Systems and methods for monitoring ablation antenna motion

Abstract

The present invention relates to a system for performing a microwave ablation procedure, the system comprising an ablation probe, a tracking system for tracking a position and orientation of the ablation probe, and a computing device. The computing device is configured to receive position and orientation data of the ablation probe from the tracking system; display a graphical representation of the ablation probe on a display based on the received position and orientation data of the ablation probe; filter axial excursion data from the position and orientation data of the ablation probe, the axial excursion data corresponding to axial motion of the ablation probe along a trajectory axis; and generate an alert based on the filtered axial excursion data.

Description

[0001] Cross-references to related applications

[0002] This application claims the benefit of U.S. Provisional Patent Application No. 62 / 969,736, filed on February 4, 2020. Technical Field

[0003] This disclosure provides a system and method for performing microwave ablation surgical treatment, and more specifically, a system and method for monitoring the movement of an ablation probe during ablation treatment. Background Technology

[0004] Thermal ablation is used to coagulate diseased tissue, such as in solid organs like the liver. To perform thermal ablation, the user places a needle through a portion of the solid organ into the target diseased tissue. After placement, the needle is electrified to heat the surrounding tissue, thus creating an ablation zone surrounding the target. Precise placement of the needle relative to the diseased tissue minimizes the ablation of healthy tissue while ablating the entire diseased tissue and the tissue edges surrounding it. After ablation is formed, the user removes the needle from the organ and, optionally, heats the insertion tract during needle withdrawal. Movement of the needle after placement or during the procedure may result in an imperfect ablation zone and unintended heating of other areas of the patient's anatomy. Summary of the Invention

[0005] This disclosure provides a system and method for performing microwave ablation surgical treatment. Specifically, this disclosure relates to a system and method for filtering axial movement of an ablation probe from data related to the position and orientation of the ablation probe before and during ablation of a target, as well as during needle tract ablation and withdrawal of the ablation probe from the patient.

[0006] According to one aspect of this disclosure, a system for performing microwave ablation procedures includes an ablation probe, a tracking system for tracking the position and orientation of the ablation probe, and a computing device operatively coupled to the tracking system and including a processor and a memory storing instructions executable by the processor. The computing device is configured to receive position and orientation data of the ablation probe from the tracking system; display a graphical representation of the ablation probe on a display based on the received position and orientation data; filter axial offset data from the position and orientation data of the ablation probe, the axial offset data corresponding to axial movement of the ablation probe along a trajectory axis; and generate an alarm based on the filtered axial offset data.

[0007] In one respect, an alarm is at least one of an auditory alarm or a visual alarm.

[0008] In one aspect, the instructions cause the computing device to determine the axial speed of the ablation probe along the trajectory axis based on the filtered axial offset data, and to modulate an alarm based on the determined speed.

[0009] In one aspect, the instructions cause the computing device to determine the distance of the ablation probe's axial movement along the trajectory axis from the baseline point on the trajectory axis based on the filtered axial offset data, and to modulate the alarm based on the determined distance.

[0010] In one respect, the baseline point corresponds to the position of the ablation probe at the start of the ablation procedure. Alternatively, the baseline point may be selectable by the user.

[0011] According to another aspect of this disclosure, a method for monitoring the movement of an ablation probe during a microwave ablation procedure includes tracking the position and orientation data of the ablation probe in three-dimensional space, filtering axial offset data from the position and orientation data of the ablation probe, and generating an alarm based on the filtered axial offset data. The filtered axial offset data corresponds to the axial movement of the ablation probe along a trajectory axis.

[0012] In one aspect, generating an alarm includes generating at least one of an auditory alarm or a visual alarm.

[0013] In one aspect, the method includes determining the axial velocity of the ablation probe along the trajectory axis based on the filtered axial offset data, and modulating an alarm based on the determined velocity.

[0014] In one aspect, the method includes determining the distance of the ablation probe's axial movement along the trajectory axis from a baseline point on the trajectory axis based on filtered axial offset data, and modulating an alarm based on the determined distance.

[0015] In one respect, the baseline point corresponds to the position of the ablation probe at the start of the ablation procedure. Alternatively, the baseline point may be selectable by the user.

[0016] According to another aspect of this disclosure, a non-transitory computer-readable storage medium stores instructions that, when executed by a processor, cause a computing device to receive position and orientation data of an ablation probe from a tracking system, display a graphical representation of the ablation probe on a display based on the received position and orientation data, filter axial offset data from the position and orientation data, and generate an alarm based on the filtered axial offset data. The filtered axial offset data corresponds to the axial movement of the ablation probe along a trajectory axis.

