Interventional Medicine Device Tracking

Abstract

A controller includes: a memory storing instructions; and a processor executing the instructions. When executed by the processor, the instructions cause the controller to perform a process including controlling an imaging probe. The imaging probe is controlled to activate an imaging element to emit an imaging signal to generate three or more imaging planes, thereby simultaneously capturing an interventional device and an anatomical structure targeted by the interventional device. The imaging probe is also controlled to simultaneously capture both the interventional device and the anatomical structure targeted by the interventional device. The imaging probe is controlled to capture at least one of the interventional device and the anatomical structure targeted by the interventional device in at least two of the three or more imaging planes, and to capture another of the interventional device and the anatomical structure targeted by the interventional device in at least one of the three or more imaging planes.

Description

Background Art

[0001] Transesophageal echocardiography (TEE) ultrasound probes are commonly used in cardiac monitoring and navigation. Currently available multi-planar imaging modes for TEE ultrasound probes include X-plane and full three-dimensional (3D) volume.

[0002] Ultrasound tracking techniques estimate the position of a passive ultrasound sensor (e.g., PZT, PVDF, copolymer, or other piezoelectric material) in the field of view (FOV) of a diagnostic ultrasound B-mode image by analyzing the signals received by the passive ultrasound sensor as the imaging beam of the ultrasound probe sweeps the field of view. Time-of-flight measurements provide the axial / radial distance of the passive ultrasound sensor from the imaging array, while amplitude measurements and knowledge of the beam excitation sequence provide the lateral / angular position of the passive ultrasound sensor.

[0003] Figure 1 A known system for tracking an interventional medical device using a passive ultrasound sensor is shown. Figure 1 , an ultrasound probe 102 transmits an imaging beam 103 that sweeps across a passive ultrasound sensor 104 on a tool tip of an interventional medical device 105. An image 107 of the tissue is fed back by the ultrasound probe 102. After determination caused by a signal processing algorithm, the position of the passive ultrasound sensor 104 on the tool tip of the interventional medical device 105 is provided as a tip position 108. The tip position 108 is superimposed on the image 107 of the tissue as an overlay image 109. The image 107 of the tissue, the tip position 108, and the overlay image 109 are all displayed on the display 100.

[0004] Document US 2012 / 041311 A1 relates to a system and method for three-dimensional acoustic imaging for medical procedure guidance, the medical procedure guidance comprising: receiving an acoustic signal scanned to poll a volume of interest; determining a position of a procedure device within the polling volume based on the acoustic signal; and displaying a first view of a first plane perpendicular to the orientation of the procedure device on a display device. A second view of at least one plane perpendicular to the first plane is also displayed. A third view of a third plane perpendicular to the first plane and the second plane is also displayed. The first, second and third views are displayed simultaneously.

[0005] Another document US 2005 / 090742 A1 discloses ultrasound diagnostic equipment, which is equipped with: an ultrasound probe that sends ultrasound to / receives ultrasound from a body to be examined; a probe position sensor that detects the position and direction of the ultrasound probe; an image generator that generates image data based on an output of the ultrasound probe; a probe position sensor that detects the position and direction of a puncture probe inserted into the body to be examined; a display image generator that generates data for displaying an image, wherein the end position of the puncture probe is fixed to a specific position in an image display area according to the position and direction of the ultrasound probe and the position and direction of the perforation probe based on the image data; and a display for displaying the display image in the image display area.

[0006] Another document US 2013 / 197357 A1 discloses a system and method for providing image guidance for placing one or more medical devices at a target position. The system receives placement information of medical devices within a predetermined area. The system calculates a viewing angle in a virtual 3D space of multiple virtual medical devices corresponding to the multiple medical devices. The system also causes a display device to display the multiple virtual medical devices based at least on the calculated viewing angle.

[0007] Another document WO 2016 / 081321 discloses an ultrasound imaging system, which includes an interventional medical device having a first tracking element that generates tip position data based on a locator field. The ultrasound probe has an ultrasound transducer mechanism and a second tracking element. The ultrasound transducer mechanism has an active ultrasound transducer array that generates two-dimensional ultrasound slice data at any one of a plurality of discrete imaging positions within a three-dimensional imaging volume. The second tracking element generates probe position data based on the locator field. The processor circuit is configured to execute program instructions to generate an ultrasound image for display, and is configured to generate a positioning signal based on the tip position data and the probe position data to dynamically position the active ultrasound transducer array so that the two-dimensional ultrasound slice data includes the distal tip of the interventional medical device. Summary of the invention

[0008] According to aspects of the present disclosure, a controller for controlling tracking of an interventional medical device in a patient comprises: a memory storing instructions; and a processor executing the instructions. When executed by the processor, the instructions cause the controller to perform a process including controlling an imaging probe. The imaging probe is controlled to activate an imaging element to emit an imaging signal to generate three or more imaging planes, including a first imaging plane, a second imaging plane, and a third imaging plane perpendicular to the second imaging plane, thereby simultaneously capturing an interventional device and an anatomical structure targeted by the interventional device. The imaging probe is also controlled to simultaneously capture both the interventional device and the anatomical structure targeted by the interventional device. The imaging probe is controlled to capture at least one of the interventional device and the anatomical structure targeted by the interventional device in at least two of the three or more imaging planes, and to capture another of the interventional device and the anatomical structure targeted by the interventional device in at least one of the three or more imaging planes.

