System and method for navigation

Abstract

A system for assisting in guiding and performing a procedure on a subject is disclosed. The subject may be any suitable subject, such as a non-living subject and / or a living subject.

Description

[0001] Cross-references to related applications

[0002] This application claims the benefit and priority of U.S. Provisional Patent Application No. 63 / 508,628, filed June 16, 2023, and U.S. Non-Provisional Patent Application No. 18 / 675,355, filed May 28, 2024, the entire disclosure of which is incorporated herein by reference. Technical Field

[0003] This subject matter discloses in general a tracking and navigation system, and in particular tracking using electromagnetic fields and sensors. Background Technology

[0004] This section provides background information in connection with this disclosure, which is not necessarily prior art.

[0005] The instrument can be navigated relative to a subject for various surgical procedures. For example, the subject may include a patient undergoing surgery. During surgery, the instrument can be tracked in a physical space, also referred to as the object or subject space. In various embodiments, the subject space may be a patient space defined by the patient. The position of the tracked instrument can be displayed on a display device relative to an image of the patient.

[0006] Patient localization can be determined using a tracking system. Typically, the patient is registered to the image by generating a transformation mapping between the subject or object space (e.g., patient space) and the image space relative to the patient tracking device. This often requires time during surgery for the user (such as a surgeon) to identify one or more points in the subject space and associate them with the typically same points in the image space.

[0007] After registration, the instrument's position can be appropriately displayed on the display device while tracking the instrument. The instrument's position relative to the subject can be displayed graphically, sometimes referred to as an icon on the display device. Summary of the Invention

[0008] This section provides a general overview of this disclosure and is not a full disclosure of the complete scope or all features of this disclosure.

[0009] According to various implementations, the imaging system can be used to acquire image data of a subject. The imaging system may include an ultrasound imaging system comprising an ultrasound (US) probe, which typically includes an ultrasound transducer to transmit and receive ultrasound frequencies. However, it should be understood that the imaging system may include separate components for transmitting and receiving ultrasound frequencies.

[0010] According to various implementations, the US probe can be moved relative to the subject, for example, by a user and / or using a robotic system. However, the US probe can be moved relative to the subject in any suitable manner. Furthermore, the US probe can be held relative to the subject using suitable retainers or mounts. In any case, various objects can be placed relative to the subject, such as in or near the subject's space. These objects can be formed of various materials, such as conductive materials including metals or metal alloys.

[0011] Objects formed of conductive materials (also known as interfering objects) may induce currents within them due to the field formed near the conductive material. Conductive materials can also be called interfering materials. Fields, such as those from the tracking system's electromagnetic field, can induce currents, such as eddy currents, within conductive materials. The conductive material or object may then emit fields not emitted by the tracking system. Fields emitted by conductive objects or materials may interfere with fields emitted by the electromagnetic tracking system. Therefore, various objects formed of conductive materials can create interfering fields. These interfering fields may interfere with the tracking of the tracking device.

[0012] Prior to the tracking device, the object can have various designs formed therein. The interfering object can be enhanced such that it emits reduced, reduced and eliminated, minimized, or no interfering field. The interfering object can have its surface cut or otherwise reinforced to reduce or minimize the interfering field that might occur if the interfering object were not reinforced. Reinforcement may include cuts or grooves formed in the interfering object, for example, formed into its surface and / or a portion thereof.

[0013] Further areas of applicability will become apparent from the description provided herein. The descriptions and specific examples in this overview are intended for illustrative purposes only and are not intended to limit the scope of this disclosure. Attached Figure Description

[0014] The accompanying drawings described herein are for illustrative purposes only, representing the selected embodiments and not all possible specific implementations, and are not intended to limit the scope of this disclosure.

[0015] Figure 1 This is a schematic diagram illustrating an overview of robot systems and navigation systems according to various implementation schemes;

[0016] Figure 2 These are exemplary interference objects with enhanced parts according to various implementation schemes;

[0017] Figure 3 It is along Figure 2 A cross-sectional view taken from line 3-3;

[0018] Figure 4 It is along Figure 2A cross-sectional view taken from line 4-4;

[0019] It is along Figure 2 A cross-sectional view taken by line 4'-4';

[0020] Figure 5 This is an exemplary view of an interference object with an enhancement section according to various implementation schemes;

[0021] Figure 6 It is along Figure 5 The cross-sectional view taken by line 6-6; and

[0022] Figure 7 This is an exemplary view of an ultrasound probe according to various implementation schemes.

[0023] In several views of all the accompanying drawings, the corresponding reference numerals indicate the corresponding components. Detailed Implementation

[0024] Exemplary embodiments will now be described more fully with reference to the accompanying drawings.

[0025] This subject matter disclosure relates to exemplary embodiments of surgical procedures performed on subjects such as human patients. However, it should be understood that the systems and methods described herein are merely exemplary and are not intended to limit the scope of the claims included herein. In various embodiments, it should be understood that the systems and methods can be incorporated into and / or used on non-living objects. For example, these systems can be used to register coordinate systems between two systems for use in manufacturing and maintenance systems, etc. For example, automobile assembly may use one or more robotic systems comprising separate coordinate systems that can be registered together for coordinated or joint actions. Therefore, the exemplary description of surgical procedures herein is not intended to limit the scope of the appended claims.

[0026] This paper discusses a tracking system that can be used to track a selected tracking device, according to various embodiments. According to various embodiments, the tracking system can operate by emitting an electromagnetic (EM) field from a locator (also known as an EM locator). The EM field can be emitted from one or more coils, which can be oriented relative to the origin. The coils can emit the field. The field can be a dominant magnetic field. The field can be constant or time-varying. The tracking device can include one or more coils that operate as sensors to sense the field. The field can generate a current within the coils of the tracking device. The position and orientation (also collectively referred to as "pose") of the tracking device can be determined.

[0027] Various materials are conductive, such as conductive polymers, metals or metal alloys, or other materials. Objects or articles can be formed from these materials. If an article formed from these materials is also in or near the field generated by the EM locator, a current can be formed or induced in the object. In this case, the object can be referred to as an interfering object. When a current is induced in the interfering object, a field can also be generated. The field generated due to the induced current in the interfering object can also be referred to as an interfering field. These interfering fields can alter the field sensed by the tracking device, so that it does not always sense the EM field generated by the EM locator.