[0017] In one respect, an alarm is at least one of an auditory alarm or a visual alarm.

[0018] In one aspect, the instructions cause the computing device to determine the axial speed of the ablation probe along the trajectory axis based on the filtered axial offset data, and to modulate an alarm based on the determined speed.

[0019] In one aspect, the instructions cause the computing device to determine the distance of the ablation probe's axial movement along the trajectory axis from the baseline point on the trajectory axis based on the filtered axial offset data, and to modulate the alarm based on the determined distance.

[0020] In one respect, the baseline point corresponds to the position of the ablation probe at the start of the ablation procedure. Alternatively, the baseline point may be selectable by the user.

[0021] Any of the above aspects and elements of this disclosure may be combined without departing from the scope of this disclosure. Attached Figure Description

[0022] The objects and features of the systems and methods disclosed herein will become apparent to those skilled in the art when the description of various aspects of the systems and methods disclosed herein is read with reference to the accompanying drawings, wherein:

[0023] Figure 1 This is a schematic diagram of a microwave ablation system according to one aspect of this disclosure;

[0024] Figure 2 It is formed according to one aspect of this disclosure. Figure 1 A schematic diagram of a computing device that is part of a microwave ablation system;

[0025] Figure 3 This is a flowchart illustrating a method for monitoring the movement of an ablation probe according to one aspect of this disclosure;

[0026] Figure 4 This is an exemplary graphical user interface for enabling a motion detector according to one aspect of this disclosure;

[0027] Figure 5 This is an exemplary graphical user interface showing a graphical representation of an ablation probe with an enabled motion detector according to one aspect of this disclosure;

[0028] Figure 6 This is a flowchart illustrating a method for monitoring the withdrawal of an ablation probe during a needle tract ablation procedure, according to one aspect of this disclosure;

[0029] Figure 7A It is an exemplary graphical user interface that displays a graphical representation of the ablation probe during a monitored needle tract ablation procedure;

[0030] Figure 7BIt is an exemplary graphical user interface that displays a graphical representation of the ablation probe during a monitored needle tract ablation procedure;

[0031] Figure 7C It is an exemplary graphical user interface that displays a graphical representation of the ablation probe during a monitored needle tract ablation procedure;

[0032] Figure 8 It is an exemplary graphical user interface that displays a graphical representation of the ablation probe during a monitored needle tract ablation procedure;

[0033] Figure 9A It is an exemplary graphical user interface that displays a graphical representation of the ablation probe during a monitored needle tract ablation procedure;

[0034] Figure 9B This is an exemplary graphical user interface that displays a graphical representation of the ablation probe during a monitored needle tract ablation procedure; and

[0035] Figure 9C This is an exemplary graphical user interface that displays a graphical representation of the ablation probe during a monitored needle tract ablation procedure. Detailed Implementation

[0036] This disclosure provides a system and method for performing microwave ablation surgical treatment, and more specifically, a method for monitoring the movement of an ablation probe before, during and after ablation treatment.

[0037] In a first aspect, the system monitors the movement of the ablation probe before and / or during the application of ablation energy to the target in order to detect unwanted (or undesirable) movement of the ablation probe and alert the clinician to such movement. During the ablation procedure, the ablation probe is navigated to the treatment target and positioned in or near the target for a certain period of time (e.g., five minutes) during the application of microwave energy. During this period, the system monitors the movement of the probe to alert the clinician to any movement of the ablation probe. Because the ablation probe can move relative to 3D space but still remain fixed in place relative to the target (e.g., during patient breathing, both the target probe and the ablation probe move synchronously), the system disclosed in this invention filters out axial movement of the ablation probe along the probe axis and alerts the clinician only to axial movement of the ablation probe. Several user interfaces and modulated auditory and visual alarms are disclosed to help clinicians ensure that the ablation probe does not experience any unwanted or undesirable axial movement before or during the ablation procedure.

[0038] As detailed below, the position and orientation of the ablation probe relative to the electromagnetic field generator are known. The computing device disclosed in this invention filters this position and orientation data to track changes in the axial offset of the ablation probe position. The filtered parameters inform the change over time in the position of the ablation probe within the patient along the direction most likely to be unintentionally moved. By filtering only the axial offset, noise sources such as those from the patient's breathing are reduced. Optionally, a separate position tracking sensor can be placed on the patient to more accurately track patient movement, thereby further improving the isolation of the antenna axis movement relative to the patient's anatomy.