[0009] According to another aspect of the present disclosure, a method for tracking an interventional medical device in a patient includes: emitting imaging signals through an activated imaging element controlled by an imaging probe to generate three or more imaging planes, including a first imaging plane, a second imaging plane, and a third imaging plane perpendicular to the second imaging plane, thereby simultaneously capturing the interventional device and the anatomical structure targeted by the interventional device. The method also includes simultaneously capturing the interventional device and the anatomical structure targeted by the interventional device. The imaging probe is controlled to capture at least one of the interventional device and the anatomical structure targeted by the interventional device in at least two of the three or more imaging planes, and to capture the other of the interventional device and the anatomical structure targeted by the interventional device in at least one of the three or more imaging planes.

[0010] According to another aspect of the present disclosure, a system for tracking an interventional medical device in a patient includes an imaging probe and a controller. The imaging probe is configured to activate an imaging element to emit an imaging signal to generate three or more imaging planes, including a first imaging plane, a second imaging plane, and a third imaging plane perpendicular to the second imaging plane, so as to simultaneously capture the interventional device and the anatomical structure targeted by the interventional device. The controller controls the imaging probe to simultaneously capture both the interventional device and the anatomical structure targeted by the interventional device. The imaging probe is controlled to capture at least one of the interventional device and the anatomical structure targeted by the interventional device in at least two of the three or more imaging planes, and to capture another of the interventional device and the anatomical structure targeted by the interventional device in at least one of the three or more imaging planes. The controller includes a signal processor for processing an image signal, the image signal simultaneously captures at least one of the interventional device and the anatomical structure targeted by the interventional device in at least two of the three or more imaging planes, and captures the interventional device and the other of the anatomical structure targeted by the interventional device in at least one of the three or more imaging planes. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The exemplary embodiments are best understood from the following detailed description when read in conjunction with the accompanying drawings. It should be emphasized that the various features are not necessarily drawn to scale. In fact, the dimensions may be increased or decreased arbitrarily for clarity of discussion. Wherever applicable and practical, similar reference numerals refer to similar elements.

[0012] Figure 1 A known system for interventional medical device tracking using a passive ultrasound sensor is illustrated in accordance with a representative embodiment.

[0013] Figure 2 is an illustrative embodiment of a general purpose computer system that can implement a method of interventional medical device tracking according to representative embodiments.

[0014] Figure 3 A method for interventional medical device tracking according to a representative embodiment is illustrated.

[0015] Figure 4A The relationship between a probe and a controller for interventional medical device tracking according to a representative embodiment is illustrated.

[0016] Figure 4B Another relationship between a probe and a controller for interventional medical device tracking according to a representative embodiment is illustrated.

[0017] Figure 5A A cross section of a probe for interventional medical device tracking is illustrated according to a representative embodiment.

[0018] Figure 5B Picture shows Figure 5A Simplified illustration of the imaging plane in an embodiment of the present invention.

[0019] Fig. 6A A cross section of a probe for interventional medical device tracking is illustrated according to a representative embodiment.

[0020] Figure 6B Picture shows Fig. 6A Simplified illustration of the imaging plane in an embodiment of the present invention.

[0021] Fig. 7A A cross section of a probe for interventional medical device tracking is illustrated according to a representative embodiment.

[0022] Figure 7B Picture shows Fig. 7A Simplified illustration of the imaging plane in an embodiment of the present invention.

[0023] Fig. 8A A cross section of a probe for interventional medical device tracking is illustrated according to a representative embodiment.

[0024] Figure 8B Picture shows Fig. 8A Simplified illustration of the imaging plane in an embodiment of the present invention.

[0025] Fig. 9 Illustrated are views presented on a user interface for interventional medical device tracking according to a representative embodiment. DETAILED DESCRIPTION

[0026] In the following detailed description, representative embodiments that disclose specific details are described for the purpose of explanation rather than limitation, so as to provide a thorough understanding of the embodiments according to the present teachings. The description of known systems, equipment, materials, operating methods, and manufacturing methods may be omitted to avoid blurring the description of the representative embodiments. Nevertheless, systems, equipment, materials, and methods within the knowledge of those of ordinary skill in the art are within the scope of the present teachings and may be used according to the representative embodiments. It should be noted that the terms used herein are only used for the purpose of describing specific embodiments and are not intended to be limiting. The defined terms are supplementary to the technical and scientific meanings of the defined terms as generally understood and accepted in the technical field of the present teachings.

[0027] It will be understood that although the terms first, second, third, etc. may be used herein to describe various elements or components, these elements or components should not be limited by these terms. These terms are only used to distinguish one element or component from another element or component. Therefore, without departing from the teachings of the creative concept, the first element or component discussed below may be referred to as the second element or component.

[0028] The terms used herein are only used for the purpose of describing specific embodiments and are not intended to be restrictive. As used in the specification and claims, the singular terms "one", "an" and "said" are intended to include both singular and plural forms, unless the context clearly stipulates otherwise. In addition, when used in this specification, the terms "include" and / or "comprises" and / or similar terms specify the presence of stated features, elements and / or parts, but do not exclude the presence or addition of one or more other features, elements, parts and / or their groups. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0029] Unless otherwise indicated, when an element or component is referred to as being "connected to," "coupled to," or "adjacent to" another element or component, it will be understood that the element or component may be directly connected or coupled to the other element or component, or there may be intervening elements or components. That is, these and similar terms cover situations where one or more intermediate elements or components may be employed to connect two elements or components. However, when an element or component is referred to as being "directly connected" to another element or component, this only covers situations where two elements or components are connected to each other without any intermediate or intervening elements or components.