[0028] However, according to various embodiments, as further discussed herein in various examples, the interfering object can be enhanced. The enhancement of the interfering object may include forming cutouts or grooves in a portion of the interfering object. For example, the interfering object may include a portion of a housing or defining surface. Grooves may be formed in the surface, or the surface may be cut such that it is formed into multiple blocks. However, the field induced in the enhanced interfering object can generally be reduced, can generally be partially canceled, and in certain geometries can be completely canceled, and thus can be minimized or not interfere with the field generated by the EM positioner. Therefore, according to various embodiments, the enhanced object can generate minimal or no interfering field.

[0029] Individual parts can be tracked relative to a subject. For example, the tracking system can be incorporated into a navigation system that includes one or more instruments that can be tracked relative to a subject. The navigation system may include one or more tracking systems that track individual parts associated with the instruments, such as tracking devices. The tracking system may include a locator configured to determine the pose of the tracking device in the navigation system coordinate system, either individually or in combination with a processor. The determination of the navigation system coordinate system may include those described in various references, including U.S. Patent Nos. 8,737,708, 9,737,235, 8,503,745, and 8,175,681, all of which are incorporated herein by reference in their entirety. Specifically, the locator is capable of tracking a subject within a volume relative to the subject. The navigation volume in which the tracking device can be tracked may include, or is referred to as, a navigation coordinate system or navigation space. The determination or correlation between two coordinate systems may allow, or is also referred to as, registration between two coordinate systems.

[0030] In addition, images of selected portions of the subject can be acquired. These images can be displayed for viewing by a user, such as a surgeon. The images may be overlaid on a portion of an image that may include a graphical representation of the tracked portion or component (such as an instrument). The images may have a coordinate system and define an image space. According to various embodiments, the graphical representation can be overlaid on the image at the appropriate location due to registration from the image space (also known as the image coordinate system) to the subject space. Methods for registering a subject-defined space to an image space can include those disclosed in U.S. Patent Nos. 8,737,708, 9,737,235, 8,503,745, and 8,175,681, all of which are incorporated herein by reference in their entirety.

[0031] During a selected surgical procedure, due to the selected procedure, such as imaging of the subject, a coordinate system can be registered to the subject space or the subject coordinate system. In various embodiments, the first coordinate system can be registered to the subject by imaging the subject using a reference point portion fixed relative to a first component or system, such as a robotic system. Because the image of the subject includes the reference point portion, the subject space can be registered relative to the robotic system using a known reference point position relative to the robotic system. Therefore, the position of the robotic system or a portion thereof, such as an end effector, can be known or determined relative to the subject. Due to the registration of the second coordinate system with the robotic coordinate system, tracking of additional elements whose positions relative to the robot are determined or tracked are not fixed to the robot.

[0032] Tracking of instruments during surgery (such as surgical procedures or treatments) allows for surgical navigation. As discussed above, when image data is used to define an image space, it can be correlated or registered with a physical space defined by a subject (such as a patient). Thus, according to various implementations, the patient defines a patient space in which instruments can be tracked and navigated. The image space defined by the image data can be registered to the patient space defined by the patient. Registration can be performed using reference points that can be identified in both the image data and the patient space.

[0033] Figure 1 This is a schematic diagram illustrating an overview of an operating room or surgical environment. In various embodiments, the operating room may include a surgical area where a robotic system 20 and a navigation system 26, which can be used for various surgical procedures, can be housed. The robotic system 20 may include the Mazor X series sold by Medtronic. ™Robotic guidance system. Robotic system 20 can be used to assist in guiding selected instruments, such as drills, screws, etc., relative to subject 30. Alternatively, robotic system 20 can hold and / or move an imaging system, such as an ultrasound (US) probe 33. Robotic system 20 may include a mount 34 that fixes a portion of itself relative to subject 30, such as a robot base 38. Robotic system 20 may include one or more arms 40, such as an end effector 44, which is movable or pivotable relative to subject 30. The end effector can be any suitable component, such as a tube, guide, or channel member. An imaging system, such as the US probe 33, can be attached to and / or replace the end effector. End effector 44 can be moved relative to base 38 by one or more motors. The positioning of end effector 44 can be determined by known methods or using one or more encoders relative to base 38, wherein the encoders are located at one or more joints of robotic system 20, such as wrist joint 48 and / or elbow joint 52. One or more portions of robotic system 20 may be formed of a conductive material.

[0034] Navigation system 26 can be used to track the position of one or more tracking devices and / or determine and / or exemplify their pose. Tracking devices may include robotic tracking device 54, subject tracking device 58, imaging system tracking device 62, imaging system or second imaging system tracking device 81, and / or instrument or tool tracking device 66. Tools or movable components 68 can be any suitable tool, such as a drill, catheter, forceps, or other tool operated by user 72. Tools 68 may also include implants, such as spinal implants or orthopedic implants. It should be further noted that navigation system 26 can be used to navigate any type of instrument, implant, or delivery system, including: guidewires, arthroscopic systems, orthopedic implants, spinal implants, deep brain stimulation (DBS) probes, etc. Furthermore, these instruments can be used to navigate or map any area of ​​the body. Navigation system 26 and various instruments can be used in any suitable surgical procedure, such as typically minimally invasive or open surgery.

[0035] Additional or alternative imaging systems 80 can be used to acquire preoperative, intraoperative, or postoperative or real-time image data of a subject (such as subject 30). However, it should be understood that imaging can be performed on any suitable subject, and any suitable surgery can be performed relative to the subject. In the example shown, imaging system 80 includes an O-arm sold by Medtronic Navigation, Inc., which has a business location in Colorado, USA. ®Imaging apparatus. Imaging system 80 may have a generally annular rack housing 82 in which image capture portions are movably positioned and / or enclosed. Imaging system 80 may include those disclosed in: U.S. Patent Nos. 7,188,998; 7,108,421; 7,106,825; 7,001,045; and 6,940,941; all of which are incorporated herein by reference in any appropriate portion thereof. It should also be understood that imaging system 80 may additionally or alternatively include a fluoroscope C-arm. Other exemplary imaging apparatus may include fluoroscopes, such as dual-plane fluoroscope systems, ceiling-mounted fluoroscope systems, catheterization lab fluoroscope systems, fixed C-arm fluoroscope systems, isocentric C-arm fluoroscope systems, 3D fluoroscope systems, etc. Other suitable imaging apparatus may also include MRI, CT, ultrasound, etc.