[0039] Secondly, the system monitors the axial movement of the ablation probe during the needle tract ablation procedure, during which the clinician withdraws the ablation probe from the patient and applies ablation energy to the tissue needle tract formed by the ablation needle. This allows the clinician to gain insight into whether they are withdrawing the ablation probe at the correct rate. Several user interfaces and modulated auditory and visual alarms are provided to assist the clinician in withdrawing the ablation probe at the appropriate rate.

[0040] Liver tissue is highly vascularized and can bleed along the needle tract between the ablation zone and the organ boundary, especially if a blood vessel is punctured by the needle. To reduce the risk of needle tract bleeding, the user will use an electrically charged ablation needle to coagulate the needle tract. Currently, to successfully do this (minimizing over-ablation of healthy tissue along the needle tract while ensuring complete coagulation of the needle tract), the user must understand the complex relationship between the power delivered to the ablation needle and the needle withdrawal rate. A second aspect of this disclosure reduces the complexity of needle tract ablation for the user, simplifying the process of successfully coagulating the needle tract without over-ablating surrounding healthy tissue. Many patients who undergo liver ablation have deteriorated liver function, and therefore it is important to preserve as much functional liver tissue as possible.

[0041] While this disclosure will be described with reference to specific exemplary aspects, it will be apparent to those skilled in the art that various modifications, rearrangements, and substitutions may be made without departing from the spirit of this disclosure. The scope of this disclosure is defined by the claims appended to it. As used herein, the term "clinician" means any medical professional (e.g., physician, surgeon, nurse, etc.) or other user involved in the planning, execution, monitoring, and / or supervision of medical procedures involving the use of the systems and methods described herein.

[0042] Figure 1A treatment system 10 is shown, comprising a computing device 100, a display 110, a platform 120, an ablation probe 130, an ultrasound imager 140, an ultrasound workstation 150, and a generator 160. The computing device 100 may be, for example, a laptop computer, a desktop computer, a tablet computer, or other similar device. The computing device 100 may be configured to control the electrosurgical generator, peristaltic pump, power supply, and / or any other accessories and peripherals associated with or forming part of the system 10. While the ultrasound workstation 150 is... Figure 1 The ultrasonic workstation 150 is shown as a component separate from the computing device 100, but in various respects, the ultrasonic workstation 150 can be integrated into the computing device 100, wherein the user interface displays the data of the ultrasonic workstation 150 on the display of the computing device 100.

[0043] Display 110 is configured to output instructions, images, and messages related to the execution of a microwave ablation procedure in the form of a graphical user interface. Although display 110 is shown as a component separate from computing device 100, in all respects, display 110 is a component of computing device 100, which includes one or more displays for displaying various user interfaces that show data corresponding to ultrasound data, as well as navigation and ablation parameters and data. Platform 120 may be, for example, an operating table or other platform suitable during a surgical procedure, and includes an electromagnetic (EM) field generator 121. EM field generator 121 is used to generate an EM field during a microwave ablation procedure and forms part of an EM tracking system for tracking the position of surgical instruments such as ablation probe 130 and ultrasound imager 140 within and around the patient's body. The EM tracking system (or another tracking system) may additionally include sensors for tracking patient movement (e.g., breathing), and such patient-tracking movement may be used to compensate for any displayed elements. Such sensors may include one or more electromagnetic tracking sensors that can be positioned on the patient’s chest, tracking the patient’s body movements independently of the movement of any other device (ultrasound rod 140 or ablation probe 130).

[0044] The ablation probe 130 is a surgical instrument with a microwave ablation antenna for ablating tissue. Specifically, the ablation probe 130 is used to ablate tissue such as lesions or tumors (hereinafter referred to as the "target") by heating tissue using electromagnetic radiation or microwave energy to denature or kill cells, such as cancer cells. The location of the ablation probe 130 within the patient's body can be tracked during the surgical procedure. An exemplary method of tracking the location of the ablation probe 130 is by using an EM tracking system, which tracks the location of the ablation probe 130 by tracking sensors attached to or incorporated into the ablation probe 130.

[0045] In addition to EM tracking systems, surgical instruments can also be visualized using ultrasound imaging. An ultrasound imager 140, such as an ultrasound rod, can be used to image a patient's body during a microwave ablation procedure to visualize the position of surgical instruments, such as ablation probes 130, within the patient's body, along with the patient's anatomy. The ultrasound imager 140 may have an EM tracking sensor embedded within or attached to the ultrasound rod, such as a clip-on sensor or a patch sensor. As further described below, the ultrasound imager 140 can be positioned relative to the ablation probes 130 such that the ablation probes 130 are at an angle to the ultrasound image plane, thereby enabling clinicians to visualize the spatial relationship between the ablation probes 130 and the ultrasound image plane, as well as with the imaged object.

