JP2022538126A - Systems, methods and apparatus for instrument guidance - Google Patents

Abstract

A system of instrument guides is disclosed. The system may include an instrument guide device and a transducer system. The instrument guide apparatus includes an instrument guide and an instrument guide bracket including magnets, and the instrument guide bracket may be removably attached to the instrument guide. The transducer system may include an ultrasound probe bracket removably attached to the ultrasound probe. Additionally, the instrument guide device may be removably attached to the ultrasound probe bracket. The ultrasound probe bracket may further include a first sensor and a second sensor. A first sensor may wirelessly track the position of the magnet to determine position data for the instrument guidance system. The second sensor may then energize or de-energize the instrument guide device when the instrument guide is attached or detached, respectively. [Selection diagram] Fig. 1

Description

Cross-reference to related applications

This application is subject to U.S. patent application Ser. U.S. patent application Ser. ＩＮＶＡＳＩＶＥ ＩＮＳＴＲＵＭＥＮＴＳ ＴＯ ＩＭＡＧＩＮＧ ＴＲＡＮＳＤＵＣＥＲＳ ＦＯＲ ＩＮＳＴＲＵＭＥＮＴ ＧＵＩＤＡＮＣＥ」と題された米国特許出願第６２／８６６，９５０号、および２０１９年３月５日に出願された、「ＡＰＰＡＲＡＴＵＳＥＳ ＴＯ ＲＥＭＯＶＡＢＬＹ ＳＥＣＵＲＥ ＡＮ ＩＮＶＡＳＩＶＥ ＤＥＶＩＣＥ ＴＯ ＡＮ ＵＬＴＲＡＳＯＵＮＤ ＰＲＯＢＥ ＦＯＲ ＩＮＳＴＲＵＭＥＮＴ No. 62/814,004 entitled "SYSTEMS, METHODS, AND DEVICES FOR INSTRUMENT GUIDANCE" filed March 12, 2020. U.S. Patent Application No. 16/816,363, filed March 5, 2020, and U.S. Patent Application No. 16/810,569 entitled "SYSTEMS, METHODS, AND DEVICES FOR INSTRUMENT GUIDANCE". No. 62/866,950, entitled "APPARATUSES TO REMOVABLY SECURE INVASIVE INSTRUMENTS TO IMAGING TRANSDUCER FOR INSTRUMENT GUIDANCE," filed June 26, 2019, and U.S. patent application Ser. "APPARATUSES TO REMOVABLY SECUR No. 62/814,004 entitled "E AN INVASIVE DEVICE TO AN ULTRASOUND PROBE FOR INSTRUMENT GUIDANCE" and claims priority to and claims the benefit of , each of which is incorporated herein by reference in its entirety.

FIELD OF THE DISCLOSURE The present disclosure relates generally to systems, methods, and apparatus for instrument guidance, and more particularly to systems, methods, and apparatus for guiding instrument placement within the body using ultrasound imaging. It is related to the device.

Ultrasound imaging can provide a real-time two-dimensional image of a patient's body, which locates areas into which medical personnel insert invasive medical devices (e.g., cylindrical instruments such as needles or trocars). can be used to assist in Once the medical practitioner finds the correct insertion site, he or she can begin medical procedures such as inserting a catheter, administering a local anesthetic, or taking tissue such as during a biopsy. Because ultrasound monitors can only display structures within a patient's body, it is difficult to determine which direction an invasive medical device should be inserted to provide a clear path to the target. Also, it is difficult to determine what path the medical device will follow before it enters the patient's body. Furthermore, after the medical device enters the patient's body, it may be difficult to accurately grasp the path and position of the medical device on the ultrasound monitor. As an example, when using a needle, if the needle is not placed exactly in the same plane as the image, the needle may not be visible or only partially visible, which may affect the position of the needle, more importantly What this means is that the exact position of the tip of the needle is not known. As such, medical personnel may make multiple attempts to insert the device before adequately penetrating the tissue mass or blood vessel. Furthermore, in the case of nerves, medical personnel can only estimate the position of the needle tip if the needle tip is not visible on the ultrasound image. As a result, the patient may be injured or inflicted unnecessary pain. From the health care worker's point of view, these procedures are time consuming and the health care worker may be held liable.

Accordingly, there is a need for improved systems, methods, and instruments that provide guided instrument placement within the body.

Aspects of the disclosed technology include systems, methods, and instruments for guided instrument placement. Consistent with the disclosed embodiments, exemplary instruments may include instrument guides and transducer systems. The instrument guide apparatus may include an instrument guide, an instrument guide insert, and an instrument guide bracket. The instrument guide may include a first opening, a magnet, and one or more protrusions. The instrument guide may be configured to secure at least one instrument. Further, the instrument guide may be adaptable to secure instruments of different sizes. Then, with respect to the instrument guide bracket, the instrument guide bracket engages the instrument guide when at least a first protrusion of the instrument guide engages at least a first opening of the instrument guide bracket. It can be attached detachably.

The transducer system may include an ultrasound probe bracket and an ultrasound probe. The ultrasound probe bracket may include a first sensor, a transceiver, and a processor. The first sensor can be configured to determine the position of the instrument guide device by wirelessly tracking a magnet located on the instrument guide. That is, as the instrument guide moves around the body, the first sensor tracks the magnet to determine the position of the instrument guide device. The ultrasound probe bracket can further include a transceiver configured to receive the position of the instrument guide device from the first sensor and output the position to an external device (eg, computer). The ultrasound probe bracket includes a cutout sized to allow the instrument guide device to fit therein and members (e.g., snap features, protrusions, notches, and/or spring-loaded inserts). In some examples, rather than cutouts, the ultrasound probe bracket can include a single or pair of protruding features that provide attachment to the instrument guide bracket. The ultrasound probe bracket can be sized to fit around the ultrasound probe and can be removably attached to the ultrasound probe. The ultrasound probe can generate and transmit image information to the processor. The processor can then use the position and/or image information of the instrument guide device to generate position data.

In some embodiments, the instrument guide may include multiple instrument guide inserts having different instrument sizes and/or gauges.

In some embodiments, the instrument guide may include a single insert that can be rotated to different positions to form differently sized openings to accommodate different instrument sizes and/or gauges. good.

According to some embodiments, the instrument guide insert can be sized to fit within the first opening and at least one instrument is secured to the instrument guide insert.

In some embodiments, the first insert may be positioned from the outer surface of the instrument guide bracket into the second opening of the instrument guide bracket. Also, the first insert is positioned within the instrument guide along the central axis such that the instrument guide is rotatable along the central axis and the first insert induces friction that causes the instrument guide to maintain its orientation. Further may be arranged.

According to some embodiments, the ultrasound probe bracket is adaptable to fit multiple geometric shapes.

In some embodiments, the instrument guide remains oriented in the same orientation as the first instrument secured by the instrument guide upon movement of the instrument guidance system.

In some embodiments, the first instrument is removably attached to the instrument guide when the first instrument is inserted into the second opening perpendicular to the axis of rotation of the instrument guide.

According to some embodiments, the instrument guide includes a rotation lock configured to allow and prevent rotation of the instrument guide.

According to some embodiments, the ultrasound probe bracket's processor can determine whether an instrument guide is attached to the instrument guidance system. The ultrasound probe bracket also includes a second sensor configured to energize and de-energize the instrument guidance system when the instrument guide is attached or detached, respectively. You can It should be noted that the first sensor may perform all or part of the function of the second sensor and vice versa.

An exemplary method includes a computer receiving imaging data from an ultrasound system, which the computer can display. The computer may also communicate with the instrument guide device to receive position data indicating the angle of the instrument attached to the instrument guide device. The computer is pre-programmed with the following information: 1) the physical position of the axis of rotation of the instrument guide device relative to the imaging plane of the ultrasound transducer, and 2) the pixel distance on the display that corresponds to the physical metric (e.g., centimeters) of the ultrasound image at any imaging depth. algorithm to compute . The computer can then determine in real time where the trajectory of the instrument should be on the ultrasound image. The generated image can then be displayed on a computer screen, for example, as a graphical user interface (GUI).

