US 12,458,397 B2
Method and device for registration and tracking during a percutaneous procedure
João Luís Gomes Da Fonseca, Santo Tirso (PT); João Luís Araújo Martins Vilaça, Braga (PT); Sandro Filipe Monteiro Queirós, Braga (PT); Estevão Augusto Rodrigues De Lima, Oporto (PT); and Jorge Manuel Nunes Correia Pinto, Oporto (PT)
Assigned to Universidade do Minho, Braga (PT); Instituto Politécnico do Cávado E do Ave, Barcelos (PT); and Karl Storz SE & Co. KG, Tuttlingen (DE)
Appl. No. 18/288,783
Filed by UNIVERSIDADE DO MINHO, Braga (PT); INSTITUTO POLITÉCNICO DO CÁVADO E DO AVE, Barcelos (PT); and KARL STORZ SE & Co. KG, Tuttlingen (DE)
PCT Filed May 2, 2022, PCT No. PCT/IB2022/054040
§ 371(c)(1), (2) Date Oct. 27, 2023,
PCT Pub. No. WO2022/229937, PCT Pub. Date Nov. 3, 2022.
Claims priority of application No. 117204 (PT), filed on Apr. 30, 2021; and application No. 117205 (PT), filed on Apr. 30, 2021.
Prior Publication US 2024/0216010 A1, Jul. 4, 2024
Int. Cl. A61B 34/30 (2016.01); A61B 1/307 (2006.01); A61B 17/34 (2006.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01)
CPC A61B 17/3403 (2013.01) [A61B 1/307 (2013.01); A61B 34/10 (2016.02); A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 90/37 (2016.02); A61B 2034/105 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2074 (2016.02); A61B 2090/3782 (2016.02)] 31 Claims
OG exemplary drawing
 
1. A guided percutaneous device for providing visual representations of organ registration and tracking during a guided percutaneous procedure using an electromagnetic tracking (EMT) system comprising an EMT field generator and tracker defining an EMT coordinate system, a catheter with an EMT sensor for placing in the organ to indicate a percutaneous procedure target, a needle with an EMT sensor, an ultrasound (US) probe with an EMT sensor, and an electronic data processor configured for carrying out the preceding calibration steps of:
tracking a reference object using the EMT system, said object comprising a plurality of reference points with known positions in said object;
receiving, from the US probe, US imaging data from the reference object and, simultaneously, receiving from the EMT system a set of three-dimensional (3D) poses, each pose comprising a position and orientation, of the US probe when imaging said reference object;
identifying said reference points in the received US imaging data;
calculating a probe calibration transformation matrix (PTUS) by matching the identified reference points in the received US imaging data with the tracked reference points in an EMT coordinate system; and
wherein the electronic data processor is configured for carrying out the steps of:
loading preoperative imaging data represented in respect of predetermined coordinates of preoperative images (CT);
receiving 3D poses of the catheter, needle and US probe tracked in real-time from the EMT system;
receiving intraoperative imaging data from the US probe represented in respect of predetermined coordinates of intraoperative US images;
calculating an EMT-catheter transformation matrix (CTTr) from the received pose of the catheter;
calculating a probe-EMT transformation matrix (TrTP) from the received pose of the US probe;
calculating a needle-EMT transformation matrix (TrTN) from the received pose of the US probe;
multiplying the EMT-catheter transformation matrix (CTTr) by the probe-EMT transformation matrix (TrTP) for obtaining a probe-catheter transformation matrix (CTP) which represents the pose of the probe in respect of the catheter pose;
multiplying the probe-catheter transformation matrix (CTP) by the probe calibration transformation matrix (PTUS) for obtaining an intraoperative-catheter transformation matrix (CTUS) which represents said coordinates of intraoperative imaging data in respect of the catheter pose;
multiplying the EMT-catheter transformation matrix (CTTr) by the needle-EMT transformation matrix (TrTN) for obtaining a needle-catheter transformation matrix (CTN) which represents the pose of the needle in respect of the catheter pose-,
registering (Treg) the loaded preoperative imaging data into the intraoperative US imaging data;
transforming the intraoperative US imaging data with the obtained intraoperative-catheter transformation matrix (CTUS);
transforming the registered preoperative imaging data with the obtained intraoperative-catheter transformation matrix (CTUS);
transforming the received pose of the needle with the needle-catheter transformation matrix (CTN);
generating a visual representation of the transformed intraoperative US imaging data for displaying on an user interface;
generating a visual representation of the transformed registered preoperative imaging data for displaying on the user interface;
generating a visual representation of the transformed needle pose for displaying on the user interface.