[0036] The position of imaging systems 33, 80 and / or portions thereof (such as the image capture portion) can be precisely known relative to any other portion of imaging devices 33, 80. According to various embodiments, imaging devices 33, 80 can know and / or recall precise coordinates relative to a fixed or selected coordinate system. For example, robotic system 20 can know or determine its position and position the US probe 33 in a selected pose. Similarly, imaging system 80 can also position the imaging portion in a selected pose. This allows imaging system 80 to know its position relative to patient 30 or other references. Additionally, as discussed herein, precise knowledge of the position of the image capture portion can be used in conjunction with a tracking system to determine the position of the image capture portion and image data relative to a tracked subject (such as patient 30). In other words, imaging system tracking devices 62, 81 can be used and / or are operable to determine the pose of imaging systems 33, 80 at selected times (such as during image data acquisition).

[0037] In this document, unless otherwise stated, references to imaging system 33 may refer to any suitable imaging system. Therefore, the US probe 33 as an imaging system is merely an example disclosed in relation to this subject matter. As those skilled in the art will understand, typically the US probe 33 can emit a US wave in a plane and receive an echo relative to any portion joined by that wave. The echo received at the US probe 33, or other suitable received echo, can be used to generate image data and can be used to generate a US image, also known as a sound map.

[0038] The imaging device 80 can be tracked using the tracking device 62. Furthermore, the tracking device 81 can be directly associated with the US probe 33. Therefore, the US probe 33 can be directly tracked using the navigation system 26 discussed herein. Alternatively, the US probe 33 can be located and tracked using the robotic system 20. In any case, according to various embodiments, image data defining the image space acquired by the patient 30 can be registered relative to the object space (e.g., manually, inherently, or automatically). The object space can be the space defined by the patient 30 in the navigation system 26.

[0039] Patient 30 can also be tracked using a patient tracking device, DRF, or tracker 58 as the patient moves. Alternatively or otherwise, patient 30 can be fixed within a navigation space defined by navigation system 26 to allow and / or maintain registration such as with image space with image 108. As further discussed herein, registration of image space with patient space or subject space allows navigation of device 68 using image data. When navigating device 68, the positioning of device 68 can be illustrated on display device 84 relative to acquired image data of patient 30, such as with graphical representations 68i, 68i'. Additional and / or alternative display devices 84' may also be present to display images. Various tracking systems, such as tracking systems including optical locator 88 or electromagnetic (EM) locator 92, can be used to track device 68.

[0040] More than one tracking system may be used to track the instrument 68 or other parts, such as using the tracking device 81 in the navigation system 26 to track the US probe 33. According to various embodiments, these may include an electromagnetic tracking (EM) system with an EM locator 94 and / or an optical tracking system with an optical locator 88. As discussed herein, either or both of the tracking systems may be used to track the selected tracking device. It should be understood that, unless otherwise discussed, the tracking device may be a part capable of being tracked using the selected tracking system. The tracking device does not necessarily refer to the entire component or structure to which the tracking device is attached or associated.

[0041] The position of patient 30 relative to imaging device 33 can be determined by navigation system 26. The position of imaging system 33 can be determined as discussed herein. Patient 30 can be tracked using dynamic reference frame 58, as further discussed herein. Therefore, the position of patient 30 relative to imaging device 33 can be determined.

[0042] Image data acquired from imaging system 33 or any suitable imaging system can be acquired at imaging device controller 96 and / or forwarded from imaging device controller to navigation computer and / or processor module (also referred to as processor) 102, which may include processor module, and the navigation computer and / or processor module may be part of controller or workstation 98 having display 84 and user interface 106. Furthermore, any suitable type of memory 103 may be accessed by processor 102. It is also understood that image data does not necessarily need to be stored in controller 96 first, but may also be directly transmitted to workstation 98. Workstation 98 may provide facilities for displaying image data as image 108 on display 84 and for saving, digitally processing, or printing hard copies of the received image data. User interface 106, which may be a keyboard, mouse, stylus, touchscreen, or other suitable device, allows user 72 to provide input to control imaging devices 80, 33 or adjust image settings of display 84 via imaging device controller 96. Workstation 98 can also instruct image device controller 96 to adjust the image capture section of imaging device 80 to obtain various two-dimensional images along different planes, thereby generating representative two-dimensional image data and three-dimensional image data.

[0043] Continue to refer to Figure 1 The navigation system 26 may further include a tracking system comprising either or both of an electromagnetic (EM) locator 94 and / or an optical locator 88. The tracking system may include a controller and an interface portion 110. The controller 110 may be connected to a processor portion 102, which may include a processor contained within a computer. The EM tracking system may include a Stealth Station sold by Medtronic Navigation, Inc., which has a business location in Louisville, Colorado. ® AXIEM ™The navigation system may be, or may be, the EM tracking system described in the following patents: U.S. Patent Application Serial No. 10 / 941,782, filed September 15, 2004, entitled “METHOD AND APPARATUS FORSURGICAL NAVIGATION”; U.S. Patent No. 5,913,820, granted June 22, 1999, entitled “Position Location System”; and U.S. Patent No. 5,592,939, granted January 14, 1997, entitled “Method and System for Navigating a Catheter Probe”; all of which are incorporated herein by reference. It should be understood that the navigation system 26 may also be or include any suitable tracking system, including STEALTHSTATION with an optical locator. ® TREON ® or S7 ™ The tracking system, which can be used as an optical locator 88, is sold by Medtronic Navigation, Inc., located in Colorado. Other tracking systems include acoustic systems, radiation systems, radar systems, etc. The tracking system can be used according to techniques generally known or described in the references combined above. Details are not included herein unless the chosen operation disclosed in the subject matter is clearly explained.

