Ultrasound catheter probe system

Abstract

Apparatuses, methods, systems, and program products for an ultrasound equipped catheter probe system are disclosed. The apparatus (104) includes a catheter (202) and a probe (204) configured for insertion into the catheter (202). The probe (204) includes a rod body (301) having a first end (305) and a second end (303), and an ultrasound transceiver (306) coupled to the first end (305) of the rod body (301), the ultrasound transceiver (306) configured to transmit and receive ultrasound signals.

Description

TECHNICAL FIELD

[0001] The present invention relates to imaging, and more particularly, to an ultrasound-equipped catheter probe system. BACKGROUND

[0002] Diagnostic ultrasound is used in many medical fields as a means to identify anatomical structures and guide needle, instrument, and drug delivery. Many ultrasound probes have been developed to optimize resolution, depth, and field of view for each specific use, including curved probes, linear probes, vaginal probes, rectal probes, and cardiac probes. SUMMARY

[0003] An apparatus for an ultrasound-equipped catheter probe system is disclosed. A system and method also perform the functions of the apparatus. In one embodiment, an apparatus includes a catheter and a probe configured for insertion into the catheter. In one embodiment, the probe includes a shaft having a first end and a second end, and an ultrasound transceiver coupled to the first end of the shaft, the ultrasound transceiver configured to transmit and receive ultrasound signals.

[0004] In one embodiment, a system includes a catheter and a probe for insertion into the catheter. In one embodiment, the probe includes a shaft having a first end and a second end, an ultrasound transceiver coupled to the first end of the shaft, the ultrasound transceiver configured to transmit and receive ultrasound signals, and a position sensor that detects a position of the probe relative to a fixed point. In one embodiment, the system is configured to receive signals from the ultrasound transceiver, generate a multi-dimensional graph based on the received signals, and present the multi-dimensional graph on a display device.

[0005] In one embodiment, a method is configured to insert a probe into a catheter, insert the catheter into a body, cause an ultrasound transceiver to generate ultrasound signals, move the probe in a conical manner as the catheter is inserted into the body, receive position data from a position sensor and signal data from the ultrasound transceiver as the probe is moved, and generate a multi-dimensional graph of a portion of the body into which the catheter is inserted based on the position data and the signal data. BRIEF DESCRIPTION OF DRAWINGS

[0006] In order to facilitate an understanding of the advantages of the present invention, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments thereof, which are illustrated in the appended drawings. Understanding that these drawings depict only typical embodiments of the invention and are not therefore to be considered to be limiting of its scope, the invention will be described and explained with additional specificity and detail by reference to the accompanying drawings, in which:

[0007] Figure 1 depicts one embodiment of an ultrasound-equipped catheter probe system in accordance with the subject matter disclosed herein;

[0008] Figure 2One embodiment of a catheter probe system according to the subject matter disclosed herein is depicted;

[0009] Figure 3 One embodiment of a probe according to the subject matter disclosed herein is depicted;

[0010] Figure 4A One embodiment of an intracatheter probe according to the subject matter disclosed herein is depicted;

[0011] Figure 4B One embodiment of an intracatheter probe according to the subject matter disclosed herein is depicted;

[0012] Figure 4C One embodiment of an intracatheter probe according to the subject matter disclosed herein is depicted;

[0013] Figure 4D One embodiment of an intracatheter probe according to the subject matter disclosed herein is depicted;

[0014] Figure 5A One embodiment of a probe shaft configuration according to the subject matter disclosed herein is depicted;

[0015] Figure 5B One embodiment of a probe shaft configuration according to the subject matter disclosed herein is depicted;

[0016] Figure 6A One embodiment of a catheter probe system inserted into a body according to the subject matter disclosed herein is depicted;

[0017] Figure 6B One embodiment of a catheter probe system inserted into a body according to the subject matter disclosed herein is depicted;

[0018] Figure 6C One embodiment of using output of a catheter probe system according to the subject matter disclosed herein is depicted;

[0019] Figure 7 One embodiment of an apparatus for an ultrasound-equipped catheter probe system according to the subject matter disclosed herein is depicted;

[0020] Figure 8 One embodiment of a method for an ultrasound-equipped catheter probe system according to the subject matter disclosed herein is depicted;

[0021] Figure 9 One embodiment of a method for an ultrasound-equipped catheter probe system according to the subject matter disclosed herein is depicted; and

[0022] FIG. 10 depicts one embodiment of a method for an ultrasound-equipped catheter probe system according to the subject matter disclosed herein. DETAILED DESCRIPTION

[0023] Diagnostic ultrasound is used in many medical fields as a means to identify anatomical structures and guide needle, instrument, and drug delivery. Many ultrasound probes have been developed to optimize resolution, depth, and field of view to suit each specific use, including curved probes, linear probes, vaginal probes, rectal probes, and cardiac probes. Each of these devices relies on stabilizing the ultrasound probe at the surface of the anatomical structure of interest. These probes are then maintained at the surface of the imaged target as the needle, instrument, etc. is advanced toward its target. This approach limits the invasiveness of the procedure or imaging. Unfortunately, the use of ultrasound is limited to applications where superficial probes can provide sufficient imaging to guide deep interventions. This approach also requires a great deal of training to understand and accommodate the limitations of imaging and interventions in different planes.

[0024] The utility of ultrasound imaging would be increased when the output image can represent anatomical structures known to the clinician. 3D ultrasound techniques are becoming increasingly popular as they convert 2D slices into a stereoscopic anatomical structure. These techniques have been applied in multiple medical fields, including cardiac electrophysiology, general surgery, and obstetrics. These approaches utilize various algorithms to stack B-mode ultrasound slices into a stereoscopic image. But these approaches are limited by the size of the ultrasound array used to acquire the B-mode images.

[0025] As medical technology further advances, there is a need for a method that allows diagnostic ultrasound to be utilized on a small enough scale to be part of an interventional device. As ultrasound transducer size is reduced, resolution and the ability to image using a phased array or B-mode array significantly decrease. However, B-mode arrays and phased arrays can not be able to achieve the physical size required to be part of an invasive device.

[0026] A-mode ultrasound has long been overlooked as it only produces a 1D signal. Currently, in the medical field, only a few applications consider the 1D signal to be helpful in guiding clinical decisions. On the other hand, A-mode transducer technology does allow for the construction of a small enough transducer to be integrated into an invasive device (<2.0 millimeters). If there is a method to convert the 1D signal into a useful clinical image, then diagnostic imaging can be added to most invasive and minimally invasive procedures in medicine.

[0027] An external ventricular drain (EVD) is a device used to relieve elevated intracranial pressure when cerebrospinal fluid (CSF) is obstructed or blood is trapped within the brain. An EVD is a flexible plastic catheter placed by a neurosurgeon or neurointensivist through the brain into one or more of the brain's ventricles to relieve pressure within the brain, thereby preventing brain herniation, severe complications, or death in critically ill cases. In the case of head trauma, there is typically no time for adequate imaging to be performed prior to placement of the EVD, so anatomic surface landmarks on the patient's skull are used for a freehand puncture technique. Since brain hemorrhage and head trauma can disrupt normal brain anatomy, this freehand puncture technique often results in the surgeon needing multiple attempts to correctly reach the desired ventricle, resulting in complications such as additional hemorrhage and inadvertent placement into normal brain tissue.

