SE2250338A1

SE2250338A1 - Device, system and method for tracking a target area

Info

Publication number: SE2250338A1
Application number: SE2250338A
Authority: SE
Inventors: Tomas Gustafsson
Original assignee: Micropos Medical Ab
Priority date: 2022-03-18
Filing date: 2022-03-18
Publication date: 2023-09-19

Abstract

The present invention relates to a device for determining a target position (14) in a body (5) in relation to a treatment apparatus (12) in at least three dimensions. The device comprises a target device (20) arranged to be positioned at the target position (14) in the body (5), and the target device (20) is configured to be arranged at an initial position (13) in relation to the treatment apparatus (12). Furthermore, the target device (20) comprises a inertial motion sensor (21) arranged to determine a relative motion of the target device (20) from the initial position (13) to the target position (14), and is configured to determine the target position (14) in relation to the treatment apparatus (12) based on the initial position (13) and the determined relative motion of the target device (20).

Description

1 DEVICE, SYSTEl\/l AND l\/IETHOD FOR TRACKING A TARGET AREA TECHNICAL FIELD The present invention relates to a device fixable relative to a target area within a body, for locating and tracking said target area. Furthermore, the present invention relates to a system for tracking a position of a transmitter in a lossy medium. BACKGROUND ART Patients with a cancer tumour are treated with radiotherapy, wherein radiation is focused onto the cancer tumour. Such a treatment is usually carried out in a plurality of sessions. The plurality of sessions that are used serves to reduce the risk of severe side effects that are caused by the treatment. This is due to the fact that it is not possible to determine the position ofthe tumour with sufficient accuracy during performance of the radiotherapy. This is primarily due to the fact that the tumour tends to move slightly during the radiotherapy. Thus, even if an imaging technique such as, e.g., X-ray tomography, magnetic resonance imaging (MRI), or positron emitting tomography is used to determine the position of the tumour this position may change during the radiotherapy. This may result in the tissue surrounding the tumour being exposed to radiation. With the present equipment for determining the position of the tumour in the body, the treatment is typically carried out in 35 sessions during a period of 7 weeks. Such a long treatment puts a lot of strain on the patient. lt would thus be desirable to be able to reduce the necessary length of the treatment.

US 2007/0225596 A1 describes an implant, apparatus and method for tracking a target area. According to the method, the implant is positioned in the tumour. This implant comprises a transmitter, which is arranged to emit an electromagnetic wave with a frequency in the range of 5-900 MHz. The patient with the implant is then positioned on a table in which a large number of antennas are arranged. The signals received by the antennas depend on the position ofthe implant in relation to the antennas. Prior to the measurement a calibration step is performed to determine the relationship between the position of the transmitter and the signals at the antennas. The calibration is then performed by moving the transmitter to each position in a 3D-grid and measuring the signal strength at each antenna for every position of the transmitter. 2 With the implant, apparatus and method according to US 2007/0225596 A1 it is difficult to determine the position ofthe implant in all 3 spatial coordinates and the pitch, yaw and roll of the implant. SUMMARY OF THE INVENTION An object of the present disclosure is to provide a device for determining a target position in a body in relation to a treatment apparatus which seeks to mitigate, alleviate, or eliminate one or more of the above-identified deficiencies in the art and disadvantages singly or in any combination and to provide a system.

This object is obtained by a device for determining a target position in a body in relation to a treatment apparatus in at least three dimensions, wherein the device comprises a target device arranged to be positioned at the target position in the body. The target device is configured to be arranged at an initial position in relation to the treatment apparatus and the target device comprises a inertial motion sensor arranged to determine a relative motion of the target device from the initial position to the target position. ln addition, the device is configured to determine the target position in relation to the treatment apparatus based on the initial position and the determined relative motion of the target device.

This object is also obtained by a system for determining a target position in at least three dimensions in a body, wherein the system comprises a device, as defined above, and a treatment appa ratus configured to receive information regarding the target position from the device.

An advantage with the present invention is that the motion of the target device may be continuously monitored to determine the target position of the target device when inserted into a body. ln addition, only a inertial motion sensor is needed to determine the position of the target device in relation to the initial position. Further aspects and advantages may be found in the detailed description. BRIEF DESCRIPTION OF THE DRAWINGS The foregoing will be apparent from the following more particular description ofthe example embodiments, as illustrated in the accompanying drawings in which like reference characters 3 refer to the same parts throughout the different views. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the example embodiments.