In some embodiments, the ultrasound device may receive position data from the instrument guide device and may generate image overlays in a manner similar or identical to that disclosed above with reference to a computer. good.

In some embodiments, the first sensor may be included in the instrument guide device rather than the ultrasound probe bracket. In these embodiments, the ultrasound probe cover maintains a sterile barrier while permitting electrical connection between the first sensor of the instrument guide apparatus and the processor and/or transceiver of the ultrasound probe bracket. , may be hermetically sealed and may include electrical ports or contacts.

In some embodiments, the instrument guidance device is attached via methods such as adhesive or thermal bonding such that attachment of the ultrasound probe cover and the instrument guide device over/over the ultrasound probe bracket can occur simultaneously. and may be permanently coupled to the ultrasound probe cover.

According to a first aspect, an instrument guidance device includes: 1) an instrument guide including a first opening, a magnet, and one or more projections, configured to secure at least one instrument; and 2) an instrument guide bracket including a plurality of openings disposed on one or more sides, wherein at least a first of the one or more protrusions is associated with the plurality of openings. A) an instrument guide apparatus comprising: an instrument guide bracket removably attached to the instrument guide when engaged with at least a first opening of; i) an instrument guide by wirelessly tracking a magnet; a first sensor configured to determine the position of the device and configured to transmit the position of the instrument guide device; ii) receiving the position of the instrument guide device from the first sensor and transmitting the position to the external device; 1) an ultrasonic probe bracket; 2) a processor configured to generate position data based on the position of the instrument guide device; and 3) an ultrasonic probe B) a transducer system comprising an ultrasound probe bracket sized to fit in the ultrasound probe bracket, the ultrasound probe bracket being removably attached to the ultrasound probe.

According to a second aspect, the instrument guidance device, system, or method of the first aspect or any other aspect further comprises: A) the instrument guide further comprises an instrument guide insert sized to fit within the first opening; B) the instrument guide insert is sized to receive a first instrument having a particular instrument size in a second opening formed between the instrument guide insert and the instrument guide; and C) the instrument guide. The insert is configured to rotate between open and closed positions such that the instrument guide is removable from the first instrument while the first instrument is inserted into the body part. It is

According to a third aspect, the instrument guidance device, system, or method of the first aspect or any other aspect, further comprising a plurality of instrument guide inserts, each of the plurality of instrument guide inserts having a different Instrument size can be accommodated.

According to a fourth aspect, the instrument guidance device, system, or method of the first aspect or any other aspect, further comprising an instrument guide insert, A) the instrument guide insert having a plurality of faces; B) as the instrument guide insert rotates, each of the plurality of faces aligns with an open channel in the instrument guide to form a closed channel sized to accommodate a particular instrument size; and C) the instrument guide insert. Each of the multiple faces of the instrument guide insert accommodates a different instrument size so that it can be rotated to select from a series of openings depending on the desired instrument size.

According to a fifth aspect, the instrument guidance device, system, or method of the first aspect or any other aspect, wherein the first insert engages one of the instrument guides upon rotation of the instrument guide. It is insertable from the outer surface of the instrument guide bracket into the second opening of the instrument guide bracket so as to cross the section and induce locking and/or friction.

According to a sixth aspect, the instrument guidance device, system, or method of the first aspect or any other aspect deforms an instrument guide bracket when the first insert is tightened to provide one or more A first insert is inserted from the outer surface of the instrument guide bracket into the second opening of the instrument guide bracket such that at least one of the projections reduces the size of the notch in the instrument guide bracket through which it rotates. It is possible.

According to a seventh aspect, the instrument guidance apparatus, system, or method of the first aspect or any other aspect, wherein the second insert comprises: such that the instrument guide is rotatable along a central axis; It is insertable into the instrument guide along the central axis.

According to an eighth aspect, the instrument guidance device, system, or method of the first aspect or any other aspect is adapted for ultrasound probe brackets to fit multiple geometries.

According to a ninth aspect, the instrument guidance device, system, or method of the first aspect or any other aspect, wherein in response to movement of the instrument guidance device, the instrument guide is positioned at a first position secured by the instrument guide. remains positioned in the same orientation as the

According to a tenth aspect, the instrument guidance device, system, or method of the first aspect or any other aspect, wherein the instrument guide includes a rotation lock configured to permit and prevent rotation of the instrument guide. I have more.

According to an eleventh aspect, the instrument guidance device, system, or method of the first aspect or any other aspect comprises: A) the processor to determine whether an instrument guide is attached to the instrument guidance device; B) the instrument guidance device is configured to: i) power the instrument guidance device when the instrument guide is attached; and ii) power the instrument guidance device when the instrument guide is detached. It further comprises: 1) a second sensor configured to de-supply;

According to a twelfth aspect, a system for instrument guidance comprises: A) a computer including a first processor, a first transceiver, and a screen; and B) an instrument guidance device including an instrument guidance device and a transducer system, comprising: 1) determine the position of the instrument guide device by wirelessly tracking a magnet placed on the instrument guide device by a first sensor of the transducer system; and 2) determine the position of the instrument guide device by a second transceiver of the transducer system. 3) generating, by a second processor of the transducer system, position data based on the position of the instrument guide device, the position data being applied to an instrument attached to the instrument guidance device; 4) an instrument guidance device configured to indicate a position relative to a surface of an attached ultrasonic transducer and transmit position data to a computer by means of a second transceiver; 1. A system comprising: C) an ultrasound device configured to generate imaging data; 2) transmit the imaging data to a computer; 2) receive position data from the instrument guidance device by a first transceiver; and 3) how physical space within the imaging data is mapped onto a virtual display by a first processor. 4) configured by a first processor to generate an image overlay projecting the position data onto the imaging data, wherein the trajectory of the instrument is shown in relation to the imaging data; ) screen displays the image overlay.

According to a thirteenth aspect, the system, apparatus, or method of the twelfth aspect or any other aspect, wherein the instrument guide device includes A) an aperture, a magnet, and one or more projections an instrument guide; B) said instrument guide secures at least one instrument; C) an instrument guide bracket comprising a plurality of openings disposed on one or more sides; An instrument guide bracket is removably attached to the instrument guide when at least a first projection of the one or more projections engages at least a first opening of the plurality of openings.

According to a fourteenth aspect, the system, apparatus, or method of the thirteenth aspect or any other aspect, wherein the instrument guide further comprises an instrument guide insert sized to fit within the opening, the at least one instrument is secured to the instrument guide insert.

According to a fifteenth aspect, the system, apparatus, or method of the fourteenth aspect or any other aspect, wherein the instrument guide insert is adapted to accommodate instruments of different sizes.

According to a sixteenth aspect, the system, apparatus, or method of the thirteenth aspect or any other aspect, wherein the insert is insertable from the outer surface of the instrument guide bracket into the second opening of the instrument guide bracket and the insert is further insertable into the instrument guide along the central axis such that the instrument guide is rotatable along the central axis.

According to a seventeenth aspect, the system, apparatus, or method of the thirteenth aspect or any other aspect, wherein in response to movement of the instrument guidance system, the instrument guide moves to the first position secured by the instrument guide. remains positioned in the same orientation as the

According to an eighteenth aspect, the system, apparatus, or method of the thirteenth aspect or any other aspect, wherein the transducer system comprises: A) a first sensor, a second transceiver, and a second processor; B) a cutout space configured to allow the instrument guide device to be removably attached to the ultrasound probe bracket; and C) sized to fit within the ultrasound probe bracket. Further comprising an ultrasound probe configured, the ultrasound probe being removably attached to the ultrasound probe bracket.

According to a nineteenth aspect, the system, apparatus, or method of the eighteenth aspect or any other aspect, wherein the second processor determines whether an instrument guide is attached to the instrument guidance system. The ultrasound probe bracket 1) powers the instrument guidance system when the instrument guide is attached and 2) powers the instrument guidance system when the instrument guide is detached. Further including A) a second sensor configured to de-supply.