[0028] Traditional EVDs have several limitations and drawbacks that severely limit the accuracy of the surgeon, including a lack of real-time understanding of the patient's neuroanatomy relative to normal, a lack of real-time feedback of the surgeon's trajectory accuracy, a lack of real-time objective information to determine distance to target, a lack of adjustability of the intermediate trajectory during placement, and a lack of real-time evidence of ventricle size.

[0029] Based on the foregoing, it is clear that a real-time imaging modality that allows the surgeon to view their target in real-time, especially in emergency situations, would be of great utility. The solution disclosed herein describes an ultrasound-equipped catheter probe system that meets these objectives. This technology can be used for procedures and markets beyond EVD and shunt placement by simply changing the outer diameter of the probe shaft, the ultrasound frequency adjusted for the expected target depth, and the introduction of a catheter.

[0030] Replacing the standard fishmouth style probe typically used to pass an EVD catheter into the lateral ventricle with a hard probe device with an ultrasound transceiver on the tip allows for a manual scan to be performed and the underlying brain anatomy to be imaged. The surgeon or other medical service provider will be able to visualize the ventricular wall interface, the fluid-filled ventricle with no echoes, major blood vessels, and superficial brain tissue. Real-time imaging allows the medical service provider to determine the trajectory and maintain the trajectory of their EVD catheter through the brain to the target. Real-time imaging during this procedure will further support efficient and accurate placement of the EVD on the first attempt, limiting the adverse effects of pushing the catheter through brain tissue. Accordingly, the subject matter herein aims to utilize A-mode ultrasound signals to generate a multi-dimensional image that interprets the position and orientation of the ultrasound transducer in a low-cost manner while coupling instrument stereotaxy with real-time imaging.

[0031] Figure 1An embodiment of an ultrasound-equipped catheter probe system 100 according to the subject matter disclosed herein is depicted. In one embodiment, the system 100 includes a computing device 102, a display device 103, a catheter probe system 104, an imaging device 110, one or more servers 112, and a data network 114. In some embodiments, even Figure 1 The disclosure depicts a specific number of computing devices 102, display devices 103, catheter probe systems 104, imaging devices 110, one or more servers 112, and data networks 114, but those skilled in the art will recognize that, according to this disclosure, system 100 may include any number of these components.

[0032] In one embodiment, system 100 includes one or more computing devices 102. The computing device 102 may be implemented as a desktop computer, laptop computer, tablet computer, smartphone, or smart speaker (e.g., Amazon). Google Apple The following are also computing devices: Internet of Things devices, set-top boxes, game consoles, smart TVs, smartwatches, optical head-mounted displays (e.g., virtual reality headsets, smart glasses, headphones, etc.), high-definition multimedia interfaces (“HDMI”) or other electronic display dongles, personal digital assistants, digital cameras, camcorders, or other computing devices including processors (e.g., central processing units (“CPU”), processor cores, field-programmable gate arrays (“FPGA”) or other programmable logic, application-specific integrated circuits (“ASIC”), controllers, microcontrollers and / or other semiconductor integrated circuit devices), volatile memory and / or non-volatile storage media, display 103, connections to the display, etc.

[0033] In one embodiment, the catheter probe system 104 (described in more detail below) is communicatively connected to the computing device 102 via a wired connection 106 and / or a wireless connection 108. In such embodiments, the wired connection 106 may include a data connection, such as an Ethernet connection, a serial bus connection (e.g., Universal Serial Bus (USB)), a coaxial cable, etc. In one embodiment, the wireless connection 108 may include a short-range wireless connection, such as... Connections include Near Field Communication (NFC) connections, Radio Frequency (RF) connections, and Wi-Fi connections.

[0034] In one embodiment, the imaging device 110 is configured to receive (e.g., through a wired 106 or wireless 108 connection) data signals, such as ultrasound data signals, from the catheter probe system 104 during an EVD or other procedure and generate an image or graphic of the portion of the user’s 116 body into which the catheter probe system 104 is inserted to guide and assist the physician in placing the catheter. The imaging device 110 will be described in greater detail below.

[0035] In certain embodiments, the imaging device 110 can include a hardware appliance, such as a secure hardware dongle or other hardware appliance device (e.g., set-top box, network appliance, etc.) that is attached to a device such as a head-mounted display, laptop computer, server 112, tablet computer, smart phone, network router or switch, etc. through a wired connection (e.g., USB connection) or wireless connection (e.g., Wi-Fi, near-field communication (“NFC”), etc.); to an electronic display device (e.g., a television or monitor using an HDMI port, DisplayPort port, Mini DisplayPort port, VGA port, DVI port, etc.); and / or the like. The hardware appliance of the imaging device 110 can include a power interface, wired and / or wireless network interface, graphics interface to attach to a display, and / or a semiconductor integrated circuit device configured to perform the functions described herein with respect to the imaging device 110 as described below.

[0036] In such embodiments, the imaging device 110 can include a semiconductor integrated circuit device (e.g., one or more chips, dies, or other discrete logic hardware), such as a field-programmable gate array (FPGA) or other programmable logic, firmware for the FPGA or other programmable logic, microcode for execution on a microcontroller, an application-specific integrated circuit (ASIC), a processor, a processor core, etc. In one embodiment, the imaging device 110 can be mounted on a printed circuit board having one or more wires or connections (e.g., to volatile memory, non-volatile storage media, network interfaces, peripheral devices, graphics / display interfaces, etc.). The hardware appliance can include one or more pins, pads, or other electrical connections configured to send and receive data (e.g., in communication with one or more wires of a printed circuit board, etc.), as well as one or more hardware circuits and / or other circuits configured to perform various functions of the imaging device 110.

[0037] ​In some embodiments, the semiconductor integrated circuit device or other hardware device of the imaging device 110 includes one or more volatile storage media and / or is communicatively coupled to one or more volatile storage media, which may include, but are not limited to, random access memory (RAM), dynamic RAM (DRAM), cache, etc. In one embodiment, the semiconductor integrated circuit device or other hardware device of the imaging device 110 includes one or more non-volatile storage media and / or is communicatively coupled to one or more non-volatile storage media, which may include, but are not limited to: NAND flash memory, NOR flash memory, nanometer random access memory (nano RAM or NRAM), nanocrystal wire-based memory, silicon oxide-based sub-10 nanometer process memory, graphene memory, silicon-oxide-nitride-oxide-silicon (SONOS), resistive RAM (RRAM), programmable metallized cell (PMC), conductive bridge RAM (CBRAM), magnetoresistive RAM (MRAM), dynamic RAM (DRAM), phase change RAM (PRAM or PCM), magnetic storage media (e.g., hard disk, magnetic tape), optical storage media, etc.

[0038] In one embodiment, one or more servers 112 may be implemented as blade servers, mainframe servers, tower servers, rack servers, etc. One or more servers 112 may be part of a data center, may be cloud servers, and may be located remotely and / or locally on computing device 102. One or more servers 108 may be communicatively coupled (e.g., networked) to computing device 102 via data network 114 and may be configured to execute or run signal processing, image processing, artificial intelligence (AI) and / or machine learning algorithms, programs, applications, processes, etc.

