• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The ultrasonic calibration device comprises: a body part (1) having at least one echogenic mark (2); a marking portion (3) having at least one tracking marker (4) detectable by a medical monitoring system; and a hook-shaped mounting portion (5) extending from the body portion. The invention also relates to a method for calibrating an ultrasound probe, comprising the steps of: filling a container (9) with a fluid; placing an ultrasonic calibration device according to the invention in the container; comparing, with a medical navigation system, a calculated position of at least one marker (2) - calculated using a virtual model of the calibration device and a tracking system which detects the spatial position of the tracking marker - at a determined position of the marker - which is determined using an ultrasound probe followed.
    公开号:FR3024832A1
    申请号:FR1552803
    申请日:2015-04-01
    公开日:2016-02-19
    发明作者:Edward Dunlap；Uli Mezger；Jerome Vuillemin
    申请人:Brainlab AG；
    IPC主号:
    专利说明:

    [0001] The present invention relates to an ultrasonic calibration device for calibrating the signal of an ultrasound probe and a corresponding method for calibrating an ultrasound probe.
    [0002] It is known in the prior art that ultrasonic calibration devices, called ultrasonic imaging ghosts, can be used to calibrate ultrasound probes. For this purpose, such a phantom includes a housing containing one or more echogenic mark (s) such as wires that are visible to the ultrasound probe. The housing also contains an anechoic medium in which the pins are embedded and which drives the ultrasonic waves. As soon as the relative position of the pins and the ultrasonic probe has been established, for example by determining the spatial position of tracking markers attached to the phantom and the probe, it is possible to check the correct position of the markers as shown. the ultrasound image.
    [0003] WO 2009/063360 discloses a generic ultrasound imaging phantom comprising a container or reservoir filled with a liquid gel or other suitable aqueous medium, wherein a calibration element / mark is immersed in the medium. The use of current ultrasound imaging ghosts is restrictive, since the known ghosts are heavy (in part because of the anechoic environment contained therein) and must be draped for sterility reasons. The anechoic environment inside the ghost can also dry out. In addition, the available calibration depth depends on the ghost size and is often limited to a few centimeters. It is an object of the present invention to provide an ultrasonic calibration device and a corresponding method for calibrating an ultrasonic probe that solves at least one of these problems. Advantages, advantageous elements, advantageous embodiments