[0046] Turn now Figure 2 The diagram illustrates a system diagram of a computing device 100. The computing device 100 may include a memory 202, a processor 204, a display 206, a network interface 208, an input device 210, and / or an output module 212.

[0047] Memory 202 includes any non-transitory computer-readable storage medium for storing data and / or software, which can be executed by processor 204 and control the operation of computing device 100. In one aspect, memory 202 may include one or more solid-state storage devices, such as flash memory chips. While the description of computer-readable medium included herein refers to solid-state memory, those skilled in the art will understand that computer-readable storage medium can be any available medium accessible by processor 204. That is, computer-readable storage medium includes non-transitory, volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Memory 202 may store application program 216, which, when executed by processor 204, causes display 206 to present user interface 218 and perform any or all steps of the methods described herein.

[0048] Processor 204 may be a general-purpose processor; a dedicated graphics processing unit (GPU) configured to perform a specific graphics processing task while freeing up the general-purpose processor to perform other tasks; and / or any number of such processors or a combination of such processors.

[0049] The display 206 may be touch-sensitive and / or voice-activated, enabling it to function as both an input and output device. Alternatively, a keyboard (not shown), a mouse (not shown), or other data input devices may be used.

[0050] Network interface 208 can be configured to connect to a network, such as a local area network (LAN), wide area network (WAN), wireless mobile network, Bluetooth network, and / or the Internet, consisting of wired and / or wireless networks. Input device 210 can be any device that a user can use to interact with computing device 100, such as, for example, a mouse, keyboard, foot pedal, touchscreen, and / or voice interface. Output module 212 may include any connection port or bus, such as, for example, a parallel port, serial port, universal serial bus (USB), or any other similar connection port known to those skilled in the art.

[0051] Application 216 may be one or more software programs stored in memory 202 and executed by processor 204 of computing device 100. As will be described in more detail below, during the planning phase, application 216 guides the clinician through a series of steps to identify the target, determine the size of the target, determine the size of the treatment area, and / or determine the access route to the target for later use during the procedural phase. In some aspects, application 216 is loaded onto a computing device in the operating room or other facility where surgical procedures are performed and is used as a plan or mapping to guide the clinician in performing the surgical procedure, but without any feedback from the ablation probe 130 used in the procedure to indicate where the ablation probe 130 is located relative to the plan. In other aspects, system 10 provides computing device 100 with data on the location of the ablation probe 130 within the patient's body, such as via EM tracking, which application 216 can then use to indicate where the ablation probe 130 is located on the plan.

[0052] Application 216 communicates with user interface 218, which generates, for example, visual interactive features presented to the clinician on display 206 and receives input from the clinician, for example, via a user input device. For example, user interface 218 may generate a graphical user interface (GUI) and output the GUI to display 206 for the clinician to view. (See below for reference.) Figure 4 , Figure 5 , Figures 7A to 7C , Figure 8 and Figures 9A to 9C An example describing a GUI.

[0053] The computing device 100 is connected to the display 110, thereby enabling the computing device 100 to control the outputs on the display 110 and the outputs on the display 206. The computing device 100 can control the display 110 to display the same or similar outputs as those displayed on the display 206. For example, the outputs on the display 206 can be mirrored onto the display 110. Alternatively, the computing device 100 can control the display 110 to display outputs different from those displayed on the display 206. For example, the display 110 can be controlled to display guide images and information during a microwave ablation procedure, while the display 206 is controlled to display other outputs, such as configuration or status information.

[0054] Figure 3 A flowchart of a method for monitoring the position of an ablation probe and alerting the user to unwanted movement of the probe is shown, and the method is described as method 300. Method 300 begins at step 301, where the position and orientation of the ablation probe are tracked. Such tracking can be achieved using an electromagnetic tracking system as described above. Brief reference Figure 5 The computing device 100 can display a user interface 500, which includes a graphical representation of the ablation probe 510 relative to the ultrasound plane 520 in 3D space, wherein the graphical representations of the ablation probe 510 and the ultrasound plane 520 move relative to each other based on their corresponding tracked positions and orientations. In step 303, the computing device 100 filters positional variations of the ablation probe along its trajectory (e.g., along the axis of the ablation probe axis). Specifically, in step 303, the computing device 100 filters axial offset data (dP) from the position and orientation data of the ablation probe. The filtered axial offset data corresponds to the axial movement of the ablation probe along its trajectory axis, and any movement of the ablation probe along any other axis is ignored.