[0039] In one embodiment, data network 106 includes a digital communication network for transmitting digital communications. Data network 106 may include wireless networks, such as wireless cellular networks or local wireless networks (e.g., Wi-Fi networks). Networks, near field communication (NFC) networks, self-organizing networks, mesh networks, etc. Data network 106 may include wide area networks (WANs), storage area networks (SANs), local area networks (LANs), fiber optic networks, the Internet, or other digital communication networks. Data network 106 may include two or more networks. Data network 106 may include one or more servers, routers, switches, and / or other networking devices. Data network 106 may also include one or more computer-readable storage media, such as hard disk drives, optical disk drives, non-volatile memory, RAM, etc.

[0040] The wireless connection can be a mobile phone network. The wireless connection can also employ a Wi-Fi network based on any of the Institute of Electrical and Electronics Engineers (IEEE) 802.11 standards. Alternatively, the wireless connection can be a Bluetooth® connection. Further, the wireless connection can employ radio frequency identification (RFID) communication, including RFID standards developed by the International Organization for Standardization (ISO), the International Electrotechnical Commission (IEC), the American Society for Testing and Materials (ASTM), and EPCGlobal DASH7 TM Alliance and EPCGlobal TM .

[0041] Alternatively, the wireless connection can employ a ZigBee® connection based on the IEEE 802.15 standards. In one embodiment, the wireless connection employs a ZigBee® connection designed by Sigma Designs® . Alternatively, the wireless connection can employ a and / or connection. The wireless connection can be an infrared connection, including at least a connection that complies with the Infrared Physical Layer Specification (IrPHY) defined by the Infrared Data Association (IrDA). Alternatively, the wireless connection can be a cellular phone network communication.

[0042] Figure 2 One embodiment of a catheter probe system 104 in accordance with the subject matter disclosed herein is depicted. In one embodiment, the catheter probe system 104 includes a catheter 202 and a probe 204. As used herein, the catheter 202 can refer to a flexible tube that is inserted into a body cavity (e.g., inserted into a user's head, bladder, etc.) through a narrow opening. In one embodiment, the catheter 202 is constructed of a flexible tubing material (e.g., latex, polyurethane, or silicone). The catheter 202 can include a plurality of openings 206, slits, holes, etc. to allow fluid to enter the catheter 202 and exit the body. In one embodiment, the catheter 202 includes a measurement line or guide along the outer surface to indicate the depth of insertion of the catheter 202.

[0043] In relation to the subject of this document, the tip of catheter 202 may include a tip 208 for assisting in guiding catheter 202 through the body, such as through tissue and other substances. In one embodiment, tip 208 is made of an echolucent material. As used herein, an echolucent material may include a material that is transparent to ultrasonic waves (e.g., ultrasound). Thus, in such an embodiment, the echolucent tip 208 allows ultrasound waves (e.g., ultrasound waves emitted from probe 204) to travel through the tip without causing much (if any) interference. In one embodiment, the echolucent tip has a configuration that filters or focuses ultrasound signals. Such a configuration may include the shape of the echolucent tip, the size of the echolucent tip, the thickness of the echolucent tip, the presence of an internal cavity in the echolucent tip, or a combination thereof.

[0044] Figure 3 An embodiment of a probe 204 according to the subject matter disclosed herein is depicted. The probe 204 may include a rod 301 having a proximal end 303 and a distal end 305. The probe 204 is sized, shaped, or otherwise configured to be suitable for insertion into a catheter, as referenced above. Figure 2 The described catheter 202. The probe 204 can be made of a substantially rigid material, such as plastic, metal (e.g., stainless steel), polymer, etc. In one embodiment, the probe 204 can be a disposable device, or it can be sterilized for reuse.

[0045] In one embodiment, probe 204 includes various components. In some embodiments, probe 204 includes an acoustic lens 302 for focusing ultrasonic waves or signals from ultrasonic transceiver 306. In one embodiment, probe 204 includes an acoustic matching layer 304 that provides an acoustic impedance gradient, allowing acoustic energy from transceiver 306 to penetrate body tissue and causing reflected sound waves (return echoes) to return to transceiver 306 for detection.

[0046] In one embodiment, transceiver 306 includes an ultrasonic transceiver, but may be any type of transceiver capable of transmitting and receiving ultrasonic waves or signals. In one embodiment, transceiver 306 includes a transducer (e.g., a piezoelectric transducer) configured to convert received ultrasonic signals or echoes into signals transmitted to computing device 102.

[0047] Transceiver 306 can be configured to transmit ultrasonic signals according to a predetermined pattern and / or with a predetermined spread. In some embodiments, transceiver 306 is communicatively coupled to computing device 102 via wired connection 106 or wireless connection 108 to receive configuration information of transceiver 306 (e.g., pattern, spread, signal strength, frequency, or other configuration) and to transmit signal information to computing device 102 based on waves received in response to the transmission of ultrasonic waves from transceiver 306.

[0048] In one embodiment, the ultrasound transceiver 306 is configured to transmit and receive mode A ultrasound signals. When used herein, a mode A ultrasound signal may refer to an ultrasound signal generated by a single transceiver that scans a line across the body, where the echo can be plotted as a function of depth. In some embodiments, the ultrasound transceiver 306 is configured to transmit and receive mode B ultrasound signals, which, when used herein, may refer to ultrasound scanned across a plane of the body using an array of transceivers. In such embodiments, the probe 204 includes a plurality of transceivers 306 configured to transmit and receive a plurality of ultrasound signals.

[0049] In one embodiment, the transceiver 306 can be shaped according to the application and target of the ultrasonic signal. For example, the transceiver 306 may have a concave focusing emission surface, a flat emission surface, a convex focusing emission surface, etc. In some embodiments, a concave focusing emission surface allows for optimal resolution and may be most effective for size-constrained applications (e.g., EVD applications with small entry points (e.g., diameter <2.5 mm)).

[0050] In one embodiment, the focal radius of the transceiver 306 can be designed to have a beneficial focusing interaction with the catheter tip 208 and / or acoustic lens 302. The shape of the catheter tip 208 and / or acoustic lens 302 can be configured to further focus the ultrasound signal, thereby improving resolution and allowing for more accurate imaging. Diffraction focusing of ultrasound can be utilized by passing ultrasound waves through multiple angled, curved, or strategically shaped surfaces or volumes.

[0051] One form of this multidimensional volume reconstruction can use representative cylindrical, prismatic, or beam-specific near- or far-field volumes from a mode A transducer signal. These representative signal volumes are transducer-specific. Finite element modeling of the transducer design elements or beam spread pattern can inform the shape of the representative signal volume. Transducer-specific representative volumes allow for more accurate multidimensional reconstruction at various depths.

[0052] In one embodiment, the ultrasound transceiver 306 can be detached from the rod 301 before the probe 204 is removed from the catheter 202. In this embodiment, the rod 301 may include a mechanism, such as a button, for detaching the ultrasound transceiver 306 from the rod 301, which separates or disconnects the ultrasound transceiver 306 from the rod 301. In this way, the ultrasound transceiver 306 can be implanted in the patient for continuous monitoring.

[0053] In one embodiment, probe 204 includes a backing layer 308. In one embodiment, the backing layer 308 prevents acoustic waves from being reflected back into the transceiver, thereby preventing the acoustic waves from generating noise in the transceiver. Furthermore, the backing layer 308 can affect the characteristics of the acoustic waves, such as their sensitivity and signal-to-noise ratio.

