System and method 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-12544105-B2
Publication Date
2026-02-10
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 invention relates to mapping and tracking lumens in a deformable anatomical structure and modifying a virtual model to represent the structure and mapped lumens in a changed configuration. Catheter positions determined relative to a fiducial sensor provide relative-position information used to add mapped lumens to the virtual model in a first configuration. When the structure transitions to a second configuration, detected changes in relative positions update the supplemented virtual model to reflect the deformation.
The system includes a catheter carrying a catheter tracker configured to remain in a selected lumen during deformation, a fiducial sensor, a virtual model, and a controller. Implementations encompass mapping airways, updating a virtual anatomical model as a lung deforms, and sensor-guided tissue resection near a lesion supporting resection-margin feedback. Visualization features include catheter navigation overlays, sampled position markers, and airway representations within deformable lung models.
Claims Coverage
The independent claims cover two inventive features directed to a method and a system for mapping and tracking lumens in a deformable anatomical structure and updating a virtual model as the structure changes configuration.
Method for mapping and tracking lumens
Independent claim 1 covers mapping a plurality of lumens in a deformable anatomical structure by determining catheter and fiducial sensor positions, relating lumen positions to the fiducial sensor, adding the mapped lumens to a virtual model representing the structure in a first configuration, and modifying the supplemented virtual model based on relative-position changes between first and second configurations.
System for mapping and tracking lumens
Independent claim 4 covers a system comprising a catheter carrying a catheter tracker configured to remain in a selected lumen during deformation, a fiducial sensor, a virtual model, and a controller configured to map lumen positions relative to the fiducial sensor, supplement the virtual model with the mapped lumens, and modify the model to represent the anatomical structure and mapped lumens in a second configuration based on relative-position changes.
The independent claims cover a method and a system that use catheter and fiducial-sensor positions to map lumens and update a supplemented virtual model based on relative-position changes as a deformable anatomical structure changes configuration.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Mapping and tracking airways in a lung and updating a virtual anatomical model as the lung deforms, including catheter navigation near a target and visualization within a deformable lung airway tree.
Sensor-guided tissue resection near a lesion, with distance-based visual, auditory, or haptic feedback concerning resection margins, visualization of a planned resection line, and compensation for tissue deformation.
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