wires, have to be placed very carefully in relation to a medical target or a clinical target.
  • a medical target could in an exam ple be a patient or a dummy for simulating the patient.
  • the medical device is a needle it can for example be intro pokerd into the medical target. In doing so the medical de vice, in particular the needle, is supposed to follow a pre viously planned trajectory.
  • the trajectory for the medical device, in particular the needle can be planned beforehand on the basis of previously gained information about the medi cal target.
  • Such can for example be an ultrasonic image, an X-ray image, a computer tomography or a magnetic resonance image.
  • the needle is supposed to be in troduced to a target within the dummy, wherein the target simulates a tumor inside the dummy.
  • the target simulates a tumor inside the dummy.
  • guidance means for needles may be used. This can for example be done on the basis of two-dimensional ul trasound.
  • the needle cannot be tracked properly by means of two-dimensional ultrasound because the needle is only detected whenever it crosses an ultrasound plane. Even when turning to three-dimensional ultrasound the needle can hardly be tracked properly due to echoes and insufficient resolution . It is an object of the present invention to improve the tracking of a medical device, in particular a needle.
  • a first aspect of the invention relates to a sensing device for providing guidance for a medical device, in particular a needle, comprising
  • an ultrasound sensor which is at least partly surrounded by the probe housing, for acquiring target information con cerning a medical target by means of ultrasound
  • the sensing device is configured to provide the target information for providing guidance in positioning the medical device, in particular the needle, relative to the medical target.
  • the sensing device comprises a sensor unit which is directly arranged at the probe housing, wherein the sensor unit is configured to acquire po sition data concerning a position of the medical device, in particular the needle, by means of an acquisition principle, which is different from the ultrasound sensor.
  • a second aspect of the invention relates to a method for providing guidance for a medical device, in particular a nee dle, comprising the following steps:
  • the probe housing can be formed as a handheld device. For ac quiring the target information the probe housing can be con figured to directly couple the ultrasound sensor to the medi cal target.
  • the probe housing may partly be opened to allow acoustical and/or mechanical coupling between the ultrasound sensor and the medical target.
  • the probe housing may contain a membrane to allow said coupling.
  • the ultrasound sensor and the sensor unit are mounted on the probe housing.
  • the ultrasound sensor is arranged at least partly inside the probe housing.
  • the sensor unit may be ar ranged at the inside or the outside of the probe housing.
  • Ad vantageously the sensor unit is arranged at least partly in side the probe housing. In both cases the sensor unit can be in direct touch with the probe housing.
  • a relative position of the sensor unit in relation to the ul trasound sensor may be fixed.
  • the probe hous ing provides a defined and fixed relative position between the ultrasound sensor and the sensor unit. This may apply to all parts of the ultrasound sensor and/or the sensor unit re spectively.
  • the position of every part of the sensor unit in relation to the ultrasound sensor may be fixed or determined by the probe housing. Additionally or alterna tively the position of the sensor unit in relation to the probe housing may be fixed.
  • the position of each part of the sensor unit in relation to the probe housing is fixed.
  • the target information provided by the sensing device may be used for positioning the sense device or the probe housing respectively in relation to the medical target.
  • the sensing device or the probe housing respectively may be positioned relative to a desired position for the medical de vice at the medical target. If the medical device is a nee dle, the sensing device or the probe housing respectively may be positioned according to a planned trajectory for the nee dle. Alternatively or additionally a so-called registration may be carried out.
  • the tar get information may be compared or matched with previously acquired target information.
  • a two-dimensional or three-dimensional ultrasound image which is part of the tar get information is compared or matched with a previously ac quired two-dimensional or three-dimensional image of the med ical target.
  • the relative position of the sensing device or the probe housing respectively in relation to the desired position for the medical device in particular the planned trajectory for the needle may be determined.
  • the sensor unit can be configured to measure the position or a pose respectively of the medical device, or of at least one section of the medical device.
  • the medical device can in par ticular be a needle. Therefore the sensor unit or the sensing device respectively may be configured to track the medical device on its way to the desired position. In particular the sensing device or the sensor unit respectively may be config ured to track the needle along the planned trajectory.
  • the position or pose of the medical device may be set into con text with the desired position.
  • the position, pose or movement of the needle may be set into context with the orientation, pose or position of the planned trajectory.