According to a twentieth aspect, a method for positioning an instrument guide in real time comprises: A) receiving, by a transceiver of a computer, imaging data representing a portion of the human body from an ultrasound probe; , receives position data from the instrument guide device, wherein the position data indicates the position of an instrument attached to the instrument guide device relative to the surface of the attached ultrasound probe; Determining the pixel distances of the imaging data at the imaging depth; D) mapping the physical space within the imaging data onto a virtual display based on the pixel distances by a processor; and E) projecting the position data onto the imaging data by the processor. F) Displaying the image overlay on the screen of the computer, where the image overlay is generated and the trajectory of the instrument is shown in relation to the imaging data.

According to a twenty-first aspect, an instrument guidance device comprises A) an instrument guide device and B) a transducer system, C) the instrument guide device including a sensing element and configured to secure at least one instrument. and D) the transducer system i) senses position data of the instrument guide device by wirelessly tracking the sensing element, and ii) transmits position data of the instrument guide device. 2) a first transceiver configured to: 1) first sensor configured to i) receive instrument guide device position data from the first sensor; and ii) output instrument position data; ) a first processor configured to generate instrument position data based on the instrument guide device position data;

According to a twenty-second aspect, the instrument guidance device, system, or method of the twenty-first aspect or any other aspect, wherein the instrument guide comprises: A) a first opening; and B) one or more C) an instrument guide bracket including one or more laterally disposed openings; D) a first instrument guide insert sized to fit within the first opening; E) F) the instrument guide bracket is removably attached to the instrument guide when at least a first projection of the one or more projections engages at least a first opening of the aperture; the instrument guide insert is further sized to accommodate a first instrument having a first instrument size in a second opening formed between the first instrument guide insert and the instrument guide; and G) the first instrument guide insert has an open position and a closed position such that the instrument guide is removable from the first instrument while the first instrument is being inserted into the body part. configured to rotate between

According to a twenty-third aspect, the instrument guidance device, system, or method of the twenty-second aspect or any other aspect, wherein the instrument guide accommodates a second instrument size different than the first instrument size. further comprising a second instrument guide insert capable of

According to a twenty-fourth aspect, the instrument guidance device, system, or method of the twenty-first aspect or any other aspect, wherein the instrument guide comprises: A) a first opening; and B) one or more C) an instrument guide bracket including openings disposed on one or more sides thereof; D) a first instrument guide insert; E) at least a first of the one or more projections; and F) the first instrument guide insert has a plurality of faces when the projection of engages at least a first opening of the openings; G) rotating the first instrument guide insert to align at least a portion of the plurality of faces with the open channel of the instrument guide to form a closed channel sized to accommodate the particular instrument size; At least a portion of the plurality of faces of the first instrument guide insert each correspond to a different instrument size such that the first instrument guide insert can be rotated to select from a series of closed channels depending on the instrument size.

According to a twenty-fifth aspect, the instrument guidance device, system, or method of the twenty-second aspect or any other aspect, wherein the first insert intersects a portion of the instrument guide to lock and lock upon rotation of the instrument guide. /or further including a first insert insertable from an outer surface of the instrument guide bracket into a second opening of the opening of the instrument guide bracket to induce friction.

According to a twenty-sixth aspect, the instrument guidance device, system, or method of the twenty-second aspect or any other aspect deforms the instrument guide bracket to create one or more protrusions when the first insert is tightened. A second projection insertable from the outer surface of the instrument guide bracket into the second opening of the opening of the instrument guide bracket such that at least one projection of the portion reduces the size of the notch in the rotating instrument guide bracket. 1 insert is further included.

According to a twenty-seventh aspect, the instrument guidance device, system, or method of the twenty-second aspect or any other aspect provides for guiding an instrument along a central axis such that the instrument guide is rotatable along the central axis. Further includes a second insert insertable into the guide.

According to a twenty-eighth aspect, the instrument guidance apparatus, system, or method of the twenty-first aspect or any other aspect, wherein the transducer system comprises: A) an ultrasonic probe bracket; B) an ultrasonic probe; C) the ultrasound probe bracket is adapted to fit multiple shapes of the ultrasound probe; and D) the ultrasound probe bracket is removably attachable to the ultrasound probe.

According to a twenty-ninth aspect, an instrument guidance device, system, or method according to the twenty-second aspect or any other aspect, wherein the instrument guide is secured by the instrument guide in response to movement of the instrument guide device. It remains positioned in the same orientation as the first instrument.

According to a thirtieth aspect, the instrument guidance device, system, or method of the twenty-second aspect or any other aspect, wherein the instrument guide comprises a rotation guide configured to allow and prevent rotation of the instrument guide. Also includes locks.

According to a thirty-first aspect, the instrument guidance apparatus, system, or method of the twenty-eighth aspect or any other aspect, wherein the ultrasound probe bracket comprises a second sensor; A) a first processor; is further configured to determine whether the instrument guide is attached to the instrument guidance device, and B) the second sensor is configured to: 1) power the instrument guidance device when the instrument guide is attached; and 2) configured to de-energize the instrument guidance device when the instrument guide is removed.

According to a thirty-second aspect, an instrument guidance system comprises: A) a computer; B) the instrument guidance device of the twenty-first aspect or any other aspect; and C) 1) imaging data representing a portion of the human body. 2) an ultrasound device configured to transmit the imaging data to the computer, D) the computer 1) receives the imaging data from the ultrasound device by a second transceiver of the computer; 2) a second transceiver receives instrument position data from the first transceiver of the transducer system of the instrument guidance device; and 3) a second processor of the computer renders the physical space within the imaging data onto a virtual display. 4) generate, by a second processor, an image overlay that projects the instrument position data onto the imaging data, where the trajectory of the instrument is shown in relation to the imaging data; 5) The computer screen is configured to display the image overlay.

According to a thirty-third aspect, the system, apparatus, or method of thirty-second aspect or any other aspect, wherein the instrument guide comprises: A) the first opening; and B) one or more C) an instrument guide bracket including openings disposed on one or more sides, D) the instrument guide configured to secure at least one instrument; The instrument guide bracket is removably attached to the instrument guide when at least a first projection of the one or more projections engages at least a first opening of the aperture.

According to a thirty-fourth aspect, the system, apparatus, or method of the thirty-third aspect or any other aspect, wherein the instrument guide further comprises an instrument guide insert sized to fit within the first opening, Also, at least one instrument is secured to the instrument guide insert.

According to a thirty-fifth aspect, the system, apparatus, or method of the thirty-fourth aspect or any other aspect, wherein the instrument guide insert is adapted to accommodate different sized instruments.

According to a thirty-sixth aspect, the system, apparatus, or method of the thirty-third aspect or any other aspect, wherein the instrument guide bracket is insertable from the outer surface of the instrument guide bracket into the second opening of the opening of the instrument guide bracket. The insert is further insertable into the instrument guide along the central axis such that the instrument guide is rotatable along the central axis.

According to a thirty-seventh aspect, the system, apparatus, or method of the thirty-third aspect or any other aspect, wherein upon movement of the instrument guidance device, the instrument guide is fixed by the instrument guide. The at least one instrument remains arranged in the same orientation as the first instrument.

According to a thirty-eighth aspect, the system, apparatus, or method of the thirty-third aspect or any other aspect, wherein the transducer system comprises: A) an ultrasonic probe bracket; and B) an instrument guide device. C) an ultrasound probe sized to fit within the ultrasound probe bracket; Removably attached to the sonic probe bracket.

According to a thirty-ninth aspect, the system, apparatus, or method of thirty-eighth aspect or any other aspect, wherein the ultrasound probe bracket is configured to: A) implement instrument guidance when an instrument guide is attached; a second sensor configured to power the device and B) de-energize the instrument guidance device when the instrument guide is removed; two transceivers and a second processor disposed within the ultrasound probe bracket; D) the second processor is further configured to determine whether the instrument guide is attached to the instrument guidance device; .

According to a fortieth aspect, a method of instrument guidance using an instrument guidance device of the thirty-second aspect or any other aspect, comprising: A) imaging a portion of the human body by a second transceiver of a computer; B) receiving, by a second transceiver, instrument position data from the first transceiver of the transducer system of the instrument guidance system; and C), by a second processor of the computer, imaging data at a predetermined imaging depth. D) mapping, by a second processor, the physical space within the imaging data onto a virtual display based on the pixel distances; and E) imaging the instrument position data, by a second processor. Generating an image overlay that projects onto the data, where the trajectory of the instrument is shown in relation to the imaging data, F) displaying the image overlay on the computer screen.