[0030] In view of the foregoing, the present disclosure is therefore intended to present one or more of the advantages specifically noted below through one or more of its various aspects, embodiments, and / or specific features or subcomponents. For purposes of explanation and not limitation, exemplary embodiments disclosing specific details are set forth in order to provide a thorough understanding of embodiments according to the present teachings. However, other embodiments consistent with the present disclosure that depart from the specific details disclosed herein remain within the scope of the claims. In addition, descriptions of known devices and methods may be omitted so as not to obscure the description of the exemplary embodiments. Such methods and devices are within the scope of the present disclosure.

[0031] As introduced above, the use of X-planes can provide high frame rates, but only 2 adjustable imaging planes. On the other hand, the use of a full three-dimensional (3D) volume can provide control over slices, but a low frame rate. The present disclosure provides the ability to simultaneously visualize both an interventional medical device and an anatomical structure targeted by the interventional medical device using, for example, the same ultrasound imaging probe by emitting imaging signals in three or more imaging planes. It is clear from the outset that the simultaneous emission and capture caused by the ultrasound imaging probe can involve emitting and capturing the interventional medical device and the targeted anatomical structure when the interventional medical device and the targeted anatomical structure are physically separated in three-dimensional space.

[0032] As described for the following embodiments, tissue surrounding the device can be visualized using other quantitative navigation metrics without neglecting the desired anatomical structure. The device tracking output can be bootstrapped to the imaging plane selection algorithm via an automatic feedback / control loop that links the device position to the control of the imaging plane selection. An example of an automatic feedback / control loop is a remote control link (RCL), which tracks the identified device through the imaging plane as the device moves. By linking the interventional device tracking output and the imaging plane selection, the multiple different embodiments described herein provide different capabilities. In other words, interventional device tracking can be used as part of a feedback loop to ensure that the ability to track interventional devices continues, so that one or more imaging planes can be bound or dedicated to the interventional device. Therefore, device tracking can be used to automatically visually follow a device with an imaging plane in order to continue tracking the interventional device.

[0033] Figure 2 200 is an illustrative embodiment of a general purpose computer system on which a method of interventional medical device tracking may be implemented according to a representative embodiment. The computer system 200 may include a set of instructions that may be executed to cause the computer system 200 to perform any one or more of the methods or computer based functions disclosed herein. The computer system 200 may operate as a standalone device or may be connected to other computer systems or peripheral devices, for example using a network 201.

[0034] The computer system 200 can be implemented as or incorporated into a variety of devices, such as a fixed computer, a mobile computer, a personal computer (PC), a laptop computer, a tablet computer, an ultrasound system, an ultrasound probe, or any other machine capable of running a set of instructions (sequentially or otherwise) specifying an action to be taken by the machine. The computer system 200 can be incorporated into, or in, a device in an integrated system that in turn includes additional devices. In an embodiment, the computer system 200 can be implemented using electronic devices that provide voice, video, or data communications. In addition, although the computer system 200 is illustrated as a single system, the term "system" should also be understood to include any collection of systems or subsystems that individually or jointly run one or more sets of instructions to perform one or more computer functions.

[0035] like Figure 2As shown, the computer system 200 includes a processor 210. The processor for the computer system 200 is tangible and non-transient. As used herein, the term "non-transient" should not be interpreted as a permanent characteristic of a state, but rather as a characteristic of a state that will last for a period of time. The term "non-transient" explicitly negates fleeting characteristics, such as characteristics of a carrier or signal or other forms that exist only transiently anywhere at any time. The processor is an article and / or machine component. The processor for the computer system 200 is configured to run software instructions to perform functions as described in various embodiments of this article. The processor for the computer system 200 may be a general-purpose processor, or may be a part of an application-specific integrated circuit (ASIC). The processor for the computer system 200 may also be a microprocessor, a microcomputer, a processor chip, a controller, a microcontroller, a digital signal processor (DSP), a state machine, or a programmable logic device. The processor for the computer system 200 may also be a logic circuit, including a programmable gate array (PGA) such as a field programmable gate array (FPGA), or another type of circuit including discrete gates and / or transistor logic. The processor for computer system 200 may be a central processing unit (CPU), a graphics processing unit (GPU), or both. In addition, any processor described herein may include multiple processors, parallel processors, or both. Multiple processors may be included in a single device or multiple devices, or coupled to a single device or multiple devices.

[0036] In addition, the computer system 200 includes a main memory 220 and a static memory 230, which can communicate with each other via a bus 208. The memory described herein is a tangible storage medium that can store data and executable instructions, and is non-transient during the time when the instructions are stored therein. As used herein, the term "non-transient" should not be interpreted as a permanent characteristic of a state, but rather as a characteristic of a state that will last for a period of time. The term "non-transient" explicitly negates fleeting characteristics, such as characteristics of a carrier or signal or other forms that exist only transiently anywhere at any time. The memory described herein is an article and / or a machine component. The memory described herein is a computer-readable medium from which data and executable instructions can be read by a computer. The memory described herein can be a random access memory (RAM), a read-only memory (ROM), a flash memory, an electrically programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a register, a hard disk, a removable disk, a tape, a compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a floppy disk, a Blu-ray disc, or any other form of storage medium known in the art. The memory may be volatile or non-volatile, secure and / or encrypted, unsecure and / or unencrypted.

[0037] As shown, the computer system 200 may also include a video display unit 250, such as a liquid crystal display (LCD), an organic light emitting diode (OLED), a flat panel display, a solid state display, or a cathode ray tube (CRT). In addition, the computer system 200 may include an input device 260, such as a keyboard / virtual keyboard or a touch-sensitive input screen or voice input with voice recognition, and a cursor control device 270, such as a mouse or a touch-sensitive input screen or pad. The computer system 200 may also include a disk drive unit 280, a signal generating device 290, such as a speaker or a remote controller, and a network interface device 240.