  • a difference between the desired position and the medical de vice or in particular the planned trajectory and the needle may be provided as information. Based on this information a refined positioning or introducing of the needle can be al lowed .
  • the sensing device is also configured to ac quire further position data concerning a position of the med ical device by means of the ultrasound sensor, wherein the further position data concerns the position only of an intro pokerd part of the medical device, which is introduced into the medical target.
  • the further posi tion data concerning the position of the medical device is acquired by means of the ultrasound sensor. That further po sition data may concern the position only of an introduced part of the medical device, which is introduced into the med ical target.
  • an image of the medical target by the ultrasound sensor can be used for determining the further position data.
  • an ultrasound image of the medical target with the introduced part of the medical device is acquired.
  • the further position data can then be extracted from that image, for example on the basis of measurements in the image.
  • re fined position data may be determined.
  • the po sition data acquired by the sensor unit and the further posi tion data acquired by means of ultrasound can be merged or joined. In doing so systematic or statistic errors in deter mining the position of the medical device can be reduced or suppressed .
  • the position data acquired by the sensor unit concerns the position only of a part of the medical device, which is outside the medical target.
  • the posi tion data acquired by the sensor unit may concern the posi tion of a non-introduced part of the medical device only.
  • the non-introduced part of the medical device can be that part of the medical device which is not or not yet introduced into the medical target.
  • the further position data acquired by means of ultrasound can concern the position of the introduced part of the medical device only. In this case the position of the medical device is acquired only out- side the medical target by means of the sensor unit. Analo gously the position of the medical device may be determined by means of ultrasound only inside the medical target. In combining both, the position data and the further position data, respective position data from inside or outside the medical target respectively can be merged.
  • extrapolated position data concerning the position of the introduced part of the medical device is determined by means of extrapolation on the basis of the po sition data.
  • the position data acquired by the sensor unit may be extrapolated to gather or gain the extrap olated position data.
  • the position data con cerning the non-introduced part of the medical device may be extrapolated to gain information concerning the position of the introduced part of the medical device.
  • the extrapolated position data may be merged or set in context with the fur ther position data acquired by means of ultrasound. In doing so the position of the introduced part of the medical device may be acquired with higher accuracy.
  • the extrapolation can be carried out additionally on the ba sis of at least one of the following additional inputs: di mensions of the medical device, elasticity or bending proper ties of the medical device and a planned path for the medical device.
  • One or more of the additional inputs may be used ad ditionally to the position data.
  • the additional inputs may be received from a data base.
  • the data base may contain previ ously measured values for one or more of the additional in puts.
  • the additional inputs may be acquired from a manufacturer or distributer of the medical device.
  • the extrapolation By means of the extrapolation a position of a tip of the med ical device which is formed as the needle can be determined.
  • the position of the tip of the needle may be determined by means of the extrapolation from the non- introduced part of the needle. Therefore, the additional in puts may comprise information about dimensions of the needle, and in particular a length of the needle. In doing so it can be determined how far and where the needle extends into the medical target on the basis of the non-introduced part.
  • a previously acquired image of the medical target is received and a two-dimensional or three-dimensional registration of an ultrasound image ac quired as part of the target information is carried out.
  • the ultrasound image may be acquired as part of the target information.
  • This ultrasound image may then be used for registration on the basis of a previously acquired image.
  • the previously acquired image may be received from a further ultrasound device, an X-ray device, in particular a C-arm, or from a computer tomograph.
  • the pre viously acquired image may be acquired by means of ultra sound, X-ray, computer tomography, magnetic resonance therapy or any other imaging method.
  • the previously acquired image may be two-dimensional or three-dimensional.
  • a planned posi tion and/or path of the medical device defined in the coordi nate space of the previously acquired image may also be re ceived .
  • a position of the sens ing device the probe housing or the ultrasound sensor rela tive to the medical target may be compared or set into con text with the previously acquired image.
  • the desired position and/or path for the medical device may be determined on the basis of the registration. In doing so the correct positioning of the medical device can be verified or guided.
  • the probe housing is formed as a handheld device which comprises the ultrasound sensor and the sensor unit.
  • the probe housing, the ultra sound sensor and the sensor unit together form a handheld de vice. This allows a very easy handling of the present sensing device.