[0054] In one embodiment, probe 204 includes other components, such as position sensor 310. Position sensor 310 may include one or more induction coil sensors configured to detect changes in position, such as inertial measurement unit (IMU) sensors, accelerometers, gyroscopes, angle sensors, etc. Positioning information can be transmitted to computing device 102 and used to further construct an image or graph generated using ultrasonic signals. For example, a fixed point relative to position sensor 310 can be referenced at the distal end of the probe (where ultrasonic transceiver 306 is located). As probe 204 moves in a conical manner, this creates a cone pattern of device movement, which position sensor 310 can sense at a known location near the tip of the device. As explained in more detail below, the sensing of the proximal device within this cone pattern allows 1D data to be stitched into 2D or 3D images.

[0055] Figures 4A-4D Probes 204 of various shapes within catheter 202 are depicted according to the subject matter disclosed herein. In some embodiments, EVD and other applications for draining fluids from various parts of the body rely on the capacity of catheter 202 to allow fluids such as CSF to drain from the ventricles and to indicate to the surgeon that the ventricular space has been disrupted. Ideally, the lumen of catheter 202 is not completely filled, allowing the passage of rigid material occupying the lumen and informing the surgeon of the disruption of the ventricular space based on the presence of CSF without removing probes 204 before the CSF is drained.

[0056] Therefore, different configurations of probe 204 or probe tip can be used to allow fluid to pass beside probe 204 or flow around probe 204. For example, probe 204 can have a square shape. Figure 4A ),hexagon( Figure 4B ), machined shape ( Figure 4C ) or oval ( Figure 4D ).like Figures 4A-4DAs shown in each figure, the shape of probe 204 creates a space between conduit 202 and probe 204, which allows fluid to flow around or beside probe 204 and out from the end of conduit 202.

[0057] Figure 5A and Figure 5B Probes 204 with different rod configurations are depicted according to the subject matter disclosed herein. Another method to create space between probe 204 and conduit 202 and allow fluid to flow around or bypass probe 204 is to introduce grooves, rifling, channels, etc. in probe rod 301. Figure 5A The probe shaft 301 is depicted, and rifling is engraved, formed, or cut within the shaft 301. Figure 5B A probe shaft 301 is depicted, in which channels or grooves are etched, formed, or cut. In any embodiment, when the probe 204 is inserted into the conduit 202 and the conduit 202 is inserted into a part of the body, fluid from the body can bypass the probe 204 and drain through the conduit 202 as the conduit 202 is inserted. In this way, fluids such as CSF can be drained without removing the probe 204 from the conduit 202, while optimizing the stiffness of the probe 204 facilitates operation and maximizing the outer diameter for optimal imaging and resolution.

[0058] Figure 6A An embodiment of an intrabody catheter probe system 104 according to the subject matter disclosed herein is depicted. In one embodiment, the catheter probe system 104 includes an anchoring device 606 that inserts into an opening 604 or borehole in a body 602, here in the skull of a user's head. In one embodiment, the anchoring device 606 includes an insertion portion 608 that enters into the opening 604 and a lip portion 609 located at the top of the outer edge of the opening 604. An opening 610 through the anchoring device 606 allows the catheter probe system 104 to pass through the anchoring device 606 and enter the body 602 (e.g., the skull) and into fluid-filled portions of the body, such as the ventricle 603.

[0059] In one embodiment, anchoring device 606 is configured to stabilize catheter probe system 104 (e.g., ultrasound tip) to ensure ultrasound data is captured from the same location. Anchoring device 606 may include pins, screws or other commonly used neurosurgical hardware, straps that can be placed around the patient's skull, and / or a deployable balloon for stabilization. For example, the deployable balloon device may be spherical or cylindrical in shape and include a hollow cylindrical center for the advancement of catheter probe system 104 through. The hollow cylindrical center may be lined with a plastic or metal cylinder, which in turn is lined with an expandable membrane. This membrane can expand cylindrically and press against the skull, thereby allowing the catheter probe system 104 to be secured in two directions while still allowing the advancement of catheter probe system 104 and limited device flexion to search the ventricles.

[0060] Fixation of the catheter probe system 104 can facilitate the multidimensional construction of images (described in more detail below), which will help to understand the patient's neuroanatomy in real time when needed, provide real-time feedback on the surgeon's trajectory, provide real-time distance information from the target, provide real-time evidence of the size of the ventricles, and provide information or data on how the surgeon should adjust his trajectory midway.

[0061] In one embodiment, the anchoring device 606 may include transceivers 612, such as a phased array of mode A and / or mode B ultrasonic transceivers located on the bottom portion of the anchoring device 606, which are also communicatively coupled to a computing device, for example via a wired connection 612, for further capturing ultrasonic data that can be used to generate multidimensional images of the body portion into which the catheter probe system 104 is inserted.

[0062] In a further embodiment, a device may be provided to allow the catheter probe system 104 to steer or deflect, thereby allowing intermediate trajectory adjustments to the placement of the catheter 202. The device for intermediate trajectory adjustment may include, but is not limited to, two wires extending along the outer surface of the probe 204, for example, in the space between the inner surface of the catheter 202 and the outer surface of the probe 204, and attached to the tip of the probe 204. Pulling one wire (e.g., via an ergonomic handle) shortens that wire relative to the other, thereby pulling or rotating the catheter probe system 104. Simply twisting the probe 204 while inserted into the body allows for correction in any direction perpendicular to the current advance line or trajectory. In another embodiment, the probe 204 may have a braided shaft and a deflectable section, which allows for multi-directional changes and corrections to the probe tip trajectory mid-course. A healthcare provider can finely adjust its trajectory by engaging an actuator on the handle or proximal shaft of the probe 204.

[0063] Figure 6BAn embodiment of an intrabody catheter probe system 104 according to the subject matter disclosed herein is depicted. In one embodiment, an anchoring device 606 is inserted into an opening in a body 602, and the catheter probe system 104 is inserted into an opening 610 in the anchoring device 606, and further inserted into the body 602. The catheter probe system 104 can then be moved or rotated in a conical direction 614 (e.g., about a rotation axis), causing an ultrasound signal 616 to propagate in multiple directions within the body 602. Furthermore, the catheter probe system 104 can capture position data from a position sensor 310 to detect conical movement relative to a fixed point (e.g., the tip of the catheter probe system 104). In this way, ultrasound data from multiple cross-sections of the body 602 can be captured and used to generate multidimensional images or graphics, which can be done in real time in response to the detection of a change in the position of the catheter probe system 104.

[0064] Figure 6C An embodiment of using the output of a catheter probe system 104 according to the subject matter disclosed herein is depicted. In one embodiment, the catheter probe system 104 can capture and transmit a mode A ultrasound signal, thereby generating Figure 6C The 1D output signal 620 is shown. By using the 1D output signal 620 to determine tissue type, material, etc. (e.g., based on the amplitude of the 1D output signal 620), and generating a corresponding 3D graphic image 622 in real time as the catheter probe system 104 moves into the body in a cone-shaped manner, the 1D output signal 620 can be used to generate a 3D reconstruction of the body part (e.g., in the brain) into which the catheter probe system 104 is inserted, as described in more detail below.