[0038] In an embodiment, Figure 2 As depicted in , the disk drive unit 280 may include a computer readable medium 282 in which one or more sets of instructions 284, such as software, may be embedded. The sets of instructions 284 may be read from the computer readable medium 282. In addition, the instructions 284, when executed by the processor, may be used to perform one or more of the methods and processes described herein. In an embodiment, the instructions 284 may reside completely or at least partially within the main memory 220, the static memory 230, and / or the processor 210 during execution by the computer system 200.

[0039] In alternative embodiments, dedicated hardware implementations, such as application specific integrated circuits (ASICs), programmable logic arrays, and other hardware components, can be constructed to implement one or more of the methods described herein. One or more embodiments described herein can use two or more specific interconnected hardware modules or devices to implement functions using related control and data signals that can communicate between modules and through modules. Therefore, the present disclosure covers software, firmware, and hardware implementations. Nothing in this application should be interpreted as being implemented or implementable using only software without hardware such as tangible non-transient processors and / or memories.

[0040] According to various embodiments of the present disclosure, a hardware computer system running a software program can be used to implement the methods described herein. In addition, in exemplary non-limiting embodiments, implementations may include distributed processing, component / object distributed processing, and parallel processing. A virtual computer system process can be constructed to implement one or more of the methods or functions as described herein, and the processors described herein can be used to support a virtual processing environment.

[0041] The present disclosure contemplates a computer readable medium 282 including instructions 284 or receiving and executing instructions 184 in response to a propagated signal; such that devices connected to network 101 can communicate voice, video, or data over network 201. Additionally, instructions 284 may be sent or received over network 201 via network interface device 240.

[0042] Figure 3 A method for interventional medical device tracking according to a representative embodiment is illustrated.

[0043] exist Figure 3 In the present invention, the interventional procedure starts at S310. The interventional procedure is a procedure in which an interventional medical device is partially or completely placed in the patient's body, such as for exploratory diagnosis or treatment. The interventional medical device can be or can include wiring, implants, sensors (including passive ultrasound sensors), or other forms of tangible devices placed in the patient's body.

[0044] At S320, a mode is determined. A mode may include a set of one or more selection settings, such as three or four imaging planes, rotation of the planes around an axis, which planes are dedicated to interventional devices, and which planes are dedicated to anatomical structures targeted by the interventional devices. The term "dedicated" as used herein may refer to assigning a plane to a specific target, which for purposes of this disclosure is either an interventional device or an anatomical structure targeted by the interventional device. An interventional device may be targeted by a dedicated plane that tracks the interventional device in two or three dimensions as the interventional device moves in the patient's body.

[0045] The anatomical structure targeted by the interventional device may be specified by user instructions, such as by using a mouse and cursor or a touch screen. The anatomical structure may be a specific location on the surface of an organ such as the heart or lungs, and may be targeted by the interventional device in the sense that the interventional device moves toward the anatomical structure targeted by the interventional device. The interventional device may also be specified by the user, but may alternatively be automatically identified and tracked, such as with a sensor made of a specific material that is easily identified in ultrasound.

[0046] At S330, the ultrasound probe is controlled to transmit imaging signals in three or more imaging planes based on the mode to simultaneously capture both the interventional device and the anatomical structure targeted by the interventional device. In known ultrasound, the X-plane uses 2 imaging planes, such as 2 perpendicular planes, and only captures one of the interventional device or the anatomical structure targeted by the interventional device. However, at S330, three or more imaging planes are used, and between the three or more imaging planes, both the interventional device and the anatomical structure targeted by the interventional device are captured simultaneously. For example, each of the three or more imaging planes may specifically intersect with one or both of the interventional device and / or the anatomical structure targeted by the interventional device.

[0047] At S340, the ultrasound probe is controlled to capture both the interventional device and the anatomical structure targeted by the interventional device based on the transmitted imaging signals in three or more planes. One of the interventional device and the anatomical structure targeted by the interventional device is captured in at least two of the three or more imaging planes, and the other of the interventional device and the anatomical structure targeted by the interventional device is captured simultaneously in at least one of the three or more imaging planes. In an embodiment, both the interventional device and the anatomical structure targeted by the interventional device are captured simultaneously in two of the imaging planes, although not necessarily the same two imaging planes. In other embodiments, one or the other of the interventional device and the anatomical structure targeted by the interventional medical device is captured in one and only one of the imaging planes.

[0048] At S350, the location of the interventional device and the anatomical structure targeted by the interventional device is identified, for example, based on the capture of the reflected / returned imaging signals. Alternatively, the location of the interventional device can be tracked based on the signal of a passive ultrasound sensor or by other methods and mechanisms. The location can be identified in a predetermined coordinate system, such as in a three-dimensional Cartesian coordinate system with dimensions for width (X), height (Y), and depth (Z). The center of the coordinate system can be set at a fixed point in the space (volume) in or around the patient's body.

[0049] In an embodiment, a plurality of different medical imaging systems may be registered to each other, reflecting commonality in viewpoint.In this way, registration may involve setting the coordinate systems of the different medical systems to reflect a common origin and a common directionality dimension.

[0050] At S360, the distance between the interventional device and the anatomical structure targeted by the interventional device is determined and displayed. The distance can be determined in two dimensions, such as width (X) / height (Y), or can be determined in three dimensions, such as width (X) / height (Y) / depth (Z).