  • the probe hous ing can be placed freely on the medical target. Its correct relative position to the medical target is then determined within the scope of the registration.
  • the sensor unit comprises a camera, a stereo camera, a time of flight camera (TOF-camera) , a LIDAR sensor or an electromagnetic sensor.
  • the electromagnetic sensor may be part of an electromagnetic tracking system which is well known within the scope of the medical technology.
  • the camera or the stereo camera may be part of an optical tracking sys tem which is also well known in the scope of medical technol ogy.
  • the camera, the stereo camera or the electromagnetic sensor can be configured to capture a pattern or additional sensor which is attached to the medical device. The pattern is attached to the medical device in order to facilitate the determination of the position of the medical device or im prove the accuracy thereof.
  • the pattern may comprise one or more of the fol lowing: alignment marks like lines, circles or symbols on the surface of the medical device, reflective surface or reflec tive patterns on the medical device or fluorescent markings on the surface of the medical device.
  • the alignment marks al low the determination of the precise distance from the marks to the sensor unit and/or from the marks to the needle tip of the needle. In this determination known sizes or properties of the alignment marks may be used and/or a known spacing be tween different alignment marks may be analyzed.
  • parts of the pattern being fluorescent an accuracy of determination can be further increased. In particular a signal to noise ra tio may be increased.
  • In the fluorescent surface light of a first wavelength is absorbed and then again transmitted with a different second wavelength.
  • the sensor device may emit light of the first wavelength and capture the light of the second wavelength to acquire the position data concerning the position of the medical device.
  • the pattern may be formed de tachable from the medical device.
  • the pattern may be formed as a clip-on adapter.
  • the sensor unit comprises a guiding means arranged at the probe housing to indicate the planned path by optical means and/or to give physical guidance to the medical device along the planned path.
  • the guiding means can be configured to highlight the planned path.
  • the guiding means can comprise a projector, for example a light unit or a laser unit. Such is described in the patent application from Siemens with the Siemens reference number 201900798.
  • the guiding means can be configured to give physical guidance to the medical device along the planned path.
  • the physical guid ance comprises a mechanical guideline.
  • a third aspect of the invention relates to a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the following steps :
  • the computer program may be stored on a computer readable me dium, for example a hard disk, a flash medium or an optical storage medium.
  • the computer readable medium may comprise in structions which, when the program is executed by a computer, cause the computer to execute the claimed method.
  • Embodiments which are disclosed for the sensing device apply analogously to the method for providing guidance for a medi cal device as well as to the computer program. Conversely em- bodiments and their benefits disclosed for the method or the computer program also apply for the sensing device. All em bodiments and features which are disclosed in the scope of the present application can be combined if useful or used on their own. In the following an exemplary embodiment is de scribed on the basis of the drawings. Therein show:
  • FIG 1 schematically a sensing device in an intended use case together with a needle and a medical target
  • FIG 2 an exemplary flow chart of a method for providing guidance for a medical device.
  • FIG 1 shows a sensing device 1 which comprises a probe hous ing 2, an ultrasound sensor 3 and a sensor unit 4.
  • the ultra sound sensor 3 is at least partly surrounded by the probe housing 2.
  • the ultrasound sensor 3 is arranged completely inside the probe housing 2.
  • the sensor unit 4 is arranged directly at the probe housing 2.
  • the sen sor unit 4 can be arranged inside the probe housing 2, out side the probe housing 2 or partly inside and outside the probe housing 2.
  • the ultrasound sensor 3 is configured to provide target in formation concerning a medical target 6.
  • the target infor mation may comprise a two-dimensional or three-dimensional ultrasound image of the medical target 6.
  • the acquiring of the target information is carried out by means of ultrasound 7.
  • the ultrasound sensor 3 is configured to emit ultrasound 7 into the medical target 6, when mechanically or acoustically coupled to the medical target 6.
  • the sensing device 1 or the probe housing 2 respectively can be positioned on the medical target 6 in an intended way.
  • the sensing device 1 is configured to provide the target information to allow the in tended positioning of the sensing device 1 relative to the medical target 6. This positioning can be carried out within the scope of a so-called registration.
  • the target information can be compared to a previously acquired image of the medical target 6.