According to a forty-first aspect, the instrument guidance device is A) an instrument guide device, 1) an instrument guide comprising a first opening, a magnet, and one or more protrusions, the insert comprising: an instrument guide insertable into the first opening and forming a second opening between the instrument guide and the insert for securing at least one instrument; An instrument guide bracket including a plurality of arranged openings, wherein at least a first projection from the one or more projections engages at least a first opening from the plurality of openings; The instrument guide bracket includes: an instrument guide bracket removably attached to the instrument guide; B) a transducer system comprising: 1) i) position of the instrument guide device by wirelessly tracking a magnet; ii) a first sensor configured to determine the position of the instrument guide device and ii) a second sensor configured to monitor proximity of the magnet a) energizing the instrument guidance device when the instrument guide is attached; and b) de-energizing the instrument guidance device when the instrument guide is detached. 2) a transceiver configured to receive the position of the instrument guide apparatus from the first sensor and output the position to an external device; 3) the first a processor configured to use the position from the sensor to generate position data for the instrument guide device.

According to a forty-second aspect, a system for instrument guidance, said system comprising: A) an instrument guidance device comprising: 1) a first opening, a magnet and one or more projections; wherein the insert is insertable into the first opening and forms a second opening between the instrument guide and the insert for securing at least one instrument; 2) an instrument guide bracket including a plurality of openings disposed on one or more sides, wherein at least a first projection from the one or more projections is at least a first opening from the plurality of openings; and 3) a transducer system, the instrument guidance device being coupled to the instrument guide by i) a first sensor of the transducer system; determining the position of the instrument guide device by wirelessly tracking a magnet located within the device; ii) receiving the position of the instrument guide device from the first sensor by a transducer system transceiver; iii) the transducer system; generating position data based on the position of the instrument guidance system, the position data indicating the position of an ultrasonic instrument attached to the instrument guidance system relative to the surface of the ultrasonic transducer; iv) a transceiver; 4) a second processor, a second transceiver, and a screen, said computer comprising: i) a second ii) receive position data from the instrument guidance device by a second transceiver; and iii) virtualize the physical space contained in the imaging data by a second processor. iv) by a second processor an image overlay that projects the position data onto the imaging data, where the trajectory of the instrument is shown in relation to the imaging data; and a computer configured to display the instrument guidance device.

According to a forty-third aspect, the system, apparatus, or method of the forty-second aspect or any other aspect, wherein the processor calculates the orientation of the instrument guide.

According to a forty-fourth aspect, the system, apparatus, or method of the forty-second aspect or any other aspect, wherein the position data includes an orientation of the instrument guide.

According to a forty-fifth aspect, the system, apparatus, or method of the forty-fourth aspect or any other aspect, wherein the orientation of the instrument guide includes the angle of the instrument attached to the instrument guide.

According to a forty-sixth aspect, the system, apparatus, or method of the forty-second aspect or any other aspect, wherein the transducer system is configured by a processor of the transducer system based on the position of the instrument guide device; Position data is generated based on calculating the orientation of the instrument guide.

Further features of the disclosed design, and the advantages offered thereby, are described in more detail below with reference to specific embodiments illustrated in the accompanying drawings, wherein like elements are referred to by like references. indicated by the indicator.

Reference is now made to the accompanying drawings, which are not necessarily drawn to scale and which are incorporated in and constitute a part of this disclosure and which illustrate the technology disclosed. It illustrates various embodiments and aspects and, together with the description, serves to explain the principles of the disclosed technology.

1 is an exemplary system of instrument guides, in accordance with some examples of this disclosure; FIG.

FIG. 2A is an isometric view of an instrument guide, in accordance with some examples of the disclosure.

2B is a top view of an instrument guide, in accordance with some examples of the present disclosure; FIG.

2C is a top view of an instrument guide apparatus, in accordance with some examples of the present disclosure; FIG.

3A is an isometric view of an ultrasound probe bracket and attached instrument guide apparatus, in accordance with some examples of the present disclosure; FIG.

FIG. 3B is an exploded view of an ultrasound probe bracket, in accordance with some embodiments of the present disclosure;

FIG. 4 is an example timing diagram for an instrument guide, in accordance with some examples of this disclosure.

FIG. 5 is an exemplary flowchart of a method for instrument guidance, in accordance with some examples of this disclosure.

Some examples of the disclosed technology are described more fully with reference to the accompanying drawings. The disclosed technology may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. The components described below as making up the various elements of the disclosed technology are exemplary and not limiting. Any number of suitable components that perform the same or similar functions as components described herein are intended to be included within the scope of the disclosed electronic devices and methods. Such other components not described herein include, for example, but are not limited to components developed after development of the disclosed technology.

Also, a description of one or more step methods does not imply that the step methods must be performed in any particular order, and that additional or intervening step methods may be included between the specifically identified steps. It should be understood that it does not prevent existence.

Reference will now be made in detail to exemplary embodiments of the disclosed technology, examples of which are illustrated in the accompanying drawings and disclosed herein. For convenience, the same reference numbers are used in the drawings to refer to the same or similar parts.

FIG. 1 is a schematic diagram of an exemplary system 100 used for instrument guidance. As shown, system 100 includes computer 110 , instrument guidance device 120 and ultrasound device 130 . Instrument guide device 125 may include a first opening, a magnet, and one or more protrusions. In some examples, rather than magnets, the instrument guide device 125 is a sensing element (e.g., a potentiometer, a function that engages a potentiometer, an optical sensing element that can be used with an optical sensor, and/or a capacitive sensor). available capacitive sensing element). Additionally, the sensing element may be included in an instrument guide insert attached to the instrument guide device 125 . Computer 110 may include one or more processors 112, transceivers 114, and displays 116, among others. Computer 110 may communicate with instrument guidance system 120 and/or ultrasound system 130 .

As will be appreciated by those skilled in the art, the ultrasound device 130 can emit high frequency sound waves that reflect off body structures when the transducer of the ultrasound device 130 is applied to the body. The ultrasound device 130 can then receive the sound waves and create imaging data using the sound waves. Here, the ultrasound device 130 may transmit imaging data to the computer 110 in real time.

As shown in FIGS. 2A-B, the instrument guidance system 120 includes an ultrasound probe 121, an ultrasound probe bracket 122, an instrument guide system 125, a first sensor 123A, a second sensor 123B, an ultrasound transceiver 124A, and an ultrasound processor. 124B may be included. The ultrasound transceiver 124A may be located on the ultrasound probe bracket 122 and may transmit various data, including location data and a unique identifier for the ultrasound probe 121 . The first sensor 123A and/or the second sensor 123B are configured to detect a magnetic field and may be magnetoresistive sensors, Hall effect sensors, magnetic potentiometers, etc., where the magnetic field varies with rotation and/or translation. obtain.

Next, regarding the use of the instrument guider 120, a user (eg, a physician) may place the instrument guider 120 near a part of the body (eg, the neck) to get closer to the area where the instrument is to be inserted. good. The instrument guide device 125 of the instrument guide device 120 may hold one or more instruments of different sizes and is multifaceted that can rotate alongside the open channel to create closed channels of variable size. can be attributed to a typical block (shown in FIG. 2C). Additionally or alternatively, the instrument guide device 125 may include multiple disposable instrument inserts, each designed to fit a particular instrument guide, but each having a particular geometry for mounting thereon. . The instrument guide device 125 also changes the size of a second opening formed between the instrument insert and the instrument guide device 125 when the instrument insert is twisted, thereby allowing different instrument sizes and/or sizes. Or it may have a single instrument insert that includes multiple faces or a single continuous face that can use a gauge. In some examples, the instrument guide device 125 may be a single disposable instrument guide that accommodates multiple instrument sizes. Instruments inserted into instrument guide apparatus 125 may be or may be indirectly and/or removably attached to ultrasound probe 121 .

