System for a tissue resection margin measurement device
Inventors
Bueno, Raphael • Jagadeesan, Jayender • Lucas, Alan D.
Assignees
The Brigham and Women's Hospital Inc • NAVIGATION SCIENCES Inc
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Publication Number
US-12527599-B2
Publication Date
2026-01-20
Expiration Date
Abstract
Embodiments of the invention provide a system and method for resecting a tissue mass. The system for resecting a tissue mass includes a first sensor for measuring a signal corresponding to the position and orientation of the tissue mass. The first sensor is dimensioned to fit inside of or next to the tissue mass. The system also includes a second sensor attached to a surgical instrument configured to measure the position and orientation of the surgical instrument. A controller is in communication with the first sensor and the second sensor, and the controller executes a stored program to calculate a distance between the first sensor and the second sensor. Accordingly, visual, auditory, haptic or other feedback is provided to the clinician to guide the surgical instrument to the surgical margin.
Core Innovation
The disclosed systems determine the position and orientation of an instrument relative to a fiducial tracker secured in an anatomical structure near a tissue mass. The fiducial tracker and an instrument-carried tracker provide position and orientation signals, enabling a controller to determine relative position and orientation. The system provides guidance through feedback mechanisms as the instrument advances toward the target relative to a planned resection line to preserve a resection margin.
The systems include a sensor assembly powered by an electrical lead alongside a needle cannula deployment assembly, configured either within the cannula lumen or slidably disposed distal to a pusher. Disclosed embodiments further encompass deformation-aware modeling, airway mapping and tracking, bronchoscopic sensor deployment, and measurement of surgical stapler articulation. Introductory background sections are omitted from the supplied content, so the specific problem being solved is not explicitly described in patent.
Claims Coverage
The claims define two inventive features across two independent claims directed to systems determining instrument position and orientation relative to a fiducial tracker.
Relative instrument positioning using a fiducial tracker
The claim covers a system comprising a needle cannula containing a sensor assembly in its lumen, a fiducial tracker adapted to be secured in an anatomical structure near a tissue mass, an electrical lead extending distally to provide power, an instrument carrying an instrument tracker, and a controller that determines the instrument's position and orientation relative to the fiducial tracker.
Pusher-based deployment of a sensor assembly
The claim covers a system comprising a sensor assembly with a fiducial tracker adapted to be secured near a tissue mass and an electrical lead providing power, along with a deployment assembly having a needle cannula and a pusher. The sensor assembly is slidably disposed within the needle cannula distal to the pusher, while an instrument tracker and a controller determine the instrument's position and orientation relative to the fiducial tracker.
Together, the independent claims cover fiducial-based determination of an instrument's position and orientation relative to a tissue mass, differentiating an arrangement having a sensor assembly in a needle cannula lumen from an arrangement slidably disposed distal to a pusher.
Stated Advantages
The system guides resection while preserving a resection margin.
Documented Applications
Guidance for resection of a tissue mass using the relative position of a tracked instrument and a nearby fiducial tracker during image-guided localization and intervention, including placement in lung anatomy and positioning along anatomical structures in relation to a planned resection path.
Airway mapping and tracking, bronchoscopic sensor deployment, deformation-aware modeling, and measurement of surgical stapler articulation.
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