  • the previously ac quired image can be a two-dimensional or three-dimensional ultrasound image, an X-ray image, a computer tomography or a magnetic resonance image.
  • the sensing device 1 may comprise a memory for storing the previously acquired image or an inter face for receiving the previously acquired image.
  • the medical target 6 may be a human body, in particular a pa tient, or a dummy for simulating the patient or a human body respectively. Such a dummy may be intended for teaching pur poses.
  • the medical target 6 there is an intended posi tion for a medical device 5.
  • the medical device 5 may be a needle with its tip supposed to be introduced to the intended position 8.
  • the intended position 8 can be a tu mor within the human body or a representation of the tumor within the dummy.
  • the sensing device 1 is configured to pro vide the target information for providing guidance in posi tioning the medical device 5 relative to the medical target 6.
  • the sensing device 1 is configured to pro vide the target information for providing guidance in posi tioning or introducing the needle into the medical target 6.
  • This guidance may entail validating the correct positioning of the medical device 5 and/or a correct path for the medical device 5.
  • the needle as the medical device 5 is intended to be introduced into the medical target 6 along a needle trajectory or an intended path 9 respective ly. Therefore the sensing device 1 acquires position data re garding the position of the medical device 5.
  • the position data is partly acquired by the ultrasound sensor 3.
  • position data regarding an introduced part 10 of the medical device 5 is acquired by means of the ultra sound sensor 3.
  • the introduced part 10 is the part of the medical device 5 which is already introduced into the medical target 6.
  • the further position data is acquired by the sensor unit 4 by means of an acquisition principle which is different from the acquisition principle of the ultrasound sensor 3.
  • the sensor unit 4 may comprise a stereo camera, a mono camera, a LIDAR sensor, a time-of-flight camera (TOF-camera) , a red-green-blue-depth- camera module (RGBD) or an electromagnetic sensor.
  • the elec tromagnetic sensor can be part of an electromagnetic tracking system which is well-known in the scope of medical technolo gy.
  • the electromagnetic tracking system can also comprise a counterpart which is attached to the medical target or at tachable to the medical target 6.
  • position data regarding the position of the medical device outside the medical target 6 can be acquired.
  • the position data acquired by the sensor unit 4 may regard the position only of a non-introduced part 11 of the medical device 5.
  • a pat tern 12 may be attached or be attachable to the medical de vice 5.
  • the pattern 12 may comprise alignment marks, a re flective surface and/or a fluorescent surface.
  • the pattern 12 may be captured by the sensor unit 4 to allow a precise de termination of the medical device 5 and/or to facilitate the determination of the three-dimensional orientation of the medical device 5.
  • the alignment marks may allow the determination of the precise distance from the alignment marks to a needle tip of the needle as the medical device 5.
  • the alignment marks have to be attached to the med ical device, in particular the needle, in a predefined rela- tive position to the needle tip.
  • the alignment marks allow the determination of the length of the introduced part 10 of the medical device 5.
  • Fluorescent surfaces which emit light of a different wave length when illuminated with an illumination wave length can be used for allowing a more precise determination of the position of the medical device 5.
  • a signal to noise ratio can be reduced.
  • an extrapolation can be carried out.
  • the extrapolation ex trapolated position data regarding the position of the intro Jerusalem part 10 or the needle tip respectively can be acquired.
  • one or more of the following additional inputs may be used: Length of the needle, elastic ity and/or bending properties of the needle and the planed needle path.
  • the length of the needle may be received from a user input, a selection of a pre-calibrated needle type or by a previously acquired image, in particular a two-dimensional or three-dimensional image, of the needle.
  • the image of the needle may be an optical picture.
  • the elasticity or bending properties of the needle may be acquired from a data base.
  • a user selection of a specific needle type from the data base is received.
  • the length of the nee dle may be acquired from such a data base and the user selec tion.
  • an estimation of a bending of the needle inside the medical target 6 and/or an estimation of a needle trajectory inside the medical target 6 can be de termined.
  • the estimation of the needle trajectory may be car ried out under the assumption of no bending of the needle or with taking the above-mentioned estimation of the needle bending into account.
  • the estimation of the needle bending inside the medical target 6 may be carried out on the basis of the elasticity and/or bending properties.