[0065] Figure 7 An embodiment of an apparatus 700 for an ultrasound-equipped catheter probe system is depicted according to the subject matter disclosed herein. In one embodiment, apparatus 700 includes an example of an imaging apparatus 110. In one embodiment, imaging apparatus 110 includes a signal processing module 702, a graphics generation module 704, a rendering module 706, a path module 708, and an AI module 710, which will be described in more detail below. In one embodiment, imaging apparatus 110 may be located on a computing device 102, a server 112 (e.g., to offload processing to a data center), and / or a combination thereof.

[0066] In one embodiment, the signal processing module 702 is configured to receive signals from the ultrasonic transceiver 306 of the catheter probe system 104. In such an embodiment, when the ultrasonic transceiver 306 transmits ultrasonic signals or waves and accordingly receives echoes, echo signals or waves, the ultrasonic transceiver 306 transmits information associated with the echo signals or waves to the computing device 102 via a wired connection 106 or a wireless connection 108.

[0067] In one embodiment, the signal processing module 702 can cause the ultrasound transceiver 306 to transmit and receive ultrasound signals at consistent, periodic intervals (e.g., every second, every half second, etc.). In another embodiment, for example, in response to movement of the catheter probe system 104 during surgery (based on input from the position sensor 310), based on feedback from the AI ​​engine (described below), based on feedback from received ultrasound signals, in response to user input, etc., the signal processing module 702 can dynamically determine the rate of transmission and reception of ultrasound signals.

[0068] In one embodiment, the signal processing module 702 can determine a pulse pattern for causing the ultrasound transmitter 306 to transmit and receive ultrasound signals. The pulse pattern may include signal strength, signal frequency, signal sequence (frequency or interval of transmitted signals), etc. For example, during surgery, in response to movement of the catheter probe system 104 (based on input from the position sensor 310), based on feedback from the AI ​​engine (described below), based on feedback from received ultrasound signals, in response to user input, etc., the signal processing module 702 can dynamically determine the rate of transmission and reception of ultrasound signals.

[0069] In one embodiment, the signal processing module 702 filters out noisy ultrasound data from the received signal, or filters out data that is not useful for generating multidimensional graphics. Such data may include anomalous data, data that cannot be graphically represented, signal data with amplitudes above or below a threshold, etc. In one embodiment, the signal processing module 702 may use an AI engine to process the signal data (e.g., a 1D output signal) to identify and remove noisy data.

[0070] In one embodiment, the graphics generation module 704 is configured to generate multidimensional graphics or images based on signals received by the signal processing module 702. In such an embodiment, the multidimensional graphics may be a two-dimensional (2D) or three-dimensional (3D) graphic of a part of the body into which the catheter probe system 104 is inserted. For example, when the catheter probe system 104 is inserted into a patient's head and passes through the brain to locate the ventricles, the signal processing module 702 may receive and process a 1D output signal from the mode A ultrasound transceiver 306 in the catheter probe system 104, and the graphics generation module 704 may use this 1D output signal to generate a multidimensional graphic of the user's brain as the catheter probe system 104 is placed inside the user's head.

[0071] In one embodiment, the graphics generation module 704 uses various image processing algorithms to process the output signal to generate multidimensional graphics. For example, the graphics generation module 704 uses segmentation algorithms to identify edges, regions, etc., of the imaged structure based on different characteristics of the output signal (e.g., based on different amplitudes, thresholds, values, etc.). For example, the graphics generation module 704 can use segmentation algorithms to identify brain tissue, blood vessels, ventricles, and / or other substances, tissues, regions, etc., within the user's brain, and can include metadata or other additional information in the generated graphics, which describes different blocks, regions, structures, etc., of the body in the graphics.

[0072] In one embodiment, the graphics generation module 704 generates a multidimensional graphic based on position data received from the position sensor 310, taking into account changes in the probe's position. For example, when the catheter probe system 104 is moved, such as in a conical manner, the signal processing module 702 can receive and process new ultrasound signal data, and the graphics generation module 704 uses this new ultrasound signal data to generate the multidimensional graphic. In such an embodiment, the graphics generation module 704 can update the multidimensional graphic in real time in response to changes in the position of the catheter probe system 104.

[0073] In one embodiment, the presentation module 706 is configured to present multidimensional graphics on the display device 103. In such an embodiment, the presentation module 706 can present multidimensional graphics as they are created and / or received from the graphics generation module 704 (e.g., in real time during surgery), such that the presented graphics are continuously updated as new graphics data is provided from the graphics generation module 704.

[0074] In one embodiment, the presentation module 706 is configured to visually highlight different body parts or areas with different properties (e.g., different tissue types, fluid types, materials, etc.). For example, the presentation module 706 can use metadata or other information within the multidimensional graphic data generated and provided by the graphics generation module 704 to visually highlight different blocks, regions, structures, etc. of the body, for example, by using different brightness levels, contour depictions, shadows, shapes, line thicknesses, colors, gradients, patterns, labels, text, etc.

[0075] In one embodiment, the path module 708 is configured to determine the optimal path to a target location within the body. In such an embodiment, the path module 708 may receive the location of the insertion point of the catheter probe system 104 on the body relative to a pre-determined, predefined, or similarly known representation of the body in which the catheter probe system 104 is being inserted. For example, in a graphical display, a user (e.g., a physician) may select, point, click, tap, or perform similar actions on a representation of the user's head in which the catheter probe system 104 is being inserted.

[0076] Based on this reference point, the path module 708 can determine the optimal path to the target point, which can be set by the physician (e.g., by providing input to identify the target point), or can be determined based on previous scans of the user's body (e.g., magnetic resonance imaging (MRI) scans or computed tomography (CT) scans), AI-generated body representations, and / or other representational data describing the part of the body in which the catheter probe system 104 is being inserted.

[0077] In such an embodiment, the path module 708 can be based on the relationship between the insertion point and the target point (e.g., Figure 6A and Figure 6B The optimal path to the target point is determined based on known structural information about the body portion into which the catheter probe system 104 is inserted (between the opening 604 and the ventricle 603). For example, the path module 708 can reference known structural elements, materials, tissues, or other components within the user's brain to determine the optimal path through the user's brain from the drill hole to the target ventricle. Known structural elements may include those commonly found in the human brain, which the path module 708 can determine based on user input, external sources (e.g., health websites, medical manuals, etc.), AI-generated information about the human brain, etc. The optimal path may include a path that causes minimal disruption, damage, interference, pain, etc., through that part of the body, for example, an optimal path that avoids blood vessels, tissues, or other structures.

[0078] In one embodiment, the path module 708 can also determine the trajectory of the catheter probe system 104 relative to a target position, for example, based on position sensor data from the position sensor 310, and provide instructions for moving the catheter probe system 104 along an optimal path. In other words, the path module 708 can determine whether the catheter probe system 104 is on a trajectory deviating from the optimal path, and if so, provide feedback, instructions, indications, etc., to move the catheter probe system 104 back to the optimal path. For example, the path module 708 can provide audible or visual feedback (e.g., move up 2 mm, move back, move forward 4 mm, etc.) to provide indications for moving the catheter probe system 104 as close as possible to the optimal path as the catheter probe system 104 is inserted and moved toward the target position. In one embodiment, the drift from the optimal path can be approximated by using vector summation or real-time imaging signal feedback with 3D reconstructed graphics.