[0044] Wired or physical connectors can interconnect the tracking system, imaging device 80, etc. Alternatively, instead of being directly coupled to the controller 110, various components such as instrument 68 can utilize wireless communication channels, as disclosed, for example, in U.S. Patent No. 6,474,341 entitled "Surgical Communication Power System," published November 5, 2002, which is incorporated herein by reference. Furthermore, tracking devices 62, 66, 54 can generate fields and / or signals sensed by positioners 88, 94.

[0045] Various parts of the navigation system 26, such as device 68, and other parts described in detail below, may be equipped with at least one and typically multiple tracking devices 66. The device may also include more than one type or form of tracking device 66, such as EM tracking devices and / or optical tracking devices. Device 68 may include a grippable or manipulable portion at its proximal end, and the tracking device may be fixed near the manipulable portion of device 68.

[0046] Another representative or alternative positioning and tracking system is described in U.S. Patent No. 5,983,126, entitled "Catheter Location System and Method," issued November 9, 1999, which is incorporated herein by reference. Navigation system 26 may be a hybrid system including components from various tracking systems.

[0047] According to various embodiments, navigation system 26 can be used to track any appropriate portion, such as US probe 33 and / or device 68, relative to patient 30. As discussed above, device 68 can be tracked using a tracking system. Image data from patient 30 or an appropriate subject can be used to assist user 72 in guiding device 68. Image data may or may not be registered to patient 30. For example, as discussed herein, US probe 33 is tracked and generates image data. Therefore, it is not necessary to register the image data to the subject to show the pose of the tracked device 68 relative to the image data generator with the tracked US probe 33. The image data defines an image space that is registered to patient space defined by patient 30. Registration can be performed automatically, manually, or in combination thereof, as discussed herein. Registration may include procedural and final transformation (including translation and rotation) mappings. Typically, registration involves determining points in the image data and subject space and determining the transformation mapping between them. Once completed, the image space is registered to subject space, or any two or more coordinate spaces.

[0048] Typically, registration also allows for the generation of a transformation map of the tracked physical pose of the instrument 68 relative to the image space of the image data. This transformation map allows the tracked position of the instrument 68 to be displayed on the display device 84 relative to the image data 108. A graphical representation 68i (also called an icon) can be used to exemplify the position of the instrument 68 relative to the image data 108.

[0049] Continue to refer to Figure 1 The subject registration system or method may use tracking device 58. Tracking device 58 may include a trackable portion or component 120, but may also serve as or be operable as a reference point assembly. Reference point assembly 120 may include a clamp or other fixation portion 124 and an imageable reference point body 120. However, it should be understood that component 120 may be separate from tracking device 58. Fixation portion 124 may be provided to fix any suitable portion, such as a part of an anatomical structure. Figure 1As illustrated, the reference point assembly 120 can interconnect with a portion of the spine 126, such as the spinous process 130. The fixation portion 124 can interconnect with the spinous process 130 in any suitable manner. For example, a pin or screw can be driven into the spinous process 130. Furthermore, the tracking device 58 can be operated for tracking using one or more tracking systems or modalities, such as an EM tracking system or an optical tracking system.

[0050] like Figure 1 As illustrated, the imaging device 33 may include a US probe 33, which can be positioned relative to the subject 30, for example, via the robotic system 20 and / or the surgeon 72. In various embodiments, the surgeon 72 may operate the robotic arm 20 and / or keep the US probe 33 separate from it. Thus, as discussed herein, the robotic system 20 may move the US probe 33 to a selected position relative to the subject 30. According to various embodiments, the imaging system may be positioned relative to the subject in any suitable manner.

[0051] Furthermore, as those skilled in the art will understand, one or more ultrasonic arrays 125 of the US probe 33 are utilized. Figure 7 The acquired image data can be registered in navigation systems such as those disclosed in U.S. Patent Nos. 7,085,400 and 9,138,204, which are incorporated herein by reference. The image data acquired within the corresponding ultrasound array 125 can be image data of the subject 30. When the ultrasound array 125 is registered to the subject 30 using the navigation system 26, the desired image data of the subject 30 (such as heart 127 and / or other subject portions such as vertebrae) can also be used to determine its pose in the navigation space within the navigation system 26. The image data can be used to generate an image of a specific image portion, such as heart 127i. Image 127i can be a reconstruction based on image data from the US probe 33. A graphical representation 68i can be represented relative to image 108 and / or portions thereof (such as the image of heart 127i). Furthermore, the graphical representation 68i can be overlaid on the reconstructed and / or image. The reconstruction may include additional data (e.g., atlas or population data) and may also be referred to as a model. The graphical representation can be overlaid on the model.

[0052] In short, conductive objects (e.g., metallic objects including conductive metals) can be specifically patterned or formed to maintain the object's structure and function and reduce EM distortion, also known as interference fields. Specific patterns of conductive metals can include, but are not limited to, cutouts on the surface (area) or body (volume) or combinations thereof, to reduce the area or volume of induced current, increase the effective cancellation of induced current, reduce the strength of the induced distortion (also known as interference) magnetic field, and reduce the range of the induced distortion magnetic field. Specifically, patterned conductive metal objects can be accurately EM-guided using external, nearby, attached, on-site, internal, inner, embedded, or surrounding EM tracking devices.

[0053] The object may have patterns applied to, but not limited to, medical devices (e.g., pacemakers or stimulators), instruments (e.g., retractors or cannulas), therapeutic delivery systems (e.g., capsules), imaging systems (e.g., C-arm image intensifiers and bodies, O-arm gantry and bodies, or ultrasound bodies and internal structures). Various embodiments having patterns formed thereon or together with the object are disclosed herein.

[0054] According to various embodiments, patterns can include various shapes, including points, lines, curves, areas, volumes, and combinations thereof. Patterns can include, but are not limited to, cuts in surfaces (areas) or bodies (volumes), or combinations thereof. Patterns can be cuts of various depths, including, but not limited to, partial depths and full depths.

