US5797849A
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US
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Method for carrying out a medical procedure using a three-dimensional tracking and imaging system
Assignee: Sonometrics Corp
•
Filing: 1997-03-07
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Granted: 1998-08-25
•
Expires: 2017-03-07
Abstract
Abstract A method for carrying out a medical procedure using a 3-D tracking and imaging system (1600). A surgical instrument, such as a catheter, probe, sensor, needle or the like is inserted into a living being, and the position of the surgical instrument is tracked as it moves through a medium in a bodily structure. The location of the surgical instrument relative to its immediate surroundings is displayed to improve a physician's ability to precisely position the surgical instrument. The medical procedures including removal of an obstruction from the circulatory system, a biopsy, amniocentesis, brain surgery, measurement of cervical dilation, evaluation of knee stability, assessment of myocardial contractibility, eye surgery, prostate surgery and transmyocardial myocardial revascularization (TMR). In addition, the method of the present invention also finds use in connection with the generation of 2-D echo planes.
Inventors
- 👤 Ivan Vesely
- 👤 Wayne Smith
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-01 22:18
CPC Classifications
A; A61; A61B; A61B5/00; A61B5/24; A61B5/25; A61B5/279; A61B5/28; A61B5/283; A61B5/287; A61B34/00; A61B34/20; A61B5/06; A61B8/00; A61B8/08; A61B8/0833; A61B8/42; A61B8/4245; A61B8/48; A61B8/483; A61B90/00; A61B90/10; A61B90/14; A61B90/17; A61B90/36; A61M; A61M25/00; A61M25/01; A61M25/0105; G; G01; G01H; G01H3/00; G01H5/00; G01S; G01S11/00; G01S11/14; G01S15/00; G01S15/66; G01S15/87; G01S15/876; G01S15/88; G01S15/89; G01S15/8906; G01S15/8909; G01S15/8915; G01S15/8922; G01S15/8993; G01S5/00; G01S5/18; G01S7/00; G01S7/52; G01S7/52017; G01S7/52053; G01S7/52057; G01S7/5206; G01S7/52074; G01S7/56; G01S7/62; G01S7/6245; A61B17/00; A61B17/34; A61B17/3403; A61B18/00; A61B18/04; A61B18/12; A61B18/14; A61B34/10; A61B2034/107; A61B2034/2046; A61B2034/2051; A61B2034/2063; A61B2034/2072; A61B2090/363; A61B2090/364; A61B2090/367; A61B90/37; A61B2090/378; A61B90/39; A61B2090/3904; A61B2090/3908; A61B2090/3925; A61B2090/3929; A61B2090/3954; A61B2090/3958; A61B2560/00; A61B2560/04; A61B2560/0443; A61B2560/045; A61B2562/00; A61B2562/04; A61B2562/043; A61B5/061; A61B5/062; A61B5/45; A61B5/4519; A61B5/4528; A61B8/12; A61B8/4254; A61B8/44; A61B8/4411; A61B90/11; A61M2025/0166; G01S15/02; G01S15/06; G01S15/08; G01S15/10; G01S15/101; G01S15/86; G01S15/899; G01S7/52003; G01S7/52079
Claims Analysis
Total Claims: 22
Claim 1
Independent Claim
119 words
A method of performing an in vivo medical procedure on an associated body using a 3-D tracking and imaging system, said method comprising: mounting a plurality of mobile transducer means to an instrument means; mounting one or more reference transducers means to locations on the body, the reference transducer means having a position fixed relative to the body; generating three-dimensional coordinates of the mobile transducer means relative to a reference frame established by the reference transducer means; generating image data of the environment surrounding the instrument means to provide an image template; registering the three-dimensional coordinates with the image data to form a 3-D image scene showing the position of the mobile transducer means relative to the image template.
Claim 2
Independent Claim
119 words
A method of performing an in vivo medical procedure on an associated body using a 3-D tracking and imaging system, said method comprising: mounting a plurality of mobile transducer means to an instrument means; mounting one or more reference transducers means to locations on the body, the reference transducer means having a position fixed relative to the body; generating three-dimensional coordinates of the mobile transducer means relative to a reference frame established by the reference transducer means; generating image data of the environment surrounding the instrument means to provide an image template; registering the three-dimensional coordinates with the image data to form a 3-D image scene showing the position of the mobile transducer means relative to the image template.
Claim 3
Dependent Claim
14 words
The method as defined in claim 1, wherein the body is a human body.
Claim 4
Dependent Claim
45 words
The method as defined in claim 2, wherein the medical procedure is the removal of an obstruction from the circulatory system, and said instrument is one of the following: a standard catheter, an intravascular ultrasound imaging catheter, a balloon catheter and a stent deployment catheter.
Claim 5
Dependent Claim
29 words
The method as defined in claim 2, wherein the medical procedure is a biopsy, and said instrument is at least one of a biopsy catheter and a biopsy needle.
Claim 6
Dependent Claim
20 words
The method as defined in claim 2, wherein the medical procedure is amniocentesis, and said instrument is an amniocentesis needle.
Claim 7
Dependent Claim
22 words
The method as defined in claim 2, wherein said medical procedure is stereotactic brain surgery, and said instrument is a surgical probe.
Claim 8
Dependent Claim
29 words
The method as defined in claim 6, wherein said method further comprises: warping said image data in response to the changes in the position of said reference transducer means.
Claim 9
Dependent Claim
27 words
The method as defined in claim 7, wherein said method further comprises: guiding a robotic arm in accordance with a path established in the 3-D image scene.
Claim 10
Dependent Claim
25 words
The method as defined in claim 2, wherein said medical procedure is brain surgery to seal leaking cerebral arteries, and said instrument is a catheter.
Claim 11
Dependent Claim
16 words
The method as defined in claim 2, wherein said medical procedure is measurement of cervical dilation.
Claim 12
Dependent Claim
16 words
The method as defined in claim 2, wherein said medical procedure is evaluation of knee stability.
Claim 13
Dependent Claim
24 words
The method as defined in claim 2, wherein said medical procedure is assessment of myocardial contractibility, said mobile transducer means mounted to the myocardium.
Claim 14
Dependent Claim
14 words
The method as defined in claim 2, wherein said medical procedure is eye surgery.
Claim 15
Dependent Claim
25 words
The method as defined in claim 2, wherein said medical procedure is prostate surgery, and said instrument is a medical probe moved through the prostate.
Claim 16
Dependent Claim
26 words
The method as defined in claim 2, wherein said medical procedure is transmyocardial revascularization (TMR), and said instrument is a TMR catheter moved through the heart.
Claim 17
Dependent Claim
23 words
A method according to claim 1, wherein the locations on the body for mounting the reference transducer means are internal to the body.
Claim 18
Dependent Claim
39 words
A method according to claim 1, wherein said method further comprises the step of: ablating a portion of the bodily structure when the instrument means has been positioned at a location in a bodily structure where ablation is desired.
Claim 19
Dependent Claim
14 words
A method as defined in claim 17, wherein the instrument means is a catheter.
Claim 20
Independent Claim
126 words
A method for carrying out a medical procedure by displaying a 3-D image scene having 2-D echo planes presented therein, the method comprising: mounting a plurality of mobile transducer means to an instrument having an ultrasound image transducer means for generating a 2-dimensional echo image plane; mounting a first reference transducer means to a first fixed location; mounting a second reference transducer means to a second fixed location; generating three-dimensional coordinates of the mobile transducer means relative to a reference frame established by the first and second reference transducer means; registering the 2-dimensional echo image plane with the three-dimensional coordinates; and, displaying the 2-dimensional echo image plane at the three-dimensional coordinates, in relation to the reference frame established by the first and second reference transducer means.
Claim 21
Independent Claim
126 words
A method for carrying out a medical procedure by displaying a 3-D image scene having 2-D echo planes presented therein, the method comprising: mounting a plurality of mobile transducer means to an instrument having an ultrasound image transducer means for generating a 2-dimensional echo image plane; mounting a first reference transducer means to a first fixed location; mounting a second reference transducer means to a second fixed location; generating three-dimensional coordinates of the mobile transducer means relative to a reference frame established by the first and second reference transducer means; registering the 2-dimensional echo image plane with the three-dimensional coordinates; and, displaying the 2-dimensional echo image plane at the three-dimensional coordinates, in relation to the reference frame established by the first and second reference transducer means.
Claim 22
Dependent Claim
25 words
The method as defined in claim 19, wherein said first fixed location is a patient's back, and said second fixed location is a patient's abdomen.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2001-08-24 | 2002-02-23 | 2002-08-25 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2005-08-24 | 2006-02-23 | 2006-08-25 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2009-08-24 | 2010-02-23 | 2010-08-25 | $7700.00 | Window Closed / Lapsed |