Figure 1 is a first embodiment of a system for determining a target position; Figure 2 i||ustrates an embodiment of a target device; Figure 3 is a second embodiment of a system for determining a target position; Figure 4 is a third embodiment of a system for determining a target position; and Figure 5 i||ustrates a six-dimensional Cartesian coordinate system.

DETAILED DESCRIPTION Aspects of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings. The device and system disclosed herein can, however, be realized in many different forms and should not be construed as being limited to the aspects set forth herein. Like numbers in the drawings refer to like elements throughout.

The terminology used herein is for the purpose of describing particular aspects of the disclosure only, and is not intended to limit the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

Some of the example embodiments presented herein are directed towards a device for determining a target position in a body, and some example embodiments are directed towards a system for determining a target position utilizing such a device. As part of the development of the example embodiments presented herein, a problem will first be identified and discussed.

As mentioned in the background, patients with cancer tumours may be treated with radiotherapy, wherein radiation is focused on the tumour in a plurality of treatment sessions. The tumour is not visible from the outside of the body, and most likely move during treatment and between treatment sessions. This may result in the tissue surrounding the tumour being unnecessa rily exposed to radiation. Thus, it is desired to develop a device and system where the position of the cancer tumour may be monitored to reduce the risk of exposing healthy tissue to radiation during treatment. 4 Figure 1 is a first embodiment of a system 10 for determining a target position 14 in at least three dimensions in a body 5. The system 10 comprises a first embodiment of a device for determining the target position 14 and a treatment apparatus 12 configured to receive information regarding the target position from the device. The body 5 may be any type of body, e.g. human or animal body, where it is desired to determine a position inside the body for tfeatmefït.

The device comprises a target device 20 (as illustrated in Figure 2) arranged to be positioned at the target position 14 in the body 5, and a control unit 11. The target device comprises an inertial motion sensor 21, e.g. a gyro, configured to determine a relative motion of the target device 20 from an initial position 13 and to the target position 14. The initial position 13 is determined in relation to the treatment apparatus 12, which may be achieved by an automatic system receiving information regarding the spatial coordinates of the treatment device 12 and the initial position 13 when the target device is introduced into the body 5. Alternatively the initial positon may be manually entered into the control unit 11 when the target device is introduced into the body 5. The important feature is that the initial position 13 is determined in relation to the treatment equipment 12 and that the device is configured to determine the target position 14 in relation to the treatment apparatus 12 based on the initial position 13 and the determined relative motion of the target device 20.

As illustrated in Figure 1 the target position 14 adjacent to a target area 15 intended to be affected by the treatment apparatus 12. However, it is also possible to introduce the target device 20 into the target area 15, which means that the target position 14 may be situated within the target area 15.

The treatment apparatus 12 may be a radiation equipment or a surgical equipment or a combination thereof.

The control unit 11 is connected to the target device 20, e.g. by means of a wire 23, and is arranged on the outside of the body 5. The control unit is in this embodiment in communication with the treatment apparatus 12 and is configured to determine the target position 14 in relation to the position of the treatment apparatus 12 based on the determined initial position 13 and the relative motion of the target device 20 when introduced into the body from the initial position 13 to the target position 14.

The device may be configured to determine the target position 14 in the body 5 in relation to the treatment apparatus 12 in at least six dimensions, as illustrated in Figure 5. As an example, this includes spatial coordinates x, y, z and roll, pitch, yaw.

Figure 3 is a second embodiment of a system 30 for determining a target position having an additional feature compared to the system in Figure 1. The device 20 comprises in this embodiment a transmitter 22 (see Figure 2), which is arranged to transmit an electromagnetic signal. The control unit 11 comprises an input 33 for an antenna signal from an antenna array 31 comprising a plurality of antenna elements 32 and being configured to detect the electromagnetic signal. ln this embodiment, the device is further configured to determine the target position 14 in relation to the treatment apparatus 12 based on the antenna signal (and not only the relative motion of the target device when inserting it into the body 5). ln this embodiment, the inertial motion sensor 21 is arranged to determine the relative motion of the target device in one to three dimensions and the antenna signal is used to determine the position of the target device in three to five other dimensions, wherein the dimensions are chosen from the spatial coordinates, pitch, yaw and roll.

Preferably, the inertial motion sensor 21 is configured to determine the relative motion of the target device in at least three dimensions, preferably the spatial coordinates. More preferably, the inertial motion sensor 21 is configured to determine the relative motion ofthe target device 20 in the three dimensions of the spatial coordinates and at least one, preferably all, of pitch, yaw and roll of the target device 20.