[0055] The pattern may include, but is not limited to, cuts that may be supported by uncut metal or other materials at a selected distance from the EM tracking device. The pattern may include, but is not limited to, cuts that allow the metal layer to be thin enough to produce high resistance to induced currents from navigation EM fields at lower frequencies (e.g., from 0 to about 30 kHz) to reduce EM distortion, but thick enough to produce low resistance to induced currents from EM fields at higher frequencies (e.g., greater than about 30 kHz) to maintain effective EM immunity and compatibility shielding.

[0056] Patterns can control the area or volume of induced current to increase the effectiveness of eliminating induced magnetic fields.

[0057] As discussed above, the field can be emitted by a selected item, such as an EM locator 94. The EM locator 94 can generate one or more fields using one or more coils, which are emitted into a volume near the locator 94, such as including the subject 30 and other items, such as a US probe 33. The one or more fields can be constant or time-varying and / or frequency-varying. In various embodiments, such as... Figure 7As illustrated, the US probe 33 may have other functional structures of supporting or conductive material 204, which may be housed or contact within the housing 205. However, it should be understood that the housing of the US probe 33 may be formed wholly or partially of conductive material 204. In any case, in various embodiments, the conductive material may interact with the emission field from the EM locator 94 and induce a current therein. As described above, the induced current may generate a field that could be an interference field.

[0058] Continue to refer to Figure 1 And refer to other sources Figure 2 and Figure 3 This illustrates a substantially flat or planar object or article 200. The planar article 200 can be any suitable article, such as at least a portion (e.g., a side or surface) of the structure or part 204 of the US probe 33, as shown below. Figure 7 As illustrated, the planar article 200 can be formed as a single piece and / or from several pieces to form the probe portion 204. Figure 2 The illustrated planar article 200 is merely an example of a planar article. However, one or more eddy currents may be induced in the planar article, such as a first eddy current indicated by arrow 210 and a second eddy current indicated by arrow 214. Due to the reinforcement 220 of the planar article 200, the two eddy currents (also referred to herein by arrows 210 and 214) can be formed independently. As discussed above, the reinforcement 220 can be formed in the planar article 200 as a pattern or gap, opening, cut, etc., or also referred to as a pattern.

[0059] The eddy currents formed within the planar component 200, whether in the individual parts 200a, 200b or in any part thereof, are generally due to the induced field generated from the EM positioner 94. Figure 2 and Figure 3 As illustrated, the EM locator 94 can be energized to generate a field. A field (such as a time-varying magnetic field) can be emitted by the EM locator 94. This field induces an electric field and a current in a conductive object. As discussed herein, the induced current can generate a disturbing magnetic field. The emitted EM field can be illustrated and / or represented by field lines 207 extending from the EM locator 94 and interacting with the planar member 200 or a portion thereof. For the convenience of the present discussion, the field lines may also be referred to herein as the EM field. Since the planar article 200 is formed of a conductive material, the interaction of field 207 with the planar article 200 can induce a current or more than one current in a portion of the planar article 200. Therefore, due to the EM field generated and emitted by the EM locator 94, eddy currents formed therein, such as those indicated by circles 210, 214, can be induced.

[0060] The tracking device 81 can be associated with the planar article 200. For example, the tracking device 81 can be positioned on, near, inside, and / or embedded in the article 200, or within a housing or structure formed therewith. (See reference) Figure 3 The planar article 200 can therefore include a first portion 200a having eddy currents 210 and a second portion 200b having eddy currents 214. The field emitted by the EM positioner 94 can induce currents, indicated by arrows 210 and 214, in the corresponding portions 200a and 200b separated by the reinforcement 220 of the planar article 200. The eddy currents with respect to the components 200a and 200b can then generate fields, such as those indicated by field arrows 210f and 214f, which interact with the currents emitted by the EM positioner 94. Figure 3 Arrows 210 and 214 illustrate their respective eddy current correlations.

[0061] If fields 210f and 214f ​​are sufficiently large, sufficiently strong, and / or sufficiently close to the tracking device 81, they may be interfering fields. However, if fields 210f and 214f ​​are sufficiently small and / or effectively cancel each other out due to the enhancement 220, they may not be interfering fields. If the enhancement 220 is absent and the planar article 200 remains intact, the eddy currents within the planar article 200 may be large enough to affect the sensing of field 207 from the EM locator 94. However, smaller and / or effectively eliminated enhanced fields 210f and 214f ​​due to the enhancement 220 of the planar article 200 may not interfere with the sensing of the locator field from the local EM locator 94. Figure 3 As illustrated, induced fields 210f and 214f ​​can typically partially cancel each other out, and for a given pose and geometry, completely cancel each other out around and / or inside the tracking device 81. Therefore, fields 210f and 214f ​​can typically not interfere with the sensing of field 207 from the EM positioner 94. In various embodiments, without being bound by theory, this can be understood as reducing the magnitude (e.g., area) of the induced current and / or forming two induced currents instead of one larger induced current. Near the enhancement, one induced current moves upward while the other moves downward, effectively eliminating the induced current near the enhancement. Near the enhancement, one induced magnetic field bends clockwise while the other bends counterclockwise, effectively eliminating the induced field near the enhancement.

[0062] If the tracking device 81 is not interfered with or sensed by an interfering field, the field emitted by the EM locator 94 can be used to accurately track the tracking device 81. Therefore, regardless of where the planar object 200 is within the field generated by the EM locator 94, fields 210f and 214f ​​will not interfere with the sensing of the EM locator field. This allows the tracking device 81 to determine the pose of a selected device (such as the US probe 33) within a selected or predetermined accuracy range, such as from about 0.1 mm to about 10 mm (including a tolerance of about 0.1 mm) and from 0.1 to 10 degrees. In other words, the EM tracking device 81 can sense only the field emitted by the EM locator 94 for tracking and navigation of the EM tracking device 81 and associated or connected instruments.

[0063] Go to Reference Figure 4 A planar article 200 having two parts 200a and 200b is illustrated in more detail. The reinforcement 220 can be completely cut to form a complete separation between the two parts 200a and 200b. Therefore, the reinforcement 220 generally does not allow current to conduct between the two component parts 200a and 200b. The reinforcement 220 can effectively generate a much higher resistance across the gap defined by it, rather than upward or downward along its length.