[0079] In one embodiment, the presentation module 706 displays the target location, optimal path, and trajectory of the catheter probe system 104 on the display device 103. In such an embodiment, the presentation module 706 displays the target location, optimal path, and trajectory of the catheter probe system 104 as an overlay on a multi-dimensional graphic of the body, where each is visually displayed with different colors, patterns, brightness, etc. Furthermore, the presentation module 706 can display instructions, directions, measurements, etc., for moving the catheter probe system 104 to maintain it on the optimal path.

[0080] For example, display module 706 can display a red / green light target image / trajectory system on the screen to help surgeons advance the catheter along the correct path. The green light target icon will indicate to the surgeon that the catheter probe system 104 is on the correct path / optimal route for penetrating the ventricle. Once the trajectory deviates from the optimal path, the target trajectory can turn red, indicating to the surgeon that trajectory correction is needed to accurately enter the ventricular space.

[0081] In one embodiment, AI module 710 is configured to use an AI engine to determine various information associated with the placement of the catheter probe system 104. When used herein, AI is broadly defined as a branch of computer science that studies the automation of intelligent behavior. AI systems can be designed to use machines to simulate and mimic human intelligence and corresponding behavior. This can take many forms, including symbolic or symbolically manipulated AI. AI can solve analytical problems involving abstract symbols and / or human-readable symbols. AI can establish abstract connections between data or other information or stimuli. AI can draw logical conclusions. AI is the intelligence exhibited by machines, programs, or software. AI is defined as the study and design of intelligent agents, where an agent is a system that perceives its environment and takes actions that maximize its probability of success.

[0082] AI can possess various attributes, such as deduction, reasoning, and problem-solving. AI can include knowledge representation or learning. AI systems can perform natural language processing, perception, motion detection, and information manipulation. At higher levels of abstraction, it can generate social intelligence, creativity, and general intelligence. Various approaches have been employed, including cybernetics and brain simulation, symbolic, sub-symbolic, and statistical methods, as well as the integration of these approaches.

[0083] Various AI tools can be used individually or in combination. These tools can include search and optimization, logic, probabilistic methods for uncertain reasoning, classifiers and statistical learning methods, neural networks, deep feedforward neural networks, deep recurrent neural networks, deep learning, control theory, and languages.

[0084] In one embodiment, the AI ​​engine may include a generative AI engine. As used herein, generative AI is AI that can create new content, such as text, images, music, audio, and video. Generative AI systems are typically used to develop synthetic data that can be used to train machine learning models and validate mathematical models. In such an embodiment, prompts for generating content can be provided to the generative AI engine. For example, as used herein, AI module 710 may provide prompts such as “generate a 3D image of a normal human brain,” “generate a map of the different ventricles of the human brain,” and “generate the path from the skull to the ventricles in the human brain.”

[0085] In such an embodiment, the AI ​​module 710 can train the AI ​​engine on subject-specific data (e.g., brain topography or other structure-related data from different patients, such as MRI scans, CT scans, images, videos, text, etc., describing or illustrating structural elements of multiple patients). Furthermore, the AI ​​module 710 can train the AI ​​engine on ultrasound data associated with different structures to identify patterns in ultrasound signals associated with different structural elements (e.g., tissue, fluid, ventricles, blood vessels, bones, etc.).

[0086] Therefore, users can customize AI engines for specific applications and use them to determine things such as the optimal pulse pattern for ultrasound signals, the optimal probe tip design for specific body parts, structural components identified in 1D signals (e.g., segmentation analysis), signal processing (e.g., noise removal from signal data), optimal path / trajectory analysis, and so on. AI engines can also be used to assist in generating multidimensional images from output signal data by training the AI ​​engine to process signal data to generate graphical representations of the signal data.

[0087] Figure 8 An embodiment of a method 800 for an ultrasound-equipped catheter probe system is described according to the subject matter disclosed herein. In one embodiment, method 800 is performed by a computing device 102, a server 112, a catheter probe system 104, an imaging device 104, a signal processing module 702, a graphics generation module 704, a presentation module 706, a path module 708, an AI module 710, or a combination thereof.

[0088] In one embodiment, method 800 begins by receiving a signal 802 from ultrasonic transceiver 306, generating a multidimensional graphic 804 based on the received signal, and displaying the multidimensional graphic 806 on display device 103, and then method 800 ends.

[0089] Figure 9An embodiment of a method 900 for an ultrasound-equipped catheter probe system is described according to the subject matter disclosed herein. In one embodiment, method 900 is performed by a computing device 102, a server 112, a catheter probe system 104, an imaging device 104, a signal processing module 702, a graphics generation module 704, a presentation module 706, a path module 708, an AI module 710, or a combination thereof.

[0090] In one embodiment, method 900 begins and receives signals 902 from ultrasound transceiver 306, and generates a multidimensional graph 904 based on the received signals. In another embodiment, method 900 determines the optimal path 906 to a target location within the body.

[0091] In one embodiment, method 900 presents a multidimensional graphic 908 on a display device 103. In one embodiment, method 900 determines 910 the trajectory of the catheter probe system 104 relative to a target position and provides instructions for moving the catheter probe system 104 along an optimal path. In one embodiment, method 900 updates the multidimensional graphic 912 in real time in response to changes in the probe's position, and then method 900 terminates.

[0092] Figure 10 illustrates one embodiment of a method 1000 for an ultrasound-equipped catheter probe system according to the subject matter disclosed herein. In one embodiment, method 1000 is performed by a computing device 102, a server 112, a catheter probe system 104, an imaging device 104, a signal processing module 702, a graphics generation module 704, a presentation module 706, a path module 708, an AI module 710, or a combination thereof.

[0093] In one embodiment, method 1000 begins by inserting probe 204 into catheter 202, inserting catheter 202 into body 1004, causing ultrasound transceiver 306 in probe 204 to generate ultrasound signals, moving probe 204 in a conical manner as catheter 202 is inserted into body 1008, receiving position data from position sensor 310 in probe 204 and signal data from ultrasound transceiver 306 as probe 204 is moved, generating a multidimensional image of a portion of body into which catheter 202 is inserted based on the position data and signal data, and then method 1000 ends.

[0094] An apparatus for an ultrasound-equipped catheter probe system is disclosed. A system and method also perform the functions of the apparatus. In one embodiment, the apparatus includes a catheter and a probe configured for insertion into the catheter. In one embodiment, the probe includes a rod having a first end and a second end, and an ultrasound transceiver coupled to the first end of the rod, the ultrasound transceiver being configured to transmit and receive ultrasound signals.

[0095] In one embodiment, the probe shaft includes at least one channel along the length of the shaft, which forms at least one space between the catheter and the shaft when the probe is inserted into the catheter. In another embodiment, the probe shaft has a shape different from the internal shape of the catheter, such that space is introduced between the shaft and the catheter when the probe is inserted into the catheter.

[0096] In one embodiment, the catheter includes an ultrasonically transparent tip, and a probe is inserted into the catheter such that an ultrasonic transceiver is brought close to the ultrasonically transparent tip. In one embodiment, the ultrasonically transparent tip has a configuration for filtering or focusing ultrasonic signals, the configuration including the shape of the ultrasonically transparent tip, the size of the ultrasonically transparent tip, the thickness of the ultrasonically transparent tip, the presence of an internal cavity of the ultrasonically transparent tip, or a combination thereof.

