TRUS Probe CMM Tracking for Flexible Prostate Intervention Angles

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Solution Overview

Problem

Conventional focal prostate intervention methods using transrectal ultrasound (TRUS) probes are limited by fixed insertion angles, which can be inadequate due to anatomical constraints like the pubic arch, restricting flexible positional and angular approaches for interventional instruments.

Innovation Solution

A transperineal prostate intervention guidance device incorporating a TRUS probe with a coordinate measurement machine (CMM) and an electronic processor to track and predict the trajectory of interventional instruments, allowing for flexible angular and positional adjustments by superimposing the predicted trajectory on ultrasound images.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a grid-based approach with fixed insertion angle is used, then the interventional instrument can be aligned with the TRUS image, but multiple insertions at non-parallel or arbitrary angles are not possible

Engineering Contradiction:

Improveinsertion angle flexibilityVSAvoidgrid registration complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent replaces the mechanical grid-based alignment system with an optical tracking system using a CMM and ultrasound-based trajectory prediction. The CMM optically tracks the interventional instrument's position and orientation in real-time, eliminating the need for physical grid registration while enabling flexible insertion angles.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent introduces a coordinate measurement machine (CMM) as an intermediary system that bridges the TRUS imaging system and the interventional instrument. The CMM tracks the instrument's position and feeds this data to the trajectory prediction algorithm, which then guides the instrument along the predicted path without requiring direct grid alignment.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Adaptability or versatility

If the pubic arch or anatomical constraints are present, then standard grid alignment becomes inadequate, but novel angular approaches require complex positioning

Engineering Contradiction:

Improveanatomical constraint adaptationVSAvoidpositioning ease

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The patent implements a dynamic trajectory prediction system that continuously updates the predicted instrument path based on real-time CMM tracking data and the specific anatomical constraints of each patient. This allows the system to adapt to novel angular approaches required by pubic arch anatomy without requiring complex manual positioning procedures.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system performs preliminary trajectory prediction before the actual insertion procedure. By computing the predicted trajectory in advance based on the patient's specific anatomy and desired insertion angle, the system prepares the optimal path that accounts for pubic arch constraints, making the actual positioning operation simpler and more straightforward.

Inventive Principle:

Principle #10Preliminary action

3Adaptability or versatility

If CMM tracking is implemented for trajectory prediction, then flexible angular approaches are enabled, but device complexity increases

Engineering Contradiction:

Improvetrajectory flexibilityVSAvoidtracking system complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent integrates the CMM tracking system with the existing TRUS imaging system, allowing the same hardware infrastructure to serve multiple functions: ultrasound imaging for anatomical visualization and CMM optical tracking for instrument position detection. This multi-functionality reduces the need for separate dedicated tracking hardware, thereby limiting the increase in overall device complexity.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

Enables focused prostate interventions with improved trajectory prediction and multiple redundant tracking, providing flexible and precise insertion angles for interventional instruments, overcoming anatomical constraints.

Implementation Method 1

a transrectal ultrasound (TRUS) probe including an ultrasound transducer or transducer array

Methodology Applied

Scientific EffectUltrasound: Ultrasound

Data Source

PatentUS11096745B2System and workflow for grid-less transperineal prostate interventions

Publication Date: 2021.08.24 KONINKLIJKE PHILIPS NV

AI summary

A transperinealprostate intervention device comprises a prostate intervention instrument (10), a transrectal ultrasound (TRUS) probe (12), and a mechanical or optical coordinate measurement machine (CMM) (20) attached to the TRUS probe and configured to track the prostate intervention instrument. The CMM may include an articulated arm with a plurality of encoding joints (24), an anchor end (30) attached to the TRUS probe, and a movable end (32) attached to the prostate intervention instrument. The prostate intervention instrument may, for example, be a biopsy needle, a brachytherapy seed delivery instrument, a tissue ablation instrument, or a hollow cannula. An electronic processor (40) computes a predicted trajectory (54) of the prostate intervention instrument in a frame of reference of the TRUS probe using the CMM attached to the TRUS probe. A representation (56) of the predicted trajectory is superimposed on a prostate ultrasound image (50) generated from ultrasound data collected by the TRUS probe.