[0064] Typically, across reinforcement sections 220, 220' ( Figure 4 and Figure 4' The resistance of arrow 221 is greater than (for example, at least twice) the resistance of arrow 223 along reinforcement sections 220, 220'. Similarly, not bound by theory, Where R is the resistance, rho is the resistivity of the material, L is the length of the material, and A is the cross-sectional area of ​​the material. For the air gap reinforcement 220, A can be considered the same, where . And the exemplary conductive metal may have Therefore, the air gap L_air can be very small. For the thin bridge reinforcement 220', rho can be considered the same, and A is... Where W is the same, such that Where T_thin = T_234 is the width of 234, and T_thick = T_230 is the width of 230. After rearranging, we get Here, L_thin can be 1mm, L_thick can be 10mm, and T_thick can be 1mm, such that... Those skilled in the art will understand that similar calculations can be applied to any suitable shape, such as a triangular cutout 220a.

[0065] It should be understood that even when formed as a complete cut, the reinforcement 220 may have locations of non-conductive material, such as a non-conductive insulator or other suitable material that may help maintain the structural integrity of the member 200 or for other purposes. Typically, as a complete cut, the reinforcement is open and non-conductive to prevent conduction across the gaps in the reinforcement 220.

[0066] refer to Figure 4' The planar article 200 has two parts 200a and 200b, which may have a reinforcement 220'. The reinforcement 220' may include a reduced width of the planar article 200. The reinforcement 220' may be formed in one or more shapes, such as a triangular cutout 220a or a rectangular cutout 220b or a combination thereof. For example, the planar article 200 may include a width or thickness 230. The reinforcement 220' may include a thickness 234, which is reduced or less than the thickness 230. The reduced thickness 234 can effectively increase the resistance across the reinforcement 220', particularly the resistance to the current induced by the field induced by the EM positioner 94, as discussed above. Even if the reinforcement 220' is not a complete cutout through the planar article 200, the reduced thickness 234 can substantially eliminate the induced current throughout the planar article 200. However, the reinforcement 200' may form the member 200 as two parts 200a, 200b.

[0067] Therefore, a recess or groove 238 can be formed below the surface 242 of the planar article 200, with a reduced width or thickness 234. However, the recess 238 can be filled with a selected material (e.g., a non-conductive material). Thus, the groove 238 can be filled and formed flush with the surface 242, so that the member 200 is substantially smooth even after the reinforcement 220' has been formed. The surface 242 can be an inner or outer surface of an instrument (such as a US probe 33).

[0068] Therefore, a pattern in the form of a reinforcement, as discussed above, may be formed or has been formed in or on the member 200. Thus, the reinforcement 220 can form a reinforcing member 200, which may include at least two parts, such as parts 200a and 200b. It should be understood that any suitable number of reinforcements can be provided in the selected pattern, such that more than two parts of the planar article 200 can be formed. Furthermore, the reinforcement can be a non-linear pattern. For example, the reinforcement can be curved, including a selected angle, or discontinuous along the dimensions of the member 200. For example, the reinforcement 220 can be curved, having an angle, geometry, and / or passing through the tracking device 81 several times. Furthermore, the planar article 200 may include any suitable number of reinforcements, such as including reinforcements 250 and 254. According to various embodiments further discussed herein, optional reinforcements can form the planar article or any suitable member as selected member parts.

[0069] Go to Reference Figure 5 and Figure 6 An example is illustrated by component or device 240. Device 240 may have a circular cross-section and define a diameter 244. However, the size of device 240 may be any suitable size and may be based on a device such as US probe 33. However, if device 240 includes portions formed of conductive material, current may be induced in the device, as discussed above. Therefore, device 240 may also include one or more reinforcements 248. When EM positioner 94 generates field 207, the current induced in device 240 may be minimized or reduced due to the reinforcements 248 that may form the first portion 240a and the second portion 240b of device 240. Therefore, any current induced in portions 240a, 240b may be substantially minimized or reduced. Any induced current may generate field 252, but it is reduced and / or moved away from tracking device 81 (so as not to interfere with sensing performed by tracking device). For example, the metal ring 243 may remain intact for other functional (e.g., structural) reasons, such that the bottom ring can support an induced current surrounding the bottom ring, which generates an induced field 252. The tracking device 81 may be positioned in or near the instrument 240. The field 252 generated by the induced current in the instrument 240 may be located away from the tracking device 81 so as not to interfere with the sensing of the field 207 from the EM locator 94.

[0070] The tracking device 81 can be positioned at any suitable location on, in, or near the instrument 240, such as away from the ring 243. Figure 5As illustrated, the tracking device 81 may be positioned within the instrument 240. However, it should be understood that the tracking device 81 may also be positioned on the surface of the instrument, or in a suitable portion of the instrument, and / or at a location remote from a suitable portion of the instrument. It should be understood that if the tracking device 81 cannot sense the field 207 from the EM locator, including only being able to sense the field from the EM locator 94, an interfering field may interfere with the tracking device 81. Therefore, the EM tracker 81 may be positioned relative to the reinforcement 248 of the instrument 240 to substantially eliminate or reduce any interfering fields caused by induced currents in the instrument 240.

[0071] Go to Reference Figure 7 The US probe 33 may have a structure or portion (e.g., a sub-housing) 204. The portion 204 may be formed of a conductive material, including any suitable conductive material, such as those discussed above. The US probe 33 includes an ultrasonic transducer 125 that can be used to generate an imaging plane 129. When the user moves the US probe 33 relative to the subject 30, the user 72 can move the imaging plane 129. However, as mentioned above, the US probe 33 may move together with the robotic arm 20, or in any suitable manner. In any case, the tracking device 81 can be used to track the pose of the ultrasonic probe 33 (including portion 204).

[0072] The tracking device 81 can be an EM tracking device that senses a field 207 from the EM locator 94. The field 207 can induce eddy currents in the portion 204, such as those defined by the circular arrow 260. The eddy currents can generate a field relative to the tracking device 81. The tracking device 81 can be fixed to the portion 204, formed within the portion 204, surrounded by the portion 204, or a combination thereof. However, one or more reinforcements, such as reinforcement 270 and / or reinforcement 274, can be formed in the portion 204. It should be understood that other suitable numbers of reinforcements, such as reinforcement 276 and reinforcement 280, can also be formed. Furthermore, reinforcement 278 can be formed, such as below or near the tracking device 81. Additionally, reinforcements can be formed on or near the outer and / or inner surfaces of the housing 204. Furthermore, the tracking device 81 can be associated with the US probe 33 or any suitable instrument in any suitable manner. For example, the tracking device 81 may be located on, near, or inside a housing or structure (such as part 204), and / or embedded in a part (such as part 204). The tracking device 81 may also be included in the housing 205, such as being located on, near, inside, and / or embedded in the housing 205.