  • the estimation of the needle bending may be carried out by evaluating a needle bending of the non- introduced part 11 of the needle. Therefore the needle bend ing of the non-introduced part 11 may be acquired as part of the position data.
  • the length of the introduced part 10, the estimation of the needle bending inside the medical target 6 and/or the estimation of the needle trajectory inside the medical target 6 can be provided as part of the position da ta .
  • the position data acquired by means of the ultrasound sensor 3 and the position data acquired by means of the sensor unit 4 can be merged.
  • a position of the needle tip de termined on the basis of the position data from the sensor unit 4 may be compared to a position of the needle tip deter mined from the position data acquired by the ultrasound sen sor 3.
  • both position data and both determined positions of the needle tip refined position data or a refined position of the needle tip may be acquired.
  • the position of the medical device 5 or the needle tip re spectively can be provided for providing guidance in posi tioning the medical device 5.
  • the determined po sition of the medical device or the needle tip respectively can be transmitted to a monitoring device, for example a mon itor, a flat screen or any kind of display.
  • the display de vice can be part of the sensing device 1.
  • the display device may be connected to the probe housing by a data cable or a wireless connection.
  • the previously taken image of the medi cal target 6 can also be displayed on the display device. Ad vantageously an overlay from the previously taken image of the medical target 6 and the previously taken image of the medical device 5, in particular the needle, is generated.
  • FIG 2 shows a method for providing guidance for a medical de vice, in particular a needle, comprising the following steps: SI: acquiring target information concerning a medical target by means of ultrasound by an ultrasound sensor arranged at least partly inside a probe housing,
  • S2 acquiring position data concerning a position of the med ical device, in particular the needle, by means of an acqui sition principle, which is different from the ultrasound sen sor, by a sensor unit, which is directly arranged at the probe housing, and
  • S3 providing guidance in positioning the medical device, in particular the needle, relative to the medical target by means of the target information and the position data.

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  • Health & Medical Sciences (AREA)
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  • Heart & Thoracic Surgery (AREA)
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Abstract

L'invention porte sur un dispositif de détection (1) pour fournir un guidage pour un dispositif médical (5), en particulier une aiguille, comprenant - un boîtier de sonde (2) et - un capteur ultrasonore (3), qui est au moins partiellement entouré par le boîtier de sonde (2), pour acquérir des informations cibles concernant une cible médicale (6) au moyen d'ultrasons (7), - le dispositif de détection (1) étant configuré pour fournir les informations cibles pour fournir un guidage dans le positionnement du dispositif médical (5), en particulier de l'aiguille, par rapport à la cible médicale (6). Pour améliorer le suivi du dispositif médical (5), en particulier de l'aiguille, il est prévu - une unité de capteur (4) qui est disposée directement sur le boîtier de sonde (2), l'unité de capteur (4) étant configurée pour acquérir des données de position concernant une position du dispositif médical (5), en particulier de l'aiguille, au moyen d'un principe d'acquisition qui est différent du capteur à ultrasons (3).
PCT/EP2019/055880 2019-03-08 2019-03-08 Dispositif de détection et procédé pour suivre une aiguille au moyen d'ultrasons et d'un autre capteur simultanément Ceased WO2020182280A1 (fr)

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PCT/EP2019/055880 WO2020182280A1 (fr) 2019-03-08 2019-03-08 Dispositif de détection et procédé pour suivre une aiguille au moyen d'ultrasons et d'un autre capteur simultanément

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PCT/EP2019/055880 WO2020182280A1 (fr) 2019-03-08 2019-03-08 Dispositif de détection et procédé pour suivre une aiguille au moyen d'ultrasons et d'un autre capteur simultanément

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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WO2004019799A2 (fr) * 2002-08-29 2004-03-11 Computerized Medical Systems, Inc. Procedes et systemes de localisation d'une sonde d'imagerie medicale et d'enregistrement spatial et de cartographie d'une aiguille de biopsie lors d'une biopsie de tissus
WO2011063266A2 (fr) * 2009-11-19 2011-05-26 The Johns Hopkins University Systèmes de navigation et d'intervention guidés par image à faible coût utilisant des ensembles coopératifs de capteurs locaux
DE102011010412A1 (de) * 2011-02-05 2012-08-09 Bernd H. Meier Ultraschallnavigierte Punktion

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