[0055] In step 305, the computing device 100 generates an alarm based on the filtered axial offset data. The alarm generated in step 305 can be minimal if no actual offset has occurred in the ablation probe. The alarm generated in step 305 is configured to be modulated, as described in the following steps, and may include one or more of a tactile alarm, an auditory alarm, or a visual alarm.

[0056] In step 306, the computing device 100 determines the axial velocity of the ablation probe along the trajectory axis based on the filtered axial offset data, and in step 308, modulates the generated alarm based on the determined velocity. The velocity (dx, dy, dz / dt) can be multiplied by a customizable amplitude to modulate the generated alarm. In use, a continuous audible alarm corresponding to the velocity of the probe's motion can be presented to the clinician. For example, the volume of the audible tone can be lower when the axial velocity is slow, and higher when the axial velocity is fast, to warn the user of such vigorous motion along the trajectory. Since the modulation of the alarm (e.g., the audible output) is based on the filtered axial offset data, any non-axial motion of the probe that it is tracking is not considered and does not affect the modulation of the alarm. Therefore, even if the non-axial velocity of the probe's motion is very fast (e.g., due to the patient breathing or a sudden cough), such high-speed motion of the probe in the non-axial direction will not cause any change in the modulation of the alarm.

[0057] In step 307, the computing device 100 marks a baseline point along the probe's trajectory. The baseline point can be selected by the user or automatically assigned to correspond to the probe's axial position at the start of microwave ablation. In step 309, the computing device 100 determines the distance of the ablation probe's axial movement along the trajectory axis from the baseline point on the trajectory axis based on filtered axial offset data, and in step 311, modulates an alarm based on the determined distance from the baseline point. In use, the computing device 100 outputs a continuous alarm (e.g., an audible alarm) that alerts the clinician how far the ablation probe has moved along the trajectory from its initial position at the start of ablation. As the ablation probe moves further along its trajectory from its initial position at the start of ablation, the alarm is modulated louder (e.g., the audible alarm becomes louder). Because the alarm modulation (e.g., the audible output) is based on filtered axial offset data, any tracked non-axial movement of the probe is not considered and does not affect the alarm modulation. Therefore, even if the non-axial distance of the probe's movement is large (e.g., due to the patient's breathing or sudden cough), such movement of the probe in the non-axial direction will not cause any change in the modulation of the alarm.

[0058] In step 313, the computing device 100 determines whether the distance from the baseline point (determined in step 309) is greater than a threshold distance. The threshold distance may be input by the user or determined by the computing device 100 based on the target's location, size, and / or the organ being treated. If the distance exceeds the threshold, the computing device 100 deactivates or reduces the output of microwave energy. Such indications of axial movement away from the target suggest that the ablation probe may not be positioned in the appropriate area for ablation and may instead ablate healthy tissue. Alternatively, if it is determined that the determined distance does not exceed the threshold, the computing device 100 continues to output ablation energy.

[0059] Figure 4 An exemplary user interface 400 of the computing device 100 is shown, displaying activation and configuration settings for a method (e.g., method 300) for controlling the position of the ablation probe and alerting the user to unwanted movement of the ablation probe. The user interface 400 includes an activation switch 401 for turning features on and off. A selector 403 of the user interface 400 can set an alarm generated in method 300 as an audible alarm. Additionally, the aforementioned customizable amplitude, which can be multiplied by the movement velocity (dx, dy, dz / dt), is either input by the user or displayed in a portion 405 of the user interface 400 when calculated by the computing device 100. The baseline interlocking features in steps 307 to 315 of method 300 are activated or deactivated by the selector 407 of the user interface 400. Finally, a threshold distance selected by the user or calculated by the computing device 100, as described in step 313 above, is displayed in a portion 409 of the user interface 400.

[0060] Figure 5 An exemplary user interface 500 is shown, displaying a graphical representation of an ablation probe 510 tracked in 3D space relative to an ultrasound plane 520. The trajectory 513 of the ablation probe is shown as extending longitudinally parallel to the longitudinal axis of the ablation probe. An ablation zone 515 is shown, corresponding to the display settings in the settings section 518 of the electrosurgical generator coupled to the ablation probe.