[0073] Reinforcing portions (such as reinforcements 270 and 274) can be formed as recesses in portion 204. As illustrated above, the housing may have a flat surface such that the reinforcements include partitions or recesses in portion 204. Reinforcing portions 270 and 274 can be formed using any suitable tool, such as a milling cutter or saw. Alternatively, chemical etching or electrical discharge machining (EDM) can be used to form the reinforcements. It should be understood that reinforcements 270 and 274 can be formed on the outer surface of the housing and / or the inner surface of portion 204. Thus, as Figure 4' As illustrated, surface 242 of planar article 200 can be an outer surface or an inner surface. Furthermore, in various embodiments, reinforcements 270, 274 can be formed on both surfaces, including the inner and outer surfaces, while still retaining material within the reinforcement area.

[0074] However, enhancements (such as enhancement 270) can limit or define the magnitude or range of the induced eddy currents, and thus minimize or reduce any field generated by the eddy currents. Therefore, the EM tracking device 81 can essentially sense only the EM field 207 from the EM positioner 94. However, it should also be understood that the EM tracking device 81 can sense fields from the eddy currents formed in portion 204, but these fields can be corrected based on the determination of the pose of the tracking device 81 and the US probe 33 due to filtering, signal strength, etc. Various filtering and / or correction processes may include full or small time constant linearized versions of those methods described in U.S. Patent 11,439,317 entitled “Position Determination System and Method,” which is incorporated herein by reference.

[0075] Therefore, enhancements (such as enhancement 270) can be formed in portion 204 to allow tracking of the US probe 33 using the EM tracking device 81 by eliminating or at least effectively reducing interfering EM fields (e.g., so as not to interfere with the sensing of field 207 of the EM locator 94). By eliminating or at least effectively reducing the effects of interfering EM fields, interfering EM fields can be completely eliminated and / or signals generated by EM fields can be easily removed due to signal strength or location. Therefore, the user 72 can move the US probe 33 relative to the subject 30. Thus, cutouts or full openings can generally eliminate locations for current formation, while recesses can increase impedance and resistance to reduce current and associated fields.

[0076] User 72 can move the US probe 33 relative to subject 30. For example, user 72 can move the US probe 33 relative to the heart 127 of subject 30. User 72 can move the probe such that imaging plane 129 sweeps across the area or volume of subject 30, including heart 127, thereby collecting discrete image data at each pose of plane 129. The discrete image data collected at imaging plane 129 can be displayed as heart image 127i using display 84. However, in various embodiments, multiple ultrasound slices or sonographs can be reconstructed into a three-dimensional model of the heart. This reconstructed model or reconstruction can be displayed as image 127i.

[0077] By tracking the US probe 33 in the patient space using the EM tracking device 81, the pose of the imaging plane 129 can be determined. Therefore, due to the pose of the US probe 33, multiple discrete images collected at each pose of the imaging plane 129 can be combined in a selected manner to achieve a three-dimensional image. The pose of the imaging plane 129 relative to the EM tracking device 81 can be determined in an appropriate manner, such as using a calibration system that may include a calibration fixture or other suitable calibration system. As discussed above, the imaging system 33 can be tracked. Various tracking systems may include and / or require calibration of the imaging system. Therefore, the pose of the tracking device 22 relative to the plane of the US imaging system can be determined and / or known. Various systems and methods are disclosed in U.S. Patent Nos. 6,379,302, 6,669,635, 6,968,224, 7,085,400, 7,831,082, 8,320,653, 8,811,662, and 9,138,204, all of which are incorporated herein by reference.

[0078] Depending on the implementation, the ultrasound probe can emit or transmit ultrasound waves in a selected mode or plane. This plane can be of a shape understood by those skilled in the art. The plane is typically capable of acquiring data within the field of view to generate an image (also known as a sonic map when an image is generated based on ultrasound data).

[0079] Example embodiments are provided to make this disclosure thorough and to fully communicate the scope of this disclosure to those skilled in the art. Numerous specific details, such as examples of particular components, apparatus, and methods, are set forth to provide a thorough understanding of embodiments of this disclosure. It will be apparent to those skilled in the art that specific details are not required, exemplary embodiments may be embodied in many different forms, and should not be construed as limiting the scope of this disclosure. In some exemplary embodiments, well-known processes, well-known apparatus structures, and well-known techniques are not described in detail.

[0080] Instructions can be executed by a processor and may include software, firmware, and / or microcode, and may refer to programs, routines, functions, classes, data structures, and / or objects. The term "shared processor circuitry" covers a single processor circuitry that executes some or all of the code from multiple modules. The term "group processor circuitry" covers processor circuitry that, in conjunction with additional processor circuitry, executes some or all of the code from one or more modules. References to multiple processor circuitry cover multiple processor circuitry on a discrete die, multiple processor circuitry on a single die, multiple cores of a single processor circuitry, multiple threads of a single processor circuitry, or a combination thereof. The term "shared memory circuitry" covers a single memory circuitry that stores some or all of the code from multiple modules. The term "group memory circuitry" covers memory circuitry that, in conjunction with additional memory, stores some or all of the code from one or more modules.

[0081] The apparatus and methods described in this application may be implemented, in part or in whole, by a processor (also referred to as a processor module), which may include a special-purpose computer (e.g., created by configuring a processor) and / or a general-purpose computer for performing one or more specific functions embodied in a computer program. The computer program includes processor-executable instructions stored on at least one non-transitory, tangible computer-readable medium. The computer program may also include or depend on stored data. The computer program may include a basic input / output system (BIOS) that interacts with the hardware of the special-purpose computer, a device driver that interacts with a specific device of the special-purpose computer, one or more operating systems, user applications, background services, background applications, etc.