Figure 4 illustrates a third embodiment of a system 40 for determining a target position with an additional feature compared to the system disclosed in connection with figure 1. This feature relates to an insertion device 41, e.g. a catheter, to be inserted into the body 5, wherein the insertion device 41 comprises a target device passageway for insertion of the target device 20. The target device passageway has a first end position 42, which first position coincides with the target position 14 when the insertion device 41 is inserted in the body 5 and a second end 43 which coincides with the initial position 13. 6 As mentioned above, the insertion device 41 may be a catheter for insertion into a natural opening ofthe body 5 and further comprises an air ba||oon for securing the end of the catheter in the body 5.

The system in Figure 4 may also be provided with an antenna array 31 connected to the control unit 11, as described in connection with in Figure 13, and the antenna array 31 is configured to detect an electromagnetic signal transmitted from the target device 20 and to generate an antenna signal forwarded to the control unit 11.

The present disclosure relates to a device for determining a target position in a body in relation to a treatment apparatus in at least three dimensions, wherein the device comprises a target device arranged to be positioned at the target position in the body, wherein the target device is configured to be arranged at an initial position in relation to the treatment apparatus. The target device further comprises a inertial motion sensor arranged to determine a relative motion of the target device from the initial position to the target position, wherein the device is configured to determine the target position in relation to the treatment apparatus based on the initial position and the determined relative motion of the target device.

According to some aspects, the target position is in, or adjacent to, a target area intended to be affected by the treatment apparatus.

According to some aspects, the treatment apparatus is a radiation equipment and/or a surgical equipment. According to some aspects, the inertial motion sensor is a gyro.

According to some aspects, the device comprises a control unit connected to the target device, which control unit is arranged on the outside of the body and is configured to determine the target position.

According to some aspects, the target device is connected to the control unit by means of a wire.

According to some aspects, the device is configured to determine the target position in the body in relation to the treatment apparatus in at least six dimensions, e.g. spatial coordinates x, y, z and roll, pitch and yaw. 7 According to some aspects, the target device also comprises a transmitter, which is arranged to transmit an electromagnetic signal, wherein the device comprises an input for an antenna signal from an antenna array comprising a plurality of antenna elements and being configured to detect the electromagnetic signal, and wherein the device is further configured to determine the target position in relation to the treatment apparatus based on the antenna signal.

According to some aspects, the inertial motion sensor is arranged to determine the relative motion of the target device in one to three dimensions and the antenna signal is used to determine the position of the target device in three to five other dimensions, wherein the dimensions are chosen from the spatial coordinates, pitch, yaw and roll.

According to some aspects, the inertial motion sensor is configured to determine the relative motion ofthe target device in at least three dimensions, preferably the spatial coordinates.

According to some aspects, the inertial motion sensor is configured to determine the relative motion of the target device in the three dimensions of the spatial coordinates and at least one, preferably all, of pitch, yaw and roll of the target device.

The present disclosure also relates to a system for determining a target position in at least three dimensions in a body, wherein the system comprises a device (as disclosed above) and a treatment apparatus configured to receive information regarding the target position from the device.

According to some aspects, the system further comprises an insertion device to be inserted into the body, wherein the insertion device comprises a target device passageway for insertion of the target device, and wherein the target device passageway has a first end position, which first position coincides with the target position when the insertion device is inserted in the body and a second end which coincides with the initial position.

According to some aspects, the insertion device is a catheterfor insertion into a natural opening of the body and further comprises an air balloon for securing the end of the catheter in the body.

According to some aspects, the system further comprises an antenna array connected to the control unit, the antenna array is configured to detect an electromagnetic signal transmitted from the target device and to generate an antenna signal forwarded to the control unit. 8 The description of the example embodiments provided herein have been presented for purposes of illustration. The description is not intended to be exhaustive or to limit example embodiments to the precise form disclosed, and modifications and variations are possible in light of the above teachings or may be acquired from practice of various alternatives to the provided embodiments. The examples discussed herein were chosen and described in order to explain the principles and the nature of various example embodiments and its practical application to enable one skilled in the art to utilize the example embodiments in various manners and with various modifications as are suited to the particular use contemplated. The features of the embodiments described herein may be combined in all possible combinations of methods, apparatus, modules, systems, and computer program products. lt should be appreciated that the example embodiments presented herein may be practiced in any combination with each other. lt should be noted that the word "comprising" does not necessarily exclude the presence of other elements or steps than those listed and the words "a" or "an" preceding an element do not exclude the presence of a plurality of such elements. lt should further be noted that any reference signs do not limit the scope of the claims, that the example embodiments may be implemented at least in part by means of both hardware and software, and that several H ll "means , units" or "devices" may be represented by the same item of hardware.

The various example embodiments described herein are described in the general context of method steps or processes, which may be implemented in one aspect by a computer program product, embodied in a computer-readable medium, including computer-executable instructions, such as program code, executed by computers in networked environments. A computer-readable medium may include removable and non-removable storage devices including, but not limited to, Read Only I\/|emory (ROM), Random Access I\/|emory (RAM), compact discs (CDs), digital versatile discs (DVD), etc. Generally, program modules may include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. Computer-executable instructions, associated data structures, and program modules represent examples of program code for executing steps of the methods disclosed herein. The particular sequence of such executable instructions or associated data structures represents examples of corresponding acts for implementing the functions described in such steps or processes. 9 ln the drawings and specification, there have been disclosed exemplary embodiments. However, many variations and modifications can be made to these embodiments. Accordingly, although specific terms are employed, they are used in a generic and descriptive sense only and not for purposes of limitation, the scope of the embodiments being defined by the following claims.

Claims

1. A device for determining a target position (14) in a body (5) in relation to a treatment apparatus (12) in at least three dimensions, wherein the device comprises a target device (20) arranged to be positioned at the target position (14) in the body (5), wherein the target device (20) is configured to be arranged at an initial position (13) in relation to the treatment apparatus (12), characterized in that the target device (20) comprises a inertial motion sensor (21) arra nged to determine a relative motion of the target device (20) from the initial position (13) to the target position (14), wherein the device is configured to determine the target position (14) in relation to the treatment apparatus (12) based on the initial position (13) and the determined relative motion of the target device (20).

2. The device according to claim 1, wherein the target position (14) is in, or adjacent to, a target area (15) intended to be affected by the treatment apparatus (12).

3. The device according to claim 3, wherein the treatment apparatus (12) is a radiation equipment and/or a surgical equipment.

4. The device according to any of claims 1-3, wherein the inertial motion sensor (21) is a gyro.

5. The device according to any of claims 1-4, further comprising a control unit (11) connected to the target device (20), which control unit is arranged on the outside of the body (5) and is configured to determine the target position (14).

6. The device according to claim 5, wherein the target device (20) is connected to the control unit (11) by means ofa wire (23).

7. The device according to any of claims 1-6, wherein the device is configured to determine the target position (14) in the body (5) in relation to the treatment apparatus (12) in at least six dimensions.

8. The device according to any of claims 1-7, wherein the target device (20) also comprises a transmitter (22), which is arranged to transmit an electromagnetic signal, wherein the device comprises an input (33) for an antenna signal from an antenna array (31) comprising a plurality of antenna elements (32) and being configured to detect the electromagnetic signal, and 11 wherein the device is further configured to determine the target position (14) in relation to the treatment apparatus (12) based on the antenna signal.

9. The device according to claim 8, wherein the inertia| motion sensor (21) is arranged to determine the relative motion of the target device in one to three dimensions and the antenna signal is used to determine the position of the target device in three to five other dimensions, wherein the dimensions are chosen from the spatial coordinates, pitch, yaw and roll.

10. The device according to any of claims 1-7, wherein the inertia| motion sensor (21) is configured to determine the relative motion of the target device in at least three dimensions, prefera bly the spatial coordinates.

11. The device according to claim 10, wherein the inertia| motion sensor (21) is configured to determine the relative motion of the target device (20) in the three dimensions of the spatial coordinates and at least one, preferably all, of pitch, yaw and roll of the target device (20).

12. A system (10; 30; 40) for determining a target position (14) in at least three dimensions in a body (5), wherein the system comprises a device according to any of claims 1-11 and a treatment apparatus (12) configured to receive information regarding the target position from the device.

13. The system according to claim 12, further comprising an insertion device (41) to be inserted into the body (5), wherein the insertion device (41) comprises a target device passageway for insertion of the target device (20), and wherein the target device passageway has a first end position (42), which first position coincides with the target position (14) when the insertion device (41) is inserted in the body (5) and a second end (43) which coincides with the initial position (13).

14. The device according to claim 13, wherein the insertion device (41) is a catheter for insertion into a natural opening ofthe body (5) and further comprises an air balloon for securing the end of the catheter in the body (5).

15. The device according to any of claims 12-14, wherein the system further comprises an antenna array (31) connected to the control unit (11), the antenna array (31) is configured to detect an electromagnetic signal transmitted from the target device (20) and to generate an antenna signal forwarded to the control unit (11).