[0097] In one embodiment, the ultrasonic transceiver has a concave shape for focusing ultrasonic signals. In one embodiment, the ultrasonic transceiver can be detached from the rod before the probe is removed from the catheter.

[0098] In one embodiment, the probe further includes a position sensor that detects the position of the probe relative to a fixed point. In one embodiment, the ultrasonic transceiver is configured to transmit and receive mode A ultrasonic signals.

[0099] In one embodiment, a system includes a catheter and a probe for inserting the catheter. In one embodiment, the probe includes a rod having a first end and a second end, an ultrasonic transceiver coupled to the first end of the rod, an ultrasonic transceiver configured to transmit and receive ultrasonic signals, and a position sensor for detecting the position of the probe relative to a fixed point. In one embodiment, the system is configured to receive signals from the ultrasonic transceiver, generate a multidimensional graphic based on the received signals, and display the multidimensional graphic on a display device.

[0100] In one embodiment, the system is configured to generate a multidimensional graph based on position changes of a probe, using position data received from a position sensor.

[0101] In one embodiment, the system is configured to update a multidimensional graph in real time in response to changes in the probe's position. In one embodiment, the multidimensional graph includes a multidimensional graph of a portion of the body in which the catheter is inserted.

[0102] In one embodiment, the system is configured to determine the optimal path to a target location within the body. In another embodiment, the system is configured to determine the trajectory of a catheter relative to the target location and provide instructions for moving the catheter along the optimal path.

[0103] In one embodiment, the system is configured to display the target location, optimal path, and duct trajectory on a display device, overlaying a multi-dimensional graphic of the body. In another embodiment, the system is configured to visually highlight different parts of the body with different properties based on signals received from an ultrasound transceiver.

[0104] In one embodiment, the system is configured to use an artificial intelligence engine to determine the optimal pulse pattern of the ultrasound signal. In another embodiment, the system includes an anchoring device configured to stabilize the catheter at an insertion point where the catheter is inserted into a part of the body.

[0105] In one embodiment, a method is configured to insert a probe into a catheter, insert the catheter into the body, cause an ultrasound transceiver to generate an ultrasound signal, move the probe in a conical manner as the catheter is inserted into the body, receive position data from a position sensor and signal data from the ultrasound transceiver as the probe is moved, and generate a multidimensional graphic of a portion of the body into which the catheter is inserted based on the position data and signal data.

[0106] In this specification, references to "an embodiment," "embodiment," or similar expressions mean that a particular feature, structure, or characteristic described in connection with that embodiment is included in at least one embodiment. Therefore, the phrases "in one embodiment," "in an embodiment," and similar expressions appearing in this specification may (but not necessarily) refer to the same embodiment, but rather to "one or more, but not all, embodiments," unless explicitly stated otherwise. Unless explicitly stated otherwise, the terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," "including." Unless explicitly stated otherwise, the listed items do not imply that any or all items are mutually exclusive and / or mutually inclusive. The terms "a," "an," and "the" also mean "one or more," unless explicitly stated otherwise.

[0107] Furthermore, the features, advantages, and characteristics of the embodiments described can be combined in any suitable manner. Those skilled in the art will recognize that these embodiments can be implemented without one or more specific features or advantages of a particular embodiment. In other instances, additional features and advantages may exist in some embodiments that are not present in all embodiments.

[0108] These features and advantages of the embodiments will become more apparent from the following description and the appended claims, or may be learned by practicing the embodiments set forth below. Those skilled in the art will understand that various aspects of the invention can be implemented as systems, methods, and / or computer program products. Therefore, various aspects of the invention can take the form of entirely hardware embodiments, entirely software embodiments (including firmware, resident software, microcode, etc.), or embodiments combining software and hardware aspects, which may be collectively referred to herein as “circuit,” “module,” or “system.” Furthermore, various aspects of the invention can take the form of computer program products implemented in one or more computer-readable media in which program code is implemented.

[0109] Many of the functional units described in this specification have been labeled as modules to more specifically emphasize their implementation independence. For example, a module can be implemented as hardware circuitry, including custom-designed very large-scale integrated circuits (“VLSI”) or gate arrays, off-the-shelf semiconductors (such as logic chips, transistors, or other discrete components). Modules can also be implemented in programmable hardware devices, such as field-programmable gate arrays (“FPGAs”), programmable array logic, programmable logic devices, etc.

[0110] Modules can also be implemented as software, executable by various types of processors. For example, an identified program code module can contain one or more physical or logical blocks of computer instructions, which can be organized, for example, as objects, procedures, or functions. However, the executable files of an identified module do not necessarily have to be physically located together; they can contain different instructions stored in different locations, which, when logically linked together, constitute the module and achieve its intended purpose.

[0111] In practice, a program code module can be a single instruction or multiple instructions, and can even be distributed across several different code segments, different programs, and several memory devices. Similarly, operational data can be identified and described within this module, and can be implemented in any suitable form and organized in any suitable type of data structure. Operational data can be collected as a single dataset or distributed across different locations, including different storage devices, and can exist at least in part as electronic signals on a system or network. When a module or parts thereof are implemented in software, the program code can be stored and / or distributed on one or more computer-readable media.

[0112] Computer program products may include computer-readable storage media (or media) having computer-readable program instructions thereon for causing a processor to execute aspects of the present invention.

[0113] Computer-readable storage media can be tangible devices capable of retaining and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example, but not limited to, electronic storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of computer-readable storage media includes the following: portable computer disks, hard disks, random access memory (“RAM”), read-only memory (“ROM”), erasable programmable read-only memory (“EPROM” or flash memory), static random access memory (“SRAM”), portable optical disc read-only memory (“CD-ROM”), digital multifunction disc (“DVD”), memory sticks, floppy disks, mechanical encoding devices (e.g., punched cards or raised structures in recesses where instructions are recorded), and any suitable combination of the foregoing. As used herein, computer-readable storage media should not be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0114] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to a corresponding computing / processing device, or downloaded via a network (e.g., the Internet, a local area network, a wide area network, and / or a wireless network) to an external computer or external storage device. The network may include copper cabling, fiber optic cables, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to a computer-readable storage medium within the corresponding computing / processing device.

[0115] Computer-readable program instructions used to perform operations of this invention may be assembly instructions, instruction set architecture (“ISA”) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​(e.g., Smalltalk, C++, etc.) and traditional procedural programming languages ​​(e.g., the “C” programming language or similar programming languages). The computer-readable program instructions may be executed entirely on the user’s computer, partially on the user’s computer (as a standalone software package), partially on the user’s computer and partially on a remote computer, or entirely on a remote computer or server. In the latter case, the remote computer may be connected to the user’s computer via any type of network (including a local area network (“LAN”) or a wide area network (“WAN”)) or may be connected to an external computer (e.g., via the Internet through an Internet service provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate arrays (“FPGA”), or programmable logic arrays (“PLA”) may execute computer-readable program instructions by personalizing the electronic circuitry with state information from the computer-readable program instructions to perform various aspects of this invention.

[0116] This document describes various aspects of the invention with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0117] These computer-readable program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / actions specified in one or more blocks of a flowchart and / or block diagram. These computer-readable program instructions may also be stored in a computer-readable storage medium that can instruct a computer, programmable data processing apparatus, and / or other apparatus to operate in a particular manner, such that the computer-readable storage medium in which the instructions are stored constitutes an article of art containing instructions for implementing aspects of the functions / actions specified in one or more blocks of a flowchart and / or block diagram.