[0051] At S370, the display is controlled to simultaneously display the interventional device and the anatomical structure targeted by the interventional device in real time. The display may be or may include a screen on a television or an electronic device such as a monitor. The monitor may be a monitor specifically provided with an ultrasound system and may have settings specifically adapted to visualize images captured by the ultrasound system and related information, such as information related to the captured images.

[0052] Figure 4A The relationship between a probe and a controller for interventional medical device tracking according to a representative embodiment is illustrated. Figure 4A, the probe 402A is separated from the controller 400A. The probe 402A is an imaging probe and is controlled to activate imaging elements to emit imaging signals to generate an imaging plane that intersects tissue (e.g., in a patient's body). The imaging elements may be transducer elements located on an imaging array. The probe 402A also captures the interventional device and the anatomical structure targeted by the interventional device within the imaging plane based on a response to the imaging signals (e.g., from the patient's body). The probe 402A and the controller 400A may communicate wirelessly or via wiring. The controller 400A may include a processor 210, a main memory 220, and a processor from Figure 2 The controller 400A may execute instructions to perform some or all of the software-based processes described herein, such as those described herein. Figure 3 Such a controller 400A may be implemented by a computer, such as a dedicated ultrasound system that controls the probe 402A and receives and processes imaging data from the probe 402A. Alternatively, the controller 400A may be a distributed subsystem of both the probe 402A and a separate computer that includes the processor 210 and the main memory 220 (or other memory).

[0053] Figure 4B Another relationship between a probe and a controller for interventional medical device tracking according to a representative embodiment is illustrated. Figure 4B , the probe 402A includes a controller 400B. That is, the controller 400B is a component of the probe 402A and may include elements such as the processor 210 and the main memory 220. The probe 402B is also an imaging probe and is controlled to activate an imaging element to emit an imaging signal to generate an imaging plane that intersects with the tissue (e.g., in the patient's body). The imaging element may be a transducer element located on an imaging array. The probe 402B also captures the interventional device and the anatomical structure targeted by the interventional device in the plane based on the response of the tissue (e.g., in the patient's body) to the imaging signal. Figure 4B The controller 400B in can execute instructions to perform some or all of the software-based processes described herein.

[0054] Figure 5A A cross section of a probe for interventional medical device tracking is illustrated according to a representative embodiment. Figure 5A An "orthogonal plane" embodiment is shown, where one X-plane is bound to the device tip and one X-plane is bound to the desired anatomy.

[0055] Figure 5A A cross section of a TEE (or other) ultrasound probe over the underlying cardiac anatomy is shown. The active imaging plane is shown by the dotted line. Figure 5AIn the , the dotted lines in the third column from the left and sixth row from the top are tied to the device position, which in turn is obtained from the device tracking method. The dotted lines in the eighth column from the left and fourth row from the top are tied to the desired anatomy, which in turn can be set by the user. Figure 5A In an embodiment, two active imaging planes are bound to the interventional device position, and two completely different active imaging planes are bound to the desired anatomical structure.

[0056] In particular, Figure 5A , the line 505 is overlapped on the blood vessel and leaves the ultrasound probe 590 section to the left. Device plane #1 (vertical) 591 and device plane #2 (horizontal) 592 correspond to active imaging planes tied to the interventional device location. Anatomy plane #1 (vertical) 596 and anatomy plane #2 (horizontal) 597 correspond to active imaging planes tied to the desired anatomy.

[0057] Figure 5B Picture shows Fig. 8A Simplified illustration of the imaging plane in an embodiment of FIG. Figure 5B , device plane #1 (vertical) 591 and anatomical plane #1 (vertical) 596 are shown as parallel vertical lines. Of course, device plane #1 (vertical) 591 and anatomical plane #1 (vertical) 596 do not have to be parallel or perpendicular to each other, as these characteristics are used as a convenience of reference. Similarly, device plane #2 (horizontal) 592 and anatomical plane #2 (horizontal) 597 are also shown as parallel lines, in this case horizontal lines. Device plane #2 (horizontal) 592 and anatomical plane #2 (horizontal) 597 also do not have to be parallel or horizontal to each other, as these characteristics are also used only as a convenience of reference.

[0058] However, device plane #1 (vertical) 591 and device plane #2 (horizontal) 592 are shown as vertical, and this characteristic accurately reflects how these planes are best used to capture targeted interventional devices or anatomical structures targeted by interventional devices. Similarly, anatomical plane #1 (vertical) 596 and anatomical plane #2 (horizontal) 597 are also shown as vertical, and this characteristic also accurately reflects how these planes are best used to capture targeted interventional devices or anatomical structures targeted by interventional devices. However, vertical planes do not have to be perfectly vertical, and can be substantially vertical while still working in their intended manner. Examples of substantially vertical planes can be intersecting planes with smaller angles between them that are greater than 67.5 degrees, greater than 75 degrees, or greater than 85 degrees.

[0059] Fig. 6A A cross section of a probe for interventional medical device tracking is illustrated according to a representative embodiment. Fig. 6AAn "angled plane" embodiment is shown, where one X-plane is bound to the device and the anatomy, and one X-plane is bound to the anatomy.

[0060] Fig. 6A Again, a cross section of the TEE (or other) ultrasound probe over the underlying cardiac anatomy is shown. The active imaging plane is shown by the dotted line. Fig. 6A , the dotted lines in the eighth column from the left and fourth row from the top are tied to the desired anatomical structures, as in Figure 5A and Figure 5B However, the point line bound to the position of the interventional device is angled by rotating about an axis to tilt. Thus, in Fig. 6A In an embodiment of the present invention, the two active imaging planes are again bound to the interventional device position, but are rotated about the axis to tilt, and two completely different active imaging planes are bound to the desired anatomy.