[0061] The ultrasound plane 520 will include a structure based on the ultrasound imager 140 ( Figure 1 The ultrasound image captured is shown in the ultrasound image data (the components described are not shown here for clearer depiction). The user interface 500 also includes an ultrasound probe indicator 502 and an antenna indicator 503, which indicate whether the ultrasound imager 140 and the ablation probe 130 are connected to the computing device 100 and the system 10. In the settings section 518 of the user interface 500, a time indicator 504, a temperature indicator 506, and a wattage indicator 508 configured for the current ablation procedure are also displayed.

[0062] Trajectory 513 illustrates the trajectory of the ablation probe 130 as it is navigated within the patient's body. The length of trajectory 513 corresponds to the length of the ablation probe 130. Similarly, the width of trajectory 513 corresponds to the width of the ablation probe 130. Therefore, when the ablation probe 130 and the ultrasound imager 140 are positioned outside the patient's body, trajectory 513 will show the distance the ablation probe 130 can be navigated into the patient's body. In this way, clinicians can determine whether the ablation probe 130 can reach the target tissue within the patient's body before inserting it into the patient's body.

[0063] The user interface 500 can depict the graphical representation of the ablation probe 510 and trajectory 513 as a contour map, so that the ultrasound image displayed on the ultrasound plane 520 is not obscured by the graphical representation of the ablation probe 510 and trajectory 513.

[0064] According to the above method 300 ( Figure 3 ) and the associated exemplary user interface 400 ( Figure 4 ), User Interface 500 ( Figure 5 The computing device 100 generates and modulates alarms based on the axial movement of the ablation probe along its longitudinal axis. By alerting clinicians to the axial movement of the ablation probe before or during microwave ablation procedures, clinicians are continuously informed of the position of the ablation probe relative to the target being treated. In other words, movement of the ablation probe in non-axial directions caused by patient movement (e.g., breathing) is also considered by the computing device 100 to be consistent with the movement of the target and is therefore not problematic and not worthy of clinician attention.

[0065] Figure 6 A flowchart of a method for guiding needle tract ablation procedures is shown, and the method is described as method 600. Specifically, method 600 involves monitoring the withdrawal rate of the ablation probe during needle tract ablation and informing the clinician whether the actual withdrawal rate is too fast or too slow relative to the recommended withdrawal rate. Similar to method 300 described above, method 600 also filters out axial movement of the ablation probe along its trajectory and does not take into account any movement of the ablation probe in non-axial directions.

[0066] After the ablation of the target is completed (step 601), a "Needle Tracheal Ablation Guide" button is displayed (step 603) for the clinician to choose from, either because the energy has been deactivated by the user or the treatment time has been completed. If the clinician chooses to follow the needle tract ablation protocol (yes in step 605), a window is displayed in step 607 with power and withdrawal rate settings, and options to confirm or customize recommended settings. If the clinician chooses to customize (yes in step 609), a user interface is presented to the user in step 611 to change the power and / or time settings of the needle tract ablation protocol using the "Confirm" and "Exit" buttons. When recommended settings are selected in either step 608 or 613, in step 612, the computing device 100 tracks the position and orientation of the ablation probe in 3D space. Step 612 may additionally include axial position data of the position and orientation of the ablation probe, specifically, the position and orientation data of the ablation probe along the longitudinal axis of the probe. In step 615, the "Start Needle Tracheal Ablation" and "Exit" buttons are displayed. When the clinician selects to start needle tract ablation (Yes in step 617), the computing device 100 commands the electrosurgical generator to begin outputting ablation energy and displays the needle tract ablation guidance user interface (e.g., Figures 7A to 7C , Figure 8 and Figures 9A to 9C This is used to guide the clinician throughout the needle tract ablation procedure. Upon completion, or if needed before completion, the clinician can select the "Stop Needle Tract Ablation" button shown in step 621.

[0067] Figures 7A to 7C User interfaces 700, 710, and 720, which can be displayed by the system during needle tract ablation procedures, are shown, helping clinicians visualize the actual ablation rate relative to the recommended ablation rate. Specifically, user interface 700 ( Figure 7A This shows a graphical representation of the ablation probe 701 relative to marker 705 when the actual extraction rate of the ablation probe is slower than the recommended extraction rate; User interface 710 ( Figure 7B The diagram shows a graphical representation of the ablation probe 701 relative to the marker 705 when the actual extraction rate of the ablation probe matches the recommended extraction rate; and the user interface 720 ( Figure 7C The diagram shows a graphical representation of the ablation probe 701 relative to the marker 705 when the actual extraction rate of the ablation probe is faster than the recommended extraction rate. In each of the user interfaces 700, 710, and 720, the graphical representation of the ablation probe 701 is fixed in place and the marker 705 is moved relative to it.