As the user moves the instrument guide 120, the magnets can reorient accordingly, but the magnets are positioned within the rotating element of the instrument guide 120 such that the magnets do not change their angle and/or position with respect to the rotating element. It may be in a fixed position. The first sensor 123A can wirelessly track the magnet to determine the orientation (eg, angle) and/or position of the instrument guide device 125 using, for example, magnetoresistive properties that depend on the magnetic field. The ultrasound processor 124B can then generate position data (eg, angle and position values) with respect to the surface of the ultrasound probe 121 . More specifically, the first sensor 123A can send a voltage within a range corresponding to the angle of the magnet (eg, 0-3.3 volts) to the ultrasonic processor 124B. The ultrasound processor 124B can convert this voltage to an integer in the range (eg, 0-1023 for 10-bit analog-to-digital conversion). Using transceiver 124A, instrument guidance device 120 can transmit position data to computer 110 using, for example, Bluetooth(R) technology.

Additionally, the second sensor 123B may power the instrument guidance device 120 when the instrument guidance device 125 is attached. Conversely, the second sensor 123B may de-energize the instrument guidance device 120 when the instrument guidance device 125 is removed.

Regarding computer 110, computer 110 may receive imaging data and position data from ultrasound device 130 and instrument guidance device 120, respectively. Computer 110 may then use the imaging data and location data to generate an image overlay. The image overlay may project the position data onto the imaging data. Additionally, the computer 110 may display the image overlays on the display 116 of the computer 110 or, in some examples, the computer 110 displays the image overlays on an external device and/or ultrasound device 130 that displays the image overlays. may be sent. Additionally or alternatively, computer 110 may project an image overlay onto the screen of ultrasound system 130, for example using a laser or by placing a see-through screen over the screen of ultrasound system 130. good. In other words, the position of the instrument can be mapped onto the imaging data representing the image of the body. Thus, for example, medical personnel can confirm the positional relationship between the instrument and the blood vessel in real time, thereby eliminating errors.

In some instances, instrument guidance device 120 may need to be assembled prior to use. The following embodiments refer to instrument guide inserts that are used with instrument guide apparatus 125 in place of the polyhedral block (described above). An instrument guide insert may be placed over the instrument guide device 125 and pushed into the first opening and may snap when inserted. The instrument guide device 125 may then be attached to an instrument guide bracket that includes holes sized to accommodate one or more protrusions. The ultrasound probe bracket 122 is then aligned, for example, with the ultrasound probe bracket 122 to the ultrasound probe 121 and until a click/snap sound is heard and/or tactile cues are felt. It can be attached to the ultrasonic probe 121 by pushing it up until it becomes flat. Additionally or alternatively, ultrasound probe 121 may be used to pivotally assemble ultrasound probe bracket 122 . After attachment, an ultrasound probe cover can be placed over the ultrasound probe bracket 122 and the ultrasound probe 121 . The assembled instrument guide apparatus 125 can then be attached to the ultrasound probe bracket 122 over the ultrasound probe cover to form a sterile barrier. In some examples, the instrument guide device 125 may be attached to the ultrasound probe bracket 122 via magnetic attachments, adhesive attachments, hook-and-loop attachments, and/or the like.

With respect to the instrument guide insert, an instrument guide apparatus such that the instrument guide insert snaps into preformed rotational positions when rotated to select openings (e.g., a set of openings) for different instrument sizes. It may include one or more protrusions and/or one or more features that mate with one or more protrusions and/or one or more features on 125 . Also, the instrument guide insert is unidirectionally rotatable to close a second opening between the instrument guide insert and the instrument guide device 125 and also moves the first instrument (e.g., needle) to the first opening. It is rotatable in the other direction to open a second opening between the instrument guide insert and the instrument guide device 125 so that it can be removed from the instrument guide device 120 in a direction perpendicular to the central axis of the instrument. may The instrument guide insert and/or instrument guide device 125 includes buttons and/or levers that can be actuated to open and close a second opening created between the instrument guide insert and the instrument guide device 125. You can

The ultrasound probe bracket 122 may include an upper portion 122A and a lower portion 122B (shown in FIG. 3B) that may be joined together (eg, snapped into place) to form the ultrasound probe bracket 122. . In some examples, the ultrasound probe bracket 122 may be hinged open to fit around the ultrasound probe 121 and then closed together while maintaining alignment. In other examples, the ultrasound probe bracket 122 may include pin snap fits or latches that join the members of the ultrasound probe bracket 122 . In this manner, the ultrasound probe bracket 122 can conform to the shape of ultrasound probes of different sizes. Further, the ultrasound probe bracket 122 can be split into multiple pieces (eg, halves) and/or can be opened and/or closed around the ultrasound probe 121 .

FIG. 4 is a timing diagram of a method 400 for instrument guidance (eg, using system 100). As such, method 400 may be performed by computer 110 , instrument guidance system 120 and ultrasound system 130 . Additionally, each of the aforementioned devices may communicate with each other to perform method 400 .

At 402, the ultrasound device 130 generates imaging data, ie, an ultrasound image of a portion of a human body. The ultrasound system 130 then transmits the imaging data to the computer 110 at 404 . Next, at 406, instrument guidance system 120 may determine the angle of instrument guidance system 125 by tracking a magnet contained within instrument guidance system 125 using first sensor 123A. The instrument guide device 120 then generates position data at 408 based on the angle of the instrument guide device 125 . At 410 , instrument guidance system 120 transmits position data to computer 110 . The computer may calculate 412 a pixel distance corresponding to a physical metric (eg, centimeters) within the ultrasound image at the current imaging depth, eg, on display 116 or ultrasound device 130 .

Next, at 414 computer 110 may calculate how the position data should be displayed at the current imaging depth given the pixel distances determined at 412 . At 416 , computer 110 may generate an image overlay projecting the position data onto the imaging data, which may be displayed by computer 110 at 418 . At 420, computer 110 may transmit the image overlays to ultrasound device 130 (shown) and/or external devices.

FIG. 5 is a flowchart of a method 500 for instrument guidance. Method 500 is written in terms of computer 110, which can communicate with instrument guidance system 120, ultrasound system 130, and/or external devices. Using method 500, computer 110 can provide real-time images of both the patient's body and instruments associated with the patient's body.

At 505 , computer 110 can receive imaging data from ultrasound system 130 . Also at 510 , the computer 110 may receive position data from the instrument guidance system 120 . At 515, computer 110 can determine the pixel distance on the display that corresponds to a physical metric (eg, centimeters) within the ultrasound image at the current imaging depth. At 520, computer 110 can map the physical space within the imaging data onto the virtual display based on the pixel distances. Next, at 525 computer 110 overlays positional data (e.g., needle position and needle position) onto the imaging data so that the position of the instrument relative to the body part being viewed by ultrasound system 130 is indicated. An image overlay can be generated that maps the trajectory). At 530, computer 110 can display the image overlay.

Throughout the specification and claims, the following terms take at least the meanings explicitly associated herein, unless the context clearly dictates otherwise. The term "or" is intended to mean an inclusive "or". Further, the terms "a," "an," and "the" are intended to mean one or more, unless specified otherwise or otherwise clearly directed to the singular from the context. .

Numerous specific details are given herein. However, it is understood that practice of the disclosed technology may be practiced without these specific details. In other instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of the specification. "an embodiment", "one embodiment", "some embodiments", "exemplary embodiments", "various embodiments", "an implementation", "one implementation", "exemplary implementations" ', 'various implementations', 'some implementations', etc., may mean that the implementation(s) of the disclosed technology so described may include certain features, structures, or characteristics. , indicating that not all implementations necessarily include a particular feature, structure, or property. Moreover, repeated use of the phrase "in one implementation" does not necessarily refer to the same implementation, although it is possible.

As used herein, unless otherwise specified, the use of the ordinal adjectives “first,” “second,” “third,” etc. to describe common objects only refers to objects of the same kind. It is merely to indicate that various examples of objects are referenced, and that the objects so described must be in a given order, either temporally, spatially, rank-ordered, or otherwise. It is not intended to imply that

Although specific implementations of the disclosed technology have been described in connection with what are presently believed to be the most practical implementations, the disclosed technology is limited to the disclosed implementations. It is to be understood that rather than to the contrary, it is intended to cover various modifications and equivalent arrangements that fall within the scope of the appended claims. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

This written description discloses, by way of example, specific implementations of the disclosed technology, including the best mode, and the manufacture and use of any device or system and any incorporated It enables a person skilled in the art to carry out the specific implementation of the disclosed technology, including implementing the method. The patentable scope of any particular implementation of the disclosed technology is defined in the claims, and may include other examples that occur to those skilled in the art. Such other embodiments may include elements that do not differ substantially from the literal language of the claims or equivalent elements that do not differ substantially from the literal language of the claims. If so, it is intended to be included in the claims.