[0061] In particular, Fig. 6A , line 605 is again overlapped over the vessel and exits the ultrasound probe section 690 to the left. Device Plane #1 (vertical) 691 and Device Plane #2 (horizontal) 692 correspond to active imaging planes bound to the interventional device location, but both are rotated about an axis to tilt. Anatomy Plane #1 (vertical) 696 and Anatomy Plane #2 (horizontal) 697 correspond to active imaging planes bound to the desired anatomy. Fig. 6A In embodiments of the present invention, the “Device X-Plane” is configured to image a plane containing the interventional device and the desired anatomical structure.

[0062] Figure 6B Pictured Fig. 6A Simplified illustration of the imaging plane in an embodiment of FIG. Figure 6B , device plane #1 (vertical) 691 and device plane #2 (horizontal) 692 are rotated about an axis to be relative to Figure 5A and Figure 5B However, device plane #1 (vertical) 691 and device plane #2 (horizontal) 692 are shown as vertical and may have the same orientation except that they are rotated about their axes to tilt. Figure 5A and Figure 5B Anatomical plane #1 (vertical) 696 and anatomical plane #2 (horizontal) 697 are also shown as being vertical and may have the same properties as in the embodiments of FIG. Figure 5A and Figure 5B The corresponding planes in the embodiments have the same or similar characteristics.

[0063] Fig. 7A A cross section of a probe for interventional medical device tracking is illustrated according to a representative embodiment. Fig. 7AA "tri-plane" embodiment is shown, in which one X-plane is bound to the interventional device tip and one long-axis plane is bound to the anatomy.

[0064] Fig. 7A Again, a cross section of the TEE (or other) ultrasound probe over the underlying cardiac anatomy is shown. The active imaging plane is shown by the dotted line. Fig. 7A The single dotted line in the fourth row from the top is tied to the desired anatomical structure. The dotted line in the third column from the left and the sixth row from the top is tied to the same anatomical structure as previously described. Figure 5A and 5B The same device position in the embodiment.

[0065] Therefore, in Fig. 7A In an embodiment of , both active imaging planes are again bound to the interventional device position, but only one completely different active imaging plane is bound to the desired anatomy. Fig. 7A In an embodiment of the present invention, the anatomy imaging plane is a single plane as opposed to a dual plane, resulting in a slightly higher frame rate.

[0066] In particular, Fig. 7A , the line 705 is again overlapped over the vessel and exits the ultrasound probe section 790 to the left. Device Plane #1 (vertical) 791 and Device Plane #2 (horizontal) 792 correspond to active imaging planes tied to the interventional device location. A single Anatomy Plane #1 (horizontal) 797 corresponds to an active imaging plane tied to the desired anatomy. Anatomy Plane #1 (horizontal) 797 is dedicated to Fig. 7A The embodiment of the invention is one and only one imaging plane of the desired anatomical structure.

[0067] In an alternative embodiment, one anatomical plane #1 (horizontal) 797 may be a short-axis imaging plane rather than a long-axis imaging plane. Fig. 7A In yet another alternative to the illustrated embodiment, a single X-plane may be assigned to the anatomy and a single plane assigned to the device.

[0068] Figure 7B Pictured Fig. 7A Simplified illustration of the imaging plane in an embodiment of FIG. Figure 7B In an embodiment, device plane #1 (vertical) 791 is perpendicular or substantially perpendicular to device plane #2 (horizontal) 792, and anatomical plane #1 (horizontal) 797 does not have a corresponding perpendicular anatomical plane.

[0069] Fig. 8A A cross section of a probe for interventional medical device tracking is illustrated according to a representative embodiment.

[0070] Fig. 8A A "floodlight" / "look ahead" embodiment is shown where a lateral plane to the interventional device X-plane is positioned "x" mm in front of the tip to show the "upcoming" anatomy if the interventional device is further advanced.

[0071] Fig. 8A A cross section of a TEE (or other) ultrasound probe over the underlying cardiac anatomy is shown. The active imaging plane is shown by the dotted line. Fig. 8A , the dotted lines in the fourth column from the left and the sixth row from the top are tied to the device position, which in turn is obtained from the device tracking method. Therefore, the imaging planes in the fourth column are adjusted based on the movement of the interventional device and the current position of the interventional device. In other words, the imaging planes in the fourth column are set based on the trajectory of the ongoing intervention so as to look ahead to show the anatomical structures that will be encountered when the interventional device moves further forward. The current position refers to the position of the interventional device when the trajectory is set. The dotted lines in the eighth column from the left and the fourth row from the top are tied to the desired anatomical structures, which in turn can be set by the user. Therefore, in Fig. 8A In an embodiment, two active imaging planes are bound to the interventional device position, and two completely different active imaging planes are bound to the desired anatomical structure.

[0072] In particular, Fig. 8A , the line 805 is overlapped on the blood vessel and leaves the ultrasound probe 890 section to the left. Device plane #1 (vertical) 891 and device plane #2 (horizontal) 892 correspond to active imaging planes tied to the interventional device location. Anatomy plane #1 (vertical) 896 and anatomy plane #2 (horizontal) 897 correspond to active imaging planes tied to the desired anatomy.

[0073] Here, the transverse plane of the interventional device X-plane, which is bound to the interventional device position, is adjusted to image a region of tissue "just in front" of the current device position. The adjusted transverse plane thereby shows which tissue the interventional device would encounter if the interventional device were advanced further forward in the current direction. The current direction may be determined based on the most recent history of the device position.