[0118] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device, thereby producing a computer-implemented process, such that the instructions, which execute on the computer, other programmable apparatus or other device, perform the functions / actions specified in one or more blocks of a flowchart and / or block diagram.

[0119] Many of the functional units described in this specification have been labeled as modules to more specifically emphasize their implementation independence. For example, modules can be implemented as hardware circuits, including custom VLSI circuits or gate arrays, off-the-shelf semiconductors (e.g., logic chips, transistors, or other discrete components). Modules can also be implemented in programmable hardware devices, such as field-programmable gate arrays, programmable array logic, programmable logic devices, etc.

[0120] Modules can also be implemented as software for execution by various types of processors. For example, an identified program instruction module may include one or more physical or logical blocks of computer instructions, which may be organized, for example, as objects, procedures, or functions. However, the executable files of the identified modules do not necessarily have to be physically located together, but may contain different instructions stored in different locations that, when logically linked together, constitute the module and achieve its intended purpose.

[0121] The schematic flowcharts and / or schematic block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of devices, systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the schematic flowcharts and / or schematic block diagrams may represent a module, code segment, or portion of code, which contains one or more executable instructions for implementing specified logical functions.

[0122] It should also be noted that in some alternative implementations, the functions indicated in the blocks may not occur in the order shown in the figures. For example, two consecutively shown blocks may actually execute substantially concurrently, or sometimes in reverse order, depending on the functions involved. Other steps and methods that are equivalent in function, logic, or effect to one or more blocks or portions thereof in the figures shown can be envisioned.

[0123] While various arrow types and line styles may be used in flowcharts and / or block diagrams, it should be understood that they do not limit the scope of the respective embodiments. In fact, certain arrows or other connectors may be used only to indicate the logical flow of the illustrated embodiment. For example, an arrow may indicate a wait or monitoring period between enumeration steps in the illustrated embodiment where no duration is specified. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware system or a combination of dedicated hardware and program code that performs the specified function or action.

[0124] As used herein, a list with the conjunction “and / or” includes any single item in the list or a combination of items in the list. For example, a list of A, B, and / or C includes only A, only B, only C, a combination of A and B, a combination of B and C, a combination of A and C, or a combination of A, B, and C. As used herein, a list using the term “one or more” includes any single item in the list or a combination of multiple items in the list. For example, one or more of A, B, and C includes only A, only B, only C, a combination of A and B, a combination of B and C, a combination of A and C, or a combination of A, B, and C. As used herein, a list using the term “one of” includes one and only one of any single item in the list. For example, “one of A, B, and C” includes only A, only B, or only C, excluding combinations of A, B, and C. As used herein, “a member selected from a group consisting of A, B, and C” includes one and only one of A, B, or C, excluding combinations of A, B, and C. As used in this article, “members selected from groups consisting of A, B, and C and combinations thereof” includes only A, only B, only C, combinations of A and B, combinations of B and C, combinations of A and C, or combinations of A, B, and C.

[0125] The invention may be implemented in other specific forms without departing from its spirit or essential characteristics. The embodiments described are to be regarded in all respects as illustrative only and not limiting. Therefore, the scope of the invention is indicated by the appended claims rather than the foregoing description. All modifications within the equivalent meaning and scope of the claims should be covered within their scope.

Claims

1. An apparatus comprising: catheter; and A probe configured for insertion into the catheter, the probe comprising: A rod having a first end and a second end; as well as An ultrasonic transceiver is coupled to the first end of the rod and is configured to transmit and receive ultrasonic signals.

2. The device according to claim 1, wherein, The probe's shaft includes at least one channel along the length of the shaft, and when the probe is inserted into the conduit, the at least one channel forms at least one space between the conduit and the shaft.

3. The device according to claim 1, wherein, The probe's shaft has a shape different from the internal shape of the catheter, such that when the probe is inserted into the catheter, space is introduced between the shaft and the catheter.

4. The device according to claim 1, wherein, The catheter includes an ultrasonically transparent tip, and the probe is inserted into the catheter such that the ultrasonic transceiver is close to the ultrasonically transparent tip.

5. The device according to claim 4, wherein, The ultrasonic transparent tip has a configuration for filtering or focusing the ultrasonic signal, the configuration including the shape of the ultrasonic transparent tip, the size of the ultrasonic transparent tip, the thickness of the ultrasonic transparent tip, the presence of an internal cavity of the ultrasonic transparent tip, or a combination thereof.

6. The device according to claim 1, wherein, The ultrasonic transceiver has a concave shape for focusing the ultrasonic signal.

7. The device according to claim 1, wherein, The ultrasonic transceiver can be detached from the rod before the probe is removed from the catheter.

8. The device according to claim 1, wherein, The probe also includes a position sensor that detects the position of the probe relative to a fixed point.

9. The device according to claim 1, wherein, The ultrasonic transceiver is configured to transmit and receive mode A ultrasonic signals.

10. A system comprising: catheter; A probe configured for insertion into the catheter, the probe comprising: A rod having a first end and a second end; An ultrasonic transceiver, coupled to the first end of the rod, is configured to transmit and receive ultrasonic signals; and A position sensor that detects the position of the probe relative to a fixed point; a memory; and A processor, coupled to the memory and the probe, is configured to: Receive signals from the ultrasonic transceiver; Generating multi-dimensional graphics based on received signals; and The multidimensional graphics are displayed on a display device.

11. The system according to claim 10, wherein, The processor is configured to generate the multidimensional graph based on the position changes of the probe, according to position data received from the position sensor.

12. The system according to claim 11, wherein, The processor is configured to update the multidimensional graph in real time in response to changes in the position of the probe.

13. The system according to claim 10, wherein, The multidimensional graphic includes a multidimensional graphic of a portion of the body in which the catheter is inserted.

14. The system according to claim 13, wherein, The processor is configured to determine the optimal path to the target location within the body.

15. The system according to claim 14, wherein, The processor is configured to determine the trajectory of the catheter relative to the target position and provide instructions for moving the catheter along the optimal path.

16. The system according to claim 15, wherein, The processor is configured to display the target location, the optimal path, and the trajectory of the duct on the display device, overlaying a multi-dimensional graphic of the body.

17. The system according to claim 13, wherein, The processor is configured to visually highlight different parts of the body with different properties based on signals received from the ultrasonic transceiver.

18. The system according to claim 10, wherein, The processor is configured to use an artificial intelligence engine to determine the optimal pulse pattern for the ultrasound signal.

19. The system of claim 10 further includes an anchoring device configured to stabilize the conduit at an insertion point in a portion of the conduit inserted into the body.

20. A method comprising: A probe is inserted into the catheter, the probe comprising: A rod having a first end and a second end; An ultrasonic transceiver, coupled to the first end of the rod, is configured to transmit and receive ultrasonic signals; and A position sensor detects the position of the probe relative to a fixed point; the catheter is then inserted into the body. The ultrasonic transceiver generates the ultrasonic signal. The probe is moved in a conical manner as the catheter is inserted into the body; As the probe moves, it receives position data from the position sensor and signal data from the ultrasonic transceiver; and A multidimensional graphic of a portion of the body into which the catheter is inserted is generated based on the location data and the signal data.

Images