[0082] Computer programs may include: (i) assembly code; (ii) object code generated from source code by a compiler; (iii) source code for execution by an interpreter; (iv) source code for compilation and execution by a just-in-time (JIT) compiler; and (v) descriptive text for parsing, such as HTML (Hypertext Markup Language) or XML (Extensible Markup Language). As an example only, source code may be in C, C++, C#, Objective-C, Haskell, Go, SQL, Lisp, or Java. ® ASP, Perl, Javascript ® HTML5, Ada, Active Server Pages (ASP), Perl, Scala, Erlang, Ruby, Flash ® Visual Basic ® Lua or Python ® To write it.

[0083] Communication may include the wireless communications described in this disclosure, which may be wholly or partially compliant with IEEE Standard 802.11-2012, IEEE Standard 802.16-2009, and / or IEEE Standard 802.20-2008. In various specific implementations, IEEE 802.11-2012 may be supplemented by draft IEEE Standard 802.11ac, draft IEEE Standard 802.11ad, and / or draft IEEE Standard 802.11ah.

[0084] The terms processor, processor module, module, or “controller” are used interchangeably herein (unless otherwise specifically indicated), and each may be replaced by the term “circuit”. Any of these terms may refer to, be part of, or include: application-specific integrated circuit (ASIC); digital, analog, or mixed-signal analog / digital discrete circuit; digital, analog, or mixed-signal analog / digital integrated circuit; combinational logic circuit; field-programmable gate array (FPGA); processor circuitry (shared, dedicated, or grouped) that executes code; memory circuitry (shared, dedicated, or grouped) that stores code executed by the processor circuitry; other suitable hardware components that provide the described functionality; or combinations of some or all of the foregoing, such as in a system-on-a-chip.

[0085] Instructions may be executed by one or more processors or processor modules, 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, the terms "processor" or "processor module" as used herein may refer to any of the foregoing structures or any other physical structure suitable for implementing the described techniques. Furthermore, these techniques may be fully implemented in one or more circuit or logic elements. The one or more processors may operate fully automatically and / or substantially automatically. In automatic operation, the processor may execute instructions based on received inputs and in accordance with received inputs. Therefore, various outputs can be made without additional or any manual (e.g., user) input.

[0086] The foregoing description of embodiments has been provided for illustrative and descriptive purposes. The foregoing description is not intended to be exhaustive or limiting of the invention. Individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but are interchangeable and may also be used in chosen embodiments where applicable, even if not specifically shown or described. The same element or feature may be varied in many ways. Such variations are not considered to depart from the invention, and all such modifications are intended to be included within the scope of the invention.

Claims

1. An instrument system, the instrument system comprising: A structure formed of a conductive material, wherein the structure includes a first portion and a second portion separated by a reinforcement, to generate a selected resistance at least between the first portion and the second portion, thereby minimizing the induction of current across the reinforcement; and An electromagnetic (EM) tracking device associated with the structure; The emitted EM field is operable to sense the field to be emitted from the structure.

2. The system according to claim 1, further comprising: An EM positioner having one or more coils made of conductive material; The emitted EM field is generated by one or more coils of the EM locator to generate one or more EM fields; The EM tracking device senses one or more generated EM fields.

3. The system according to claim 2, further comprising: An ultrasonic transducer associated with the structure is configured to generate an imaging plane for imaging the subject. A navigation processor configured to execute instructions to determine the pose of the imaging plane based at least on one or more sensed generated EM fields.

4. The system according to claim 3, wherein, The reinforcement in the structure is configured to reduce or eliminate the current between the first part and the second part.

5. The system according to claim 4, wherein, The reinforcement is the separation between the first part and the second part.

6. The system according to claim 4, wherein, The reinforcement is a groove formed in the structure.

7. The system according to claim 6, wherein, The groove is filled with a non-conductive material.

8. The system according to claim 1, wherein, The selected resistance across the reinforcement is greater than the selected resistance along the reinforcement.

9. The system according to claim 1, further comprising: A display device configured to display an image based at least in part on image data acquired at an image location.

10. A system for tracking an imaging system and displaying an image based on acquired image data, the system comprising: An electromagnetic (EM) locator having one or more coils made of conductive material, wherein the one or more coils of the EM locator generate one or more EM fields; A structure formed of a conductive material, wherein a current is induced in the structure due to one or more generated EM fields; An EM tracking device configured to sense a generated EM field, wherein the EM tracking device is located near the structure; An ultrasonic transducer, positioned within the structure and configured to generate an imaging plane for imaging a subject; and A navigation processor configured to execute instructions to determine the pose of the imaging plane based at least on sensed generated one or more EM fields; The structure includes a first portion and a second portion separated by a reinforcement portion to generate a selected resistance at least between the first portion and the second portion, thereby minimizing the induction of the current in the structure.

11. The system according to claim 10, wherein, The EM tracking device is fixed to the structure or located within the structure, at least one of them.

12. A method for reducing the induced magnetic field of a component, the method comprising: Provide conductive components; A reinforcement is provided in the conductive member to increase the resistance between the first part and the second part of the conductive member; as well as The first portion and the second portion of the conductive member are configured to at least reduce the induction of the magnetic field of the conductive member.

13. The method according to claim 12, further comprising: Provides an EM tracking device configured to sense one or more generated EM fields; The aforementioned components are provided as a structure; The EM tracking device is provided near the structure; as well as An ultrasonic transducer is provided within the structure.

14. The method according to claim 13, further comprising: The ultrasound transducer is operated to generate an imaging plane for imaging the subject.

15. The method according to claim 13, further comprising: Operate the EM locator to generate the one or more EM fields; as well as The navigation processor is operated to execute instructions to determine the pose of the imaging plane based at least on sensing of one or more generated EM fields by the EM tracking device.

16. The method according to claim 15, further comprising: The poses of multiple image slices are determined based at least on the pose of the determined imaging plane over time.

17. The method according to claim 16, further comprising: The imaging plane moves over time.

18. The method according to claim 13, further comprising: Perform at least one of the following: fix the EM tracking device to the structure or position the EM tracking device within the structure.

Images