[0074] Figure 8B Pictured Fig. 8A Simplified illustration of the imaging plane in an embodiment of FIG. Figure 8B In the figure, each plane is similar to Figure 5BDevice Plane #1 (vertical) 891 and Device Plane #2 (horizontal) 592 are shown as vertical or substantially vertical, and Anatomy Plane #1 (vertical) 896 and Anatomy Plane #2 (horizontal) 897 are also shown as vertical or substantially vertical. However, as described above, Device Plane #1 (vertical) 891 can be projected based on the position and directionality of the interventional tool so that Device Plane #1 (vertical) 891 can be automatically controlled using feedback from the historical movement and positioning of the interventional tool.

[0075] Fig. 8A and Figure 8B An example of a projection of an embodiment of includes taking the angle of movement over time relative to the vertical, horizontal, and depth axes, particularly if the most recent movement is in a straight line or anything close to a straight line. In this example, the projection may also take into account the speed of the movement (such as millimeters per second) to identify how far in front of the target in anatomical plane #1 (vertical) 896 the current position is.

[0076] Fig. 9 Illustrated are views presented on a user interface for interventional medical device tracking according to a representative embodiment.

[0077] exist Fig. 9 , “Distance to Target” embodiment: displays the distance to the anatomical target imaging plane on the interventional device X-plane.

[0078] At any time during the procedure, the "distance to target" can be calculated based on the current device position and the desired anatomical target, and shown to the user in real time. Fig. 9 A sample user interface 999 is shown in conjunction with FIG.

[0079] Thus, interventional medical device tracking enables the selective use of different numbers of imaging planes in order to simultaneously capture both the interventional device and the anatomical structure targeted by the interventional device. This provides visualization of the tissue surrounding the device and other quantitative navigational metrics without neglecting the targeted anatomical structure.

[0080] Although interventional medical device tracking has been described with reference to several exemplary embodiments, it should be understood that the words that have been used are words of description and illustration rather than of limitation. Changes may be made within the scope of the claims without departing from the scope and spirit of interventional medical device tracking in its various aspects, as presently described and amended. Although interventional medical device tracking has been described with reference to specific modules, materials, and embodiments, interventional medical device tracking is not intended to be limited to the details disclosed; rather, interventional medical device tracking extends to all functionally equivalent structures, methods, and uses such as are within the scope of the claims.

[0081] For example,

[0082] Although this specification describes components and functionality that may be implemented in specific embodiments with reference to specific standards and protocols, the present disclosure is not limited to such standards and protocols.

[0083] The illustrations of the embodiments described herein are intended to provide an overall understanding of the structures of the various embodiments. The illustrations are not intended to be used as a complete description of all elements and features of the disclosure described herein. After viewing the present disclosure, many other embodiments will be apparent to those skilled in the art. Other embodiments may be utilized and derived from the present disclosure so that structural and logical replacements and changes may be made without departing from the scope of the present disclosure. In addition, the illustrations are merely representative and may not be drawn to scale. Certain proportions within the illustrations may be exaggerated, while other proportions may be minimized. Therefore, the present disclosure and the accompanying drawings should be considered illustrative rather than restrictive.

[0084] It is only for convenience that one or more embodiments of the present disclosure are referred to herein individually and / or collectively by the term "invention", and it is not intended to voluntarily limit the scope of the present application to any particular invention or inventive concept. In addition, although specific embodiments have been illustrated and described herein, it should be appreciated that any subsequent arrangements designed to achieve the same or similar purposes may replace the specific embodiments shown. The present disclosure is intended to cover any and all subsequent modifications or variations of the various embodiments. After reviewing this specification, the combination of the above-mentioned embodiments and other embodiments not specifically described herein will be apparent to those skilled in the art.

[0085] The Abstract of the present disclosure is provided to comply with 37 CFR § 1.72 (b) and is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. In addition, in the foregoing detailed description, various features may be combined together or described in a single embodiment to simplify the purposes of the present disclosure. This disclosure should not be interpreted as reflecting an intention that the claimed embodiments require more features than those expressly recited in each claim. Rather, as reflected in the following claims, the inventive subject matter may involve less than all the features of any disclosed embodiment. Therefore, the following claims are incorporated into the detailed description, with each claim itself as defining a separately claimed subject matter.

[0086] The previous description of the disclosed embodiments is provided to enable those skilled in the art to practice the concepts described in the present disclosure. As such, the subject matter disclosed above is to be considered illustrative rather than restrictive, and the claims are intended to cover all such modifications, enhancements, and other embodiments that fall within the true spirit and scope of the present disclosure. Therefore, to the maximum extent allowed by law, the scope of the present disclosure is to be determined by the broadest permissible interpretation of the claims and their equivalents, and shall not be restricted or limited by the foregoing detailed description.