[0068] During use, marker 705 is initially oriented above the graphic representation of the tip of ablation probe 701. Marker 705 moves relative to the needle tip depending on the configuration / recommended withdrawal rate of the ablation probe and the actual withdrawal rate. If the actual withdrawal rate of the ablation probe is too slow relative to the configured withdrawal rate, the ball will drift proximally (proximal to the needle tip) along the graphic representation of ablation probe 701, thus transitioning from user interface 710 to user interface 700. Conversely, if the actual withdrawal rate of the ablation probe is too fast relative to the configured withdrawal rate, the ball will drift distally (distal to the needle tip) along the graphic representation of ablation probe 701, thus transitioning from user interface 710 to user interface 720. Clinicians expect marker 705 to be held directly above the graphic representation of the needle tip of ablation probe 701, closest to user interface 710. If marker 705 drifts beyond a given distance range from the tip (e.g., 1.0 cm), marker 705 disappears and then reappears on the needle tip of the ablation probe. Additional arrows can be used to clarify the ideal location of marker 705. Furthermore, the orientation of the graphical representation of ablation probe 701 within user interfaces 700, 710, and 720 can be updated based on the actual orientation of the ablation probe, thereby providing clinicians with accurate visualization.

[0069] Figure 8 A user interface 800, which can be displayed by the system during a needle tract ablation procedures, is shown, helping clinicians visualize the actual withdrawal rate relative to a recommended / pre-configured withdrawal rate. The user interface 800 includes a graphical representation of the ablation probe 801 relative to a trajectory loop 815 and a guide marker 805. The guide marker 805, fixed in place at the appropriate position, is shown relative to the graphical representation of the movement of the ablation probe 801. Specifically, the marker 805 is axially locked to the trajectory loop 815 but is displayed as larger, thicker, and / or a different color. The guide marker 805 is initially oriented above the needle tip in the graphical representation of the ablation probe 801. The guide marker 805 moves relative to the needle tip according to the configured / recommended withdrawal rate of the ablation probe and the actual withdrawal rate. If the actual withdrawal rate of the ablation probe is too slow relative to the configured withdrawal rate, the marker 805 will drift proximally along the displayed graphical representation of the ablation probe 801. Conversely, if the actual withdrawal rate of the ablation probe is too fast relative to the configured withdrawal rate, the marker 805 will drift distally along the graphical representation of the ablation probe 801 shown. Clinicians expect the marker 805 to remain directly above the needle tip in the graphical representation of the ablation probe 801, indicating that the actual withdrawal rate is equal to the configured / recommended withdrawal rate. If the marker 805 drifts beyond a given distance range (such as 1.0 cm) from the tip, the marker 805 disappears and then reappears on the needle tip. Although the marker 805 is shown as a loop, the marker 805 may alternatively or additionally include a strip.

[0070] Figures 9A to 9C Additional user interfaces 900, 910, and 920 that can be displayed by the system during needle tract ablation procedures are shown, helping clinicians visualize the actual ablation rate relative to the recommended / pre-configured ablation rate. User interfaces 900, 910, and 920 include the display of an optimal ablation probe marker 905 and an ablation probe position marker 901, each of which is movable relative to the other. In user interface 910, the optimal ablation probe marker 905 for the configured / recommended ablation rate is initially oriented to align with the ablation probe position marker 901. The ablation probe markers 901 and 905 move relative to each other based on the configured / recommended ablation rate and the actual ablation rate. If the ablation probe ablation rate is too slow relative to the configured / recommended ablation rate, the optimal ablation probe marker 905 will be pulled ahead of the actual ablation probe position marker 901. Figure 9A Conversely, if the ablation probe withdrawal rate is too fast relative to the configured / recommended withdrawal rate, the optimal ablation probe marker 905 will fall after the actual ablation probe location marker 901. Figure 9C Clinicians expect the optimal ablation probe marker 905 and the ablation probe position marker 901 to be displayed aligned with each other. If the actual ablation probe position marker 901 drifts away from the optimal ablation probe marker 905 by a given distance range (such as 1.0 cm), or vice versa, the optimal ablation probe marker 905 disappears and then reappears aligned with the ablation probe position marker 901. The user interfaces 900, 910, and 920 can also be displayed in 3D space along with a ghosted image of a graphical representation of the ablation device.

