Systems, method and devices for assisting or performing guiding interventional procedures using inertial measurement units and magnetometer sensors
Inventors
Xu, Sheng • Wood, Bradford J. • Tse, Tsz Ho
Assignees
US Department of Health and Human Services
Publication Number
US-12320646-B2
Publication Date
2025-06-03
Expiration Date
2038-05-16
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Abstract
An instrument tracker includes a case having an interior and exterior with a plurality of instrument seats, an inertial measurement unit (IMU), and a controller. The IMU and controller are arranged within the interior of the case and the controller is disposed in communication with the IMU and is responsive to instructions recorded on a memory to receive position information from the IMU, determine at least one of position and orientation of an instrument fixed relative to the case by the plurality of instrument seats using the position information received from the IMU, and transmit the at least one of position and orientation to a display device for displaying position and orientation of the instrument relative to a predetermined insertion path through a subject between an entry point on the surface of the subject and a region of interest within the interior of the subject. Instrument tracking systems and methods tracking position of instruments are also described.
Core Innovation
The invention provides an instrument tracker comprising a case with an interior and exterior having multiple instrument seats that define an instrument channel, internally housing an inertial measurement unit (IMU) including a magnetometer, accelerometer, and gyroscope, along with a controller configured to receive position information from the IMU. The controller determines the instrument's position and orientation fixed relative to the case and transmits this data to a display device. The display portrays the instrument's position and orientation relative to a predetermined insertion path through a subject from an entry point on the subject's surface to a region of interest within the subject.
The problem addressed concerns the limitations of existing needle tracking and guidance methods during interventional procedures, which rely on either freehand techniques or various guidance systems such as robotic-assisted methods, cone beam computed tomography, laser guidance, optical tracking, electromagnetic tracking, or fused modality imaging. Each of these known methods suffers drawbacks like high cost, complexity, workflow impediments, line-of-sight restrictions, interference from metal objects, or additional procedural complexity and error sources. Hence, there remains a need for improved systems and methods for real-time instrument tracking and visualization during interventional procedures.
The disclosed system integrates a compact instrument tracker with sensor fusion capabilities using IMU components and magnetometer sensors to accurately track the angular orientation and insertion depth of instruments such as needles or catheters. The instrument tracker wirelessly communicates with a display device that receives imaging data of the subject, defines an insertion path avoiding obstacles, and provides user feedback on instrument positioning relative to the path. Calibration procedures, including a fast one-touch calibration for off-axial plane angles, and real-time adjustments using gravity vector data ensure accurate tracking without requiring extensive pre-calibration. The system supports multiple user interfaces including auditory and visual modules to facilitate guidance during interventions.
Claims Coverage
The patent contains three independent claims focused on an instrument tracker device, an instrument tracking system, and a method of tracking an instrument’s position and orientation.
Instrument tracker with adaptive calibration and orientation adjustment
An instrument tracker comprising a case with multiple structures defining an instrument channel, an IMU including a gravity sensor, a controller with memory containing instructions to calibrate for off-axial plane angles by generating calibration matrices, subsequently receive positional and orientation information, determine position and orientation of an instrument fixed relative to the case, and transmit this information to provide feedback relative to a predetermined insertion path. The controller adjusts orientation information differently based on whether the insertion path corresponds to in-axial plane angles (using the gravity vector) or off-axial plane angles (using calibration matrices).
Instrument tracking system with wireless communication and display device processing
An instrument tracking system comprising the instrument tracker (as above) with a wireless communication module to transmit orientation and insertion depth data to an output device. The output device includes a display device controller with memory containing instructions to receive imaging data, define the insertion path, receive instrument data, compare instrument orientation and insertion depth to the path, and display this comparison.
Method of tracking position and orientation of an instrument with feedback
A method including calibrating the instrument tracker for off-axial plane angles by generating calibration matrices; fixing the instrument tracker to an instrument; receiving positional and orientation information from the IMU; determining instrument position and orientation; transmitting this data to a display device; comparing the instrument data to a predetermined insertion path through the subject; and calculating differences to provide visual or auditory feedback. The controller adjusts orientation information with gravity vector data for in-axial plane angles and with calibration matrices for off-axial plane angles.
The independent claims collectively disclose a calibrated instrument tracker device capable of real-time instrument orientation and position determination using an IMU and gravity sensing, integrated into a wireless instrument tracking system with an output device for visual and auditory feedback. The claims also cover a method implementing these features for guiding instrument insertion along a defined path within a subject.
Stated Advantages
Provides a compact, wirelessly communicating instrument tracker capable of 6 degrees-of-freedom sensing for real-time tracking of instruments during interventional procedures.
Enables accurate needle positioning without requiring line-of-sight, overcoming limitations of optical or electromagnetic tracking methods.
Employs sensor fusion and gravity vector based adjustments to reduce gyroscope drift and cumulative errors, improving orientation accuracy without extensive pre-calibration for typical in-axial-plane insertions.
Features a fast, one-touch calibration procedure for off-axial-plane targeting to enable quick and flexible setup.
Improves clinical workflow with integrated auditory and visual user interfaces and supports various display devices including smartphones and tablets for operator guidance.
Documented Applications
Guidance and tracking of needles, catheters, or portable imaging devices during interventional procedures such as computed tomography (CT)-guided needle ablation of tumors.
Use in image-guided interventions involving regions of interest within a subject, including cancer treatments requiring precise instrument insertion to avoid obstacles like bones and blood vessels.
Integration with imaging devices including x-ray, CT, positron emission tomography (PET), magnetic resonance imaging (MRI), and ultrasound for real-time visualization and navigation of instruments relative to internal anatomical targets.
Application in planning and validating instrument insertion paths that avoid anatomical obstacles during minimally invasive therapies and interventions.
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