Claims

1. A system for tracking an interventional medical device in a patient, comprising: An imaging probe (102, 402A) configured to activate an imaging element to emit an imaging beam (103) to generate three or more imaging planes (591, 592, 596, 597, 691, 692, 696, 697) within a field of view to simultaneously capture an interventional medical device (105) and an anatomical structure targeted by the interventional medical device (105), the three or more imaging planes comprising a first imaging plane, a second imaging plane, and a third imaging plane perpendicular to the second imaging plane; and A controller (400A, 400B) configured to control the imaging probe (102, 402A) to simultaneously capture both the interventional medical device (105) and the anatomical structure targeted by the interventional medical device (105), the interventional medical device and the targeted anatomical structure being physically separated in three-dimensional space, wherein the imaging probe (102, 402A) is controlled to: capture at least one of the interventional medical device (105) and the anatomical structure targeted by the interventional medical device (105) in at least two imaging planes among the three or more imaging planes (591, 592, 596, 597, 691, 692, 696, 697), and capture at least one of the interventional medical device (105) and the anatomical structure targeted by the interventional medical device (105) in at least one imaging plane among the three or more imaging planes (591, 592, 596, 597, 691, 692, 696, 697). capturing the interventional medical device (105) and another one of the anatomical structures targeted by the interventional medical device (105) in at least two of the three or more imaging planes (591, 592, 596, 597, 691, 692, 696, 697), and capturing the interventional medical device (105) and another one of the anatomical structures targeted by the interventional medical device (105) in at least one of the three or more imaging planes (591, 592, 596, 597, 691, 692, 696, 697); Wherein, controlling the imaging probe (102, 402A) to capture the interventional medical device (105) includes: automatically following the interventional medical device having one or more corresponding imaging planes based on the tracking position of the interventional medical device (105) determined by analyzing the ultrasound signal received by the passive ultrasound sensor (104) disposed on the interventional medical device (105) when the imaging beam of the imaging probe (102, 402A) sweeps the field of view.

2. The system according to claim 1, in, The imaging probe (102, 402A) comprises a transesophageal echocardiography (TEE) ultrasound probe.

3. The system of claim 1 further comprising a display, and wherein: The controller (400A, 400B) is also configured to control the display to simultaneously display the interventional medical device (105) and the anatomical structure targeted by the interventional medical device (105) in real time.

4. The system according to claim 1, in, The second imaging plane and the third imaging plane are dedicated to the interventional medical device (105).

5. The system according to claim 1, in, The second imaging plane and the third imaging plane are dedicated to the anatomical structure targeted by the interventional medical device (105).

6. The system according to claim 1, wherein: The three or more imaging planes (591, 592, 596, 597, 691, 692, 696, 697) also include a fourth imaging plane perpendicular to the first imaging plane.

7. The system according to claim 6, wherein: The second imaging plane and the third imaging plane are configured to capture the interventional medical device (105), and The first imaging plane and the fourth imaging plane are configured to capture the anatomical structure targeted by the interventional medical device (105).

8. The system according to claim 7, wherein: The first imaging plane and the second imaging plane are substantially parallel, and Wherein, the third imaging plane and the fourth imaging plane are substantially parallel.

9. The system according to claim 1, wherein: The second imaging plane and the third imaging plane are configured to capture both the interventional medical device (105) and the anatomical structure targeted by the interventional medical device (105).

10. The system according to claim 9, wherein: The three or more imaging planes (591, 592, 596, 597, 691, 692, 696, 697) also include a fourth imaging plane perpendicular to the first imaging plane.

11. The system according to claim 10, wherein: The controller (400A, 400B) is also configured to control the imaging probe (102, 402A) to rotate the fourth imaging plane and the first imaging plane around an axis to tilt the fourth imaging plane and the first imaging plane relative to the second imaging plane and the third imaging plane.

12. The system according to claim 6, wherein: The fourth imaging plane is dedicated to the interventional medical device (105), and The fourth imaging plane is adjusted based on the movement of the interventional medical device (105) and the current position of the interventional medical device (105) to image the region projected by the anatomical structure targeted by the interventional medical device (105).

13. A computer readable storage medium having instructions stored thereon, which, when executed by a processor, cause the processor to perform a method for tracking an interventional medical device (105) in a patient using the system according to claim 1, the method comprising: The interventional medical device (105) and the anatomical structure targeted by the interventional medical device (105) are simultaneously captured by activating an imaging element controlled by the imaging probe (102, 402A) to emit an imaging signal to generate three or more imaging planes (591, 592, 596, 597, 691, 692, 696, 697), wherein the three or more imaging planes include the first imaging plane, the second imaging plane, and the third imaging plane perpendicular to the second imaging plane, and the interventional medical device (105) and the targeted anatomical structure are physically separated in three-dimensional space; and capturing the interventional medical device and the anatomical structure targeted by the interventional medical device simultaneously, wherein the imaging probe (102, 402A) is controlled to capture at least one of the interventional medical device and the anatomical structure targeted by the interventional medical device in at least two imaging planes among the three or more imaging planes (591, 592, 596, 597, 691, 692, 696, 697) and to capture another of the interventional medical device and the anatomical structure targeted by the interventional medical device in at least one imaging plane among the three or more imaging planes (591, 592, 596, 597, 691, 692, 696, 697); Wherein, controlling the imaging probe (102, 402A) to capture the interventional medical device includes: automatically following the interventional medical device having one or more corresponding imaging planes based on the tracking position of the interventional medical device determined by analyzing the ultrasound signal received by the passive ultrasound sensor (104) disposed on the interventional medical device when the imaging beam of the imaging probe (102, 402A) sweeps the field of view.

14. The computer-readable storage medium of claim 13, wherein: The method further comprises: identifying a position of the interventional medical device and a position of the anatomical structure targeted by the interventional medical device in a predetermined coordinate system, and A distance between a location of the interventional medical device and a location of the anatomical structure targeted by the interventional medical device is generated.

15. The computer-readable storage medium of claim 13, wherein: The method further comprises: The interventional medical device and the anatomical structure targeted by the interventional medical device are simultaneously displayed based on simultaneous capture of the interventional medical device and the anatomical structure targeted by the interventional medical device.

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