[0071] While various aspects have been described in detail with reference to the accompanying drawings for purposes of illustration and description, it should be understood that the methods and apparatus of the present invention should not be considered as limited thereto. It will be apparent to those skilled in the art that various modifications can be made to the foregoing aspects without departing from the scope of this disclosure.

[0072] It should be understood that the various aspects disclosed herein can be combined in combinations different from those specifically presented in the specification and drawings. It should also be understood that, depending on the example, certain actions or events of any process or method described herein may be performed in a different order, and may be entirely added, combined, or omitted (e.g., performing the described technique may not require all the described actions or events). Furthermore, although for clarity some aspects of this disclosure are described as being performed wholly or partially by a single module or unit (e.g., computing device 100), it should be understood that the techniques of this disclosure may be performed wholly or partially by a combination of units or modules associated with, for example, a medical device (e.g., other components of system 10).

[0073] In one or more examples, the described techniques may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functionality may be stored as one or more instructions or code on a computer-readable medium and executed by a hardware-based processing unit. Computer-readable media may include non-transitory computer-readable media, which correspond to tangible media such as data storage media (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and is accessible by a computer).

[0074] The instructions can be executed by one or more processors, such as one or more digital signal processors (DSPs), general-purpose microprocessors, application-specific integrated circuits (ASICs), field-programmable arrays (FPGAs), or other equivalent integrated or discrete logic circuits. Therefore, as used herein, the term "processor" can refer to any of the aforementioned structures or any other physical structures suitable for implementing the described technology. Furthermore, this technology can be fully implemented in one or more circuit or logic elements.

Claims

1. A system for performing microwave ablation procedures, the system comprising: An ablation probe configured to be coupled to an electrosurgical generator and including an electromagnetic sensor, the ablation probe defining a longitudinal axis; A tracking system configured to track the movement of the ablation probe in three-dimensional space and to generate position and orientation data of the ablation probe based on the position and orientation of the electromagnetic sensor; as well as A computing device operatively coupled to the tracking system, the computing device including a processor and a memory storing instructions that, when executed by the processor, cause the computing device to: Receive the position and orientation data of the ablation probe from the tracking system; A graphical representation of the ablation probe is displayed on a screen based on the received position and orientation data of the ablation probe. Axial offset data is filtered from the position and orientation data of the ablation probe, wherein the filtering retains only the positional variation of the ablation probe along the longitudinal axis and excludes positional variations along any other axis; as well as Alerts are generated based on the filtered axial offset data.

2. The system of claim 1, wherein the alarm is at least one of an auditory alarm or a visual alarm.

3. The system of claim 1, wherein the instructions further cause the computing device to: The movement speed of the ablation probe along the longitudinal axis is determined based on the filtered axial offset data; and The alarm is modulated based on the determined speed of movement.

4. The system of claim 1, wherein the instructions further cause the computing device to: The distance from the baseline point on the longitudinal axis to the positional change of the ablation probe along the longitudinal axis is determined based on the filtered axial offset data; and The alarm is modulated based on the determined distance.

5. The system of claim 4, wherein the baseline point corresponds to the position of the ablation probe at the start of the ablation procedure.

6. The system of claim 4, wherein the baseline point can be selected by the user.

7. A non-transitory computer-readable storage medium storing instructions that, when executed by a processor, cause a computing device to: Receive position and orientation data of an ablation probe from a tracking system, the ablation probe defining a longitudinal axis; A graphical representation of the ablation probe is displayed on a screen based on the received position and orientation data of the ablation probe. Axial offset data is filtered from the position and orientation data of the ablation probe, wherein the filtering retains only the positional variation of the ablation probe along the longitudinal axis and excludes positional variations along any other axis; as well as Alerts are generated based on the filtered axial offset data.

8. The non-transitory computer-readable storage medium of claim 7, wherein the alarm is at least one of an auditory alarm or a visual alarm.

9. The non-transitory computer-readable storage medium of claim 7, wherein the instructions further cause the computing device to: The movement speed of the ablation probe along the longitudinal axis is determined based on the filtered axial offset data; and The alarm is modulated based on the determined speed of movement.

10. The non-transitory computer-readable storage medium of claim 7, wherein the instructions further cause the computing device to: The distance from the baseline point on the longitudinal axis to the positional change of the ablation probe along the longitudinal axis is determined based on the filtered axial offset data; and The alarm is modulated based on the determined distance.

11. The non-transitory computer-readable storage medium of claim 10, wherein the baseline point corresponds to the position of the ablation probe at the start of the ablation procedure.

12. The non-transitory computer-readable storage medium of claim 11, wherein the baseline point is selectable by a user.

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