From the foregoing, it can be appreciated that various aspects of the processes described herein are software processes executing on a computer system forming part of the system. Accordingly, the various embodiments of the systems described herein are generally implemented as specially configured computers including various computer hardware components, often as described in more detail herein. As such, it can be seen to have significant additional functionality compared to conventional or known computers, processes, and the like. Embodiments within the scope of the present disclosure also include computer-readable media for carrying or having computer-executable instructions or data structures stored thereon. Such computer-readable media can be any available media that can be accessed by a computer or downloadable over a communication network. By way of example, and not limitation, such computer readable media include RAM, ROM, flash memory, EEPROM, CD-ROM, optical disk storage such as DVD, magnetic disk storage, data storage devices such as solid state drives (SSD), secure Any type of removable non-volatile memory such as digital (SD), flash memory, memory stick, or any other type of memory that can be used to carry or store computer program code in the form of computer-executable instructions or data structures that can be used by a computer It may be comprised of various forms of data storage devices or media such as any other accessible media.

When information is transferred or provided to a computer over a network or other communications connection (either hardwired, wireless, or a combination of hardwired and wireless), the computer properly refers to that connection as a computer-readable medium. I reckon. As such, any such connection is properly termed and considered a computer-readable medium. Combinations of the above should also be included within the scope of computer-readable media. Computer-executable instructions, for example, consist of instructions and data that cause a computer to perform a particular function or group of functions.

Those skilled in the art will appreciate the features and aspects of suitable computing environments in which aspects of the present disclosure can be implemented. Although not required, some of the embodiments of the claimed apparatus, systems, and methods can be taken in the context of computer-executable instructions, such as program modules or engines, such as those described above, being executed by computers in network environments. may be explained in Such program modules may be reflected and illustrated by flowcharts, sequence diagrams, exemplary screen displays, and other techniques that those skilled in the art would use to convey how to make and use such computer program modules. many. Generally, a program module is a routine, program, function, object, component, data structure, whether local or remote, that performs a particular task or implements particular defined data types within a computer. including application programming interface (API) calls to other computers. Computer-executable instructions, associated data structures and/or schemas, and program modules represent examples of program code for executing steps of the processes disclosed herein. Any specific ordering of such executable instructions or associated data structures is an example of the corresponding acts for performing the functions described in such steps.

Those skilled in the art will recognize that the claimed and/or described systems and processes can be implemented on personal computers, smart phones, tablets, handheld devices, multi-processor systems, microprocessor-based or programmed It will also be appreciated that the invention may be practiced in a networked computing environment having many types of computer system configurations such as consumer electronics, networked PCs, minicomputers, mainframe computers, and so on. Embodiments of the claimed apparatus, systems, and methods are linked (either by hardwired links, wireless links, or a combination of hardwired and wireless links) via a communications network. and in a distributed computing environment where tasks are performed by remote processing devices. In a distributed computing environment, program modules may be located in both local and remote memory storage devices.

An exemplary system, not shown, for implementing various aspects of the described operations includes a processing unit, a system memory, and a system bus coupling various system components including the system memory to a processing unit. consists of a computer containing A computer can typically include one or more data storage devices for reading data from, and writing data to. The data storage devices provide nonvolatile storage of computer-executable instructions, data structures, program modules and other data.

Computer program code that implements the functions described herein typically consists of one or more program modules that can be stored in a data storage device. This program code typically includes an operating system, one or more application programs, other program modules, and program data, as known to those skilled in the art. A user may enter commands and information into the computer through a keyboard, touch screen, pointing device, script containing computer program code written in a scripting language, or other input device (not shown) such as a microphone. . These and other input devices are often connected to the processing unit via known electrical, optical, or wireless connections.

The computers facilitating many aspects of the described processes are typically operable in networked environments using logical connections to one or more remote computers or data sources further described below. . A remote computer may be another personal computer, server, router, network PC, peer device, or other common network node, and is typically the main computer system in which the apparatus, systems, and methods are embodied. including many or all of the elements described above in connection with Logical connections between computers include, by way of illustration and not limitation, local area networks (LAN), wide area networks (WAN), virtual networks (WAN or LAN), and wireless LANs (WLAN). Such networking environments are commonplace in office-wide or enterprise-wide computer networks, intranets and the Internet.

When used in a LAN or WLAN networking environment, the computer system implementing aspects of the apparatus, systems and methods are connected to the local network through network interfaces or adapters. When used in a WAN or WLAN networking environment, the computer may include a modem, wireless link, or other mechanism for establishing communications over a wide area network such as the Internet. In a networked environment, program modules depicted in connection with the computer, or portions thereof, may be stored in the remote data storage devices. It will be appreciated that the network connections described or shown are exemplary and other mechanisms of establishing communications over a wide area network or the Internet may be used.

Having described various aspects in the context of preferred embodiments, additional aspects, features, and processes of the claimed apparatus, systems, and methods will be apparent to those skilled in the art from the description herein. can be easily distinguished from Many embodiments and adaptations of the apparatus, systems, and methods described in this disclosure and claims other than those described herein, and many variations, modifications, and equivalent arrangements and processes, Without departing from the spirit or scope of the claims, either obvious or reasonably implied from the present disclosure and its foregoing description. Furthermore, the order and/or temporal order of the steps of the various processes described and claimed herein may be used to implement the claimed apparatus, systems, and methods. It is considered to be the best mode considered for Also, although steps of various processes may be shown and described as being in a preferred order or chronological order, such process steps may be performed in that order to achieve a particular intended result. It should be understood that they are not limited to being performed in any particular order or order unless specified otherwise. In most cases, the steps of such processes may be performed in a variety of different arrangements and orders while remaining within the scope of the claimed apparatus, systems and methods. Moreover, some steps may be performed concurrently, contemporaneously, or synchronously with other steps.

The embodiments have been chosen and described in order to explain the principles and practical application of the claimed apparatus, systems and methods, and to enable those skilled in the art to adapt them to the particular uses contemplated. Suitable apparatus, systems and methods, various embodiments, and various modifications are intended to make available. Alternate embodiments will become apparent to those skilled in the art to which the claimed apparatus, systems, and methods pertain without departing from their spirit and scope. Accordingly, the scope of the claimed apparatus, systems, and methods is defined by the appended claims rather than by the foregoing description and the exemplary embodiments described therein.

Claims (46)

Equipped with an instrument guide device and a transducer system,
The instrument guide device comprises:
an instrument guide comprising a first opening, a magnet, and one or more protrusions and configured to secure at least one instrument;
With a plurality of openings arranged on one or more sides, when at least a first projection of the one or more projections engages at least a first opening of the plurality of openings an instrument guide bracket removably attached to the instrument guide;
with
The transducer system comprises:
a first sensor configured to determine a position of the instrument guide device by wirelessly tracking the magnet and configured to transmit the position of the instrument guide device;
an ultrasound probe bracket comprising: a transceiver configured to receive the position of the instrument guide device from the first sensor and output the position to an external device;
a processor configured to generate position data based on the position of the instrument guide device;
with
The ultrasonic probe bracket is sized to fit an ultrasonic probe and is removably attached to the ultrasonic probe. the instrument guide further comprising an instrument guide insert sized to fit within the first opening;
the instrument guide insert is sized to accommodate a first instrument having a particular instrument size in a second opening formed between the instrument guide insert and the instrument guide;
The instrument guide insert rotates between an open position and a closed position such that the instrument guide is removable from the first instrument when the first instrument is inserted into a body part. 11. An instrument guidance device, system, or method according to claim 1 or any other claim configured to. further comprising multiple instrument guide inserts,
10. An instrument guidance apparatus, system or method according to claim 1 or any other claim, wherein each of said plurality of instrument guide inserts is capable of accommodating a different instrument size. further comprising an instrument guide insert;
the instrument guide insert has a plurality of faces,
rotation of the instrument guide insert aligns each of the plurality of faces with an open channel of the instrument guide to form a closed channel sized to accommodate a particular instrument size;
wherein each of the plurality of faces of the instrument guide insert corresponds to a different instrument size such that the instrument guide insert can be rotated to select a series of openings corresponding to a desired instrument size. 11. An instrument guidance device, system or method as claimed in claim 1 or any other claim. The first insert extends from the outer surface of the instrument guide bracket to the instrument guide such that the first insert crosses a portion of the instrument guide to induce locking and/or friction upon rotation of the instrument guide. 11. An instrument guidance device, system or method according to claim 1 or any other claim insertable into the second opening of the bracket. so as to deform the instrument guide bracket when the first insert is tightened such that at least one of the one or more protrusions rotates to reduce the size of the notch in the instrument guide bracket. 10. An instrument guidance apparatus, system, or method according to claim 1 or any other claim, wherein said first insert is insertable from an outer surface of said instrument guide bracket into a second opening of said instrument guide bracket. 10. An instrument guidance device, system, according to claim 1 or other claim, wherein a second insert is insertable into said instrument guide along a central axis such that said instrument guide is rotatable along said central axis. , or how. 10. An instrument guidance apparatus, system, or method according to claim 1 or other claims, wherein the ultrasound probe bracket is adapted to fit multiple geometries. 10. An instrument guide device according to claim 1 or other claim, wherein upon movement of the instrument guide device, the instrument guide remains oriented in the same orientation as a first instrument secured by the instrument guide. , system, or method. 3. An instrument guidance apparatus, system, or method according to claim 1 or other claims, wherein the instrument guide further comprises a rotation lock configured to permit and prevent rotation of the instrument guide. the processor is further configured to determine whether the instrument guide is attached to the instrument guidance device;
The instrument guidance device is configured to provide power to the instrument guidance device when the instrument guide is attached and to remove power to the instrument guidance device when the instrument guide is removed. 10. An instrument guidance apparatus, system, or method as recited in claim 1 or other claim, further comprising a second sensor configured to be actuated. a computer comprising a first processor, a first transceiver and a screen;
An instrument guide device and an instrument guidance device comprising a transducer system, comprising:
determining a position of an instrument guide device by wirelessly tracking a magnet positioned on the instrument guide device by a first sensor of the transducer system;
receiving position of the instrument guide device from the first sensor by a second transceiver of the transducer system;
A second processor of the transducer system generates position data based on the position of the instrument guide apparatus, the position data indicating the position of an instrument attached to the instrument guide apparatus relative to the surface of the attached ultrasonic transducer. shows,
transmitting the location data to a computer by the second transceiver;
the instrument guidance device configured to:
an ultrasound device configured to generate imaging data representing a portion of a human body and to transmit said imaging data to said computer;
with
The computer is
receiving, by the first transceiver, the imaging data from the ultrasound device;
receiving, by the first transceiver, the position data from the instrument guidance device;
determining, by the first processor, how physical space within imaging data is mapped onto a virtual display;
generating, by the first processor, an image overlay projecting the position data onto the imaging data, wherein a trajectory of the instrument is displayed relative to the imaging data;
displaying the image overlay with the screen;
A system for instrument guidance configured to: The instrument guide device comprises:
an instrument guide comprising an aperture, a magnet, and one or more protrusions and configured to secure at least one instrument;
having a plurality of openings disposed on one or more sides, wherein at least a first projection of the one or more projections engages at least a first opening of the plurality of openings; an instrument guide bracket, said instrument guide bracket being removably attached to said instrument guide when
13. A system, apparatus, or method as claimed in claim 12 or any other claim, comprising: 14. The system, apparatus, or of claim 13 or other claim, wherein the instrument guide further comprises an instrument guide insert sized to fit within the opening, and wherein the at least one instrument is secured to the instrument guide insert. Method. 15. A system, apparatus, or method according to claim 14 or other claim, wherein the instrument guide insert is adapted to accommodate instruments of different sizes. An insert is insertable from the outer surface of the instrument guide bracket into the second opening of the instrument guide bracket, and the insert is positioned along the central axis such that the instrument guide is rotatable along the central axis. 14. A system, apparatus, or method according to claim 13 or other claim, further insertable into the instrument guide along a. 14. The system, apparatus of claim 13 or other claims, wherein in response to movement of said instrument guidance system, said instrument guide remains oriented in the same orientation as a first instrument secured by said instrument guide. , or how. The transducer system comprises:
an ultrasound probe bracket in which the first sensor, the second transceiver, and the second processor are disposed;
a cutout space configured to allow the instrument guide device to be removably attached to the ultrasound probe bracket;
an ultrasound probe sized to fit within the ultrasound probe bracket, the ultrasound probe being removably attached to the ultrasound probe bracket;
14. A system, apparatus, or method as recited in claim 13 or any other claim, further comprising: the second processor is configured to determine whether the instrument guide is attached to the instrument guidance system;
The ultrasound probe bracket powers the instrument guidance device when the instrument guide is attached and de-powers the instrument guidance device when the instrument guide is removed. 19. A system, apparatus, or method as recited in claim 18 or other claim, further comprising a second sensor configured to: A method for guiding and positioning an instrument in real time, comprising:
receiving, by a computer transceiver, imaging data representing a portion of the human body from the ultrasound probe;
receiving, by the transceiver, position data from an instrument guide device, wherein the position data indicates a position of an instrument attached to the instrument guide device relative to a surface of an attached ultrasound probe;
determining, by a processor of the computer, the pixel distance of the imaging data at a given imaging depth;
mapping, by the processor, the physical space of the imaging data to a virtual display based on the pixel distance;
generating, by the processor, an image overlay projecting the position data onto the imaging data, wherein a trajectory of the instrument is displayed with respect to the imaging data;
A method of displaying said image overlay on a screen of said computer. comprising an instrument guide device and a transducer system;
said instrument guide apparatus comprising an instrument guide comprising a sensing element and configured to secure at least one instrument;
The transducer system comprises:
a first sensor configured to sense position data of the instrument guide device by wirelessly tracking the sensing element and transmit position data of the instrument guide device;
a first transceiver configured to receive position data of the instrument guide device from the first sensor and output position data of an instrument;
a first processor configured to generate position data for the instrument based on the position data for the instrument guide;
an instrument guidance device. The instrument guide includes:
a first opening;
one or more protrusions;
an instrument guide bracket including openings disposed on one or more sides;
a first instrument guide insert sized to fit within the first opening;
further comprising
said instrument guide bracket is removably attached to said instrument guide when at least a first projection of said one or more projections engages at least a first opening of said opening;
The first instrument guide insert is adapted to receive a first instrument having a first instrument size within a second opening formed between the first instrument guide insert and the instrument guide. It is also sized and
The first instrument guide insert has open and closed positions such that the instrument guide apparatus is removable from the first instrument while the first instrument is inserted into a body part. configured to rotate between
22. An instrument guidance device, system or method as claimed in claim 21 or any other claim. 23. An instrument guidance apparatus, system, according to claim 22 or other claim, wherein said instrument guide further comprises a second instrument guide insert capable of accommodating a second instrument size different than the first instrument size. , or how. The instrument guide includes:
a first opening;
one or more protrusions;
an instrument guide bracket comprising openings disposed on one or more sides;
a first instrument guide insert;
further comprising
said instrument guide bracket is removably attached to said instrument guide when at least a first projection of said one or more projections engages at least a first opening of said opening;
said first instrument guide insert having a plurality of faces;
when the first instrument guide insert rotates, at least a portion of the plurality of faces aligns with an open channel of the instrument guide to form a closed channel sized to accommodate a particular instrument size;
At least a portion of the plurality of faces of the first instrument guide insert each correspond to a different instrument size, and the first instrument guide insert is rotated to produce a series of closed loops according to a desired instrument size. 22. An instrument guidance device, system or method according to claim 21 or other claims, wherein channels are selectable. inserted from the outer surface of the instrument guide bracket into a second opening of the opening of the instrument guide bracket so as to intersect a portion of the instrument guide to induce locking and/or friction upon rotation of the instrument guide; 23. An instrument guidance device, system or method according to claim 22 or other claims, further comprising a possible first insert. said first insert deforming said instrument guide bracket to reduce the size of a notch in said instrument guide bracket through which at least one of said one or more protrusions rotates when said first insert is tightened; 23. An instrument guidance apparatus, system, or method according to claim 22 or other claim, further comprising a first insert insertable from an outer surface of the instrument guide bracket into the second opening of the opening of the instrument guide bracket. . 23. The instrument of claim 22 or other claim, further comprising a second insert insertable within said instrument guide along said central axis such that said instrument guide is rotatable along said central axis. A guidance device, system or method. The transducer system is
an ultrasound probe bracket;
further comprising an ultrasound probe;
wherein the ultrasound probe bracket is adapted to fit multiple shapes of the ultrasound probe;
22. An instrument guidance apparatus, system, or method according to claim 21 or other claims, wherein said ultrasound probe bracket is removably attached to said ultrasound probe. 23. An instrument guidance device according to claim 22 or other claim, wherein upon movement of the instrument guide apparatus, the instrument guide remains oriented in the same orientation as the first instrument secured by the instrument guide. , system, or method. 23. An instrument guidance apparatus, system, or method according to claim 22 or other claim, wherein the instrument guide further comprises a rotation lock configured to permit and prevent rotation of the instrument guide. the ultrasound probe bracket includes a second sensor;
the first processor is further configured to determine whether the instrument guide is attached to the instrument guide apparatus;
The second sensor powers the instrument guide device when the instrument guide is attached and de-powers the instrument guide device when the instrument guide is removed. 29. An instrument guidance device, system or method according to claim 28 or any other claim configured. a computer;
an instrument guidance device according to claim 21;
an ultrasound device configured to generate imaging data representing a portion of a human body and to transmit said imaging data to said computer;
with
The computer is
receiving imaging data from the ultrasound device by a second transceiver of the computer;
receiving, by the second transceiver, position data of the instrument from the first transceiver of a transducer system of the instrument guide apparatus;
determining, by a second processor of the computer, how the physical space within the imaging data is mapped onto the virtual display;
generating, by the second processor, an image overlay projecting the position data of the instrument onto the imaging data, wherein a trajectory of the instrument is displayed with respect to the imaging data;
An instrument guidance system configured to display said image overlay by means of a computer screen. The instrument guide includes:
a first opening;
one or more protrusions;
an instrument guide bracket including openings disposed on one or more sides;
further comprising
the instrument guide configured to secure at least one instrument;
said instrument guide bracket is removably attached to said instrument guide when at least a first projection of said one or more projections engages at least a first opening of said aperture;
33. A system, apparatus or method as claimed in claim 32 or any other claim. said instrument guide further comprising an instrument guide insert sized to fit within said first opening;
34. A system, apparatus, or method according to claim 33 or other claims, wherein said at least one instrument is secured to said instrument guide insert. 35. A system, apparatus, or method according to claim 34 or other claim, wherein the instrument guide insert is adapted to accommodate instruments of different sizes. further comprising an insert insertable from an outer surface of the instrument guide bracket into a second opening of the opening of the instrument guide bracket;
34. The system, apparatus, or method of claim 33 or other claim, wherein said insert is further insertable into said instrument guide along said central axis such that said instrument guide is rotatable along said central axis. Method. 34. According to claim 33 or other claim, wherein upon movement of said instrument guide, said instrument guide remains oriented in the same orientation as a first of at least one instrument secured by said instrument guide. A system, apparatus or method as described. The transducer system comprises:
an ultrasound probe bracket;
a cutout space configured for the instrument guide device to be removably attached to the ultrasound probe bracket;
an ultrasound probe sized to fit the ultrasound probe bracket;
34. The system, apparatus, or method of claim 33 or other claims, further comprising: and wherein the ultrasound probe is removably attached to the ultrasound probe bracket. The ultrasonic probe bracket is
a second sensor configured to power the instrument guide device when the instrument guide is attached and to de-power the instrument guide device when the instrument guide is removed; prepared,
the first sensor, the second transceiver, and the second processor disposed within the ultrasound probe bracket;
39. A system, apparatus, or method as recited in claim 38 or other claim, wherein said second processor is further configured to determine whether said instrument guide is attached to said instrument guide apparatus. . A method of guiding an instrument using an instrument guidance device according to claim 32 or any other claim, comprising:
receiving imaging data representing a portion of the human body by a second transceiver of the computer;
receiving, by the second transceiver, instrument position data from the first transceiver of the transducer system of the instrument guidance device;
determining, by the second processor of the computer, the pixel distance of the imaging data at a given imaging depth;
mapping, by the second processor, the physical space of the imaging data to the virtual display based on the pixel distance;
generating, by the second processor, an image overlay projecting position data of the instrument onto imaging data, wherein the trajectory of the instrument is displayed in relation to the imaging data;
displaying the image overlay on the screen of the computer;
A method of guiding an instrument using an instrument guidance device, comprising: an instrument guide device, a transducer system, and
with
The instrument guide device comprises:
An instrument guide comprising a first opening, a magnet, and one or more projections, wherein an insert is insertable into said first opening and between said instrument guide and said insert. an instrument guide defining a second opening to secure at least one instrument;
An instrument guide bracket including a plurality of openings disposed on one or more sides, wherein at least a first protrusion of the one or more protrusions is aligned with at least a first of the plurality of openings. an instrument guide bracket removably attached to the instrument guide when engaged with the opening;
with
The transducer system comprises:
a first sensor configured to determine a position of the instrument guide device by wirelessly tracking the magnet and to transmit the position of the instrument guide device; monitoring proximity of the magnet; a second device configured to provide power to the instrument guide apparatus when the instrument guide is attached and to de-energize the instrument guide apparatus when the instrument guide is removed; an ultrasound probe bracket comprising a sensor; and
a transceiver configured to receive the position of the instrument guide device from the first sensor and output the position to an external device;
a processor configured to utilize the position from the first sensor to generate position data for the instrument guide device;
An instrument guidance device comprising: comprising an instrument guide device and a computer,
The instrument guide device comprises:
An instrument guide comprising a first opening, a magnet, and one or more projections, wherein an insert is insertable into the first opening, and a second coil between the instrument guide and the insert. an instrument guide defining two openings to secure at least one instrument;
An instrument guide bracket comprising a plurality of openings disposed on one or more sides, wherein at least a first projection of the one or more projections aligns with at least a first opening of the plurality of openings. an instrument guide bracket, said instrument guide bracket being removably attached to said instrument guide when engaged with a portion;
wherein the instrument guide device comprises:
a first sensor of a transducer system determining the position of the instrument guide device by wirelessly tracking a magnet positioned within the instrument guide device;
receiving, by a transceiver of the transducer system, the position of the instrument guide device from the first sensor;
generating, by the processor of the transducer system, position data based on the position of the instrument guide device, the position data indicating the position of an ultrasonic device attached to the instrument guide device relative to the surface of the ultrasonic transducer;
a transducer system configured by the transceiver to transmit the position data to a computer;
with
The computer comprises a second processor, a second transceiver and a screen, the computer comprising:
receiving imaging data from the ultrasound device by the second transceiver;
receiving, by the second transceiver, the position data from the instrument guide device;
Mapping a physical space contained in the imaging data onto a virtual display by the second processor;
generating, by the second processor, an image overlay projecting the position data onto the imaging data, wherein an instrument trajectory is displayed in relation to the imaging data;
A system for guiding an instrument configured to display the image overlay on the screen. 43. A system, apparatus, or method according to claim 42 or other claim, wherein the processor calculates an orientation of the instrument guide. 43. A system, apparatus, or method according to claim 42 or other claims, wherein said position data includes orientation of an instrument guide. 45. A system, apparatus, or method according to claim 44 or other claim, wherein the orientation of the instrument guide comprises an angle of an instrument attached to the instrument guide. 43. 43 or other, wherein the transducer system generates position data based on the position of the instrument guide device and based on calculating an orientation of the instrument guide by the processor of the transducer system. A system, apparatus, or method as claimed in any claim.

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