SYSTEM AND METHOD FOR PENETRATING TOOL TRACKING Russian patent published in 2019 - IPC A61B34/00 A61B8/08 

FIELD: medicine.

SUBSTANCE: group of inventions relates to medical equipment, specifically to means of tracking a penetrating instrument. System comprises a matrix of intraoperative transducers configured to generate signals from positions in a matrix and provide one or more real-time target area images, a penetrating tool having a body with at least one sensor mounted in the target body position of the penetrating tool, wherein sensor is responsive to signals from positions in matrix, signal processing module configured to determine position and orientation of penetrating tool in accordance with signals from positions in matrix, wherein the signal processing module further configured to classify the medium in which the target position is positioned, based on the reaction of said at least one sensor on signals from positions in the matrix, an overlaying module configured to generate an overlay image matched with one or more real-time images in order to identify the position of the target position and provide visual feedback on the classification of the medium in which the target position is positioned, a display and a matching module configured to align the reference image with the three-dimensional image volume of the target area, wherein the volume of the three-dimensional image of the target area is reconstructed from two-dimensional images of one or more real-time images. In yet another system, the penetrating tool has an ultrasonic sensor mounted in or near the position of the distal tip, and a signal processing module configured to classify the type of tissue in which the tip of the penetrating tool is positioned, based on the response of the sensor to signals from positions in the matrix. Method of penetrating tool tracking includes generation of signals from positions in matrix to generate one or more images of target area in real time, providing a penetrating tool having a body with a sensor mounted in a target position on the body, wherein the sensor responds to signals from a plurality of positions in the matrix, determining position and orientation of the penetrating tool in accordance with signals from positions in the matrix using a signal processing module, classifying the medium in which the target position is positioned, based on the sensor response to signals from positions in the matrix, generating an overlaid image combined with one or more real-time images to identify the position of the target position and provide feedback relative to the medium, in which the target position is positioned, displaying the superimposed image on said one or more images in real time, reconstructing the volume of the three-dimensional image of the target area from two-dimensional images of one or more images in real time and aligning the reference image with the volume of the three-dimensional image of the target area. System for tracking a penetrating tool inside a subject comprises an array of ultrasonic transducers configured to generate ultrasonic signals from positions in a matrix and provide one or more real-time target area images, a penetrating tool having a body with at least one ultrasonic transducer, installed in target position on penetrating tool body, which reacts to ultrasonic signals from positions in matrix, a signal processing module configured to determine the position and orientation of the penetrating tool in accordance with ultrasonic signals generated by the positions in the matrix, based on the response of at least one sensor to signals from positions in the matrix, wherein the signal processing module is further configured to classify the medium in which the target position including at least one ultrasonic transducer is positioned, wherein classification of medium is based on signals of pulse-echo mode, converted by said at least one ultrasonic measuring transducer, and pulsed-echo mode signals are intended to measure acoustic characteristics of surrounding tissue, overlaying module and display. In yet another system, the ultrasonic transducer is mounted in or near the position of the distal tip, the system also comprises a signal processing module configured to determine a position and orientation of penetrating tool inside subject in accordance with ultrasonic signals generated from positions in matrix, and ultrasonic signals received by ultrasonic measuring transducer, and classify the type of tissue, in which the penetrating tool tip is located, based on the pulse-echo mode signals, converted by the ultrasonic measuring transducer, wherein pulsed-echo mode signals are intended to measure acoustic characteristics of surrounding tissue. Method of tracing a penetrating tool having a body with an ultrasonic measuring transducer is carried out by means of a system with ultrasonic signals received by an ultrasonic transducer.

EFFECT: use of inventions enables accurate localization of a needle tip on an ultrasonic image for spatial guidance during epidural and other interventions.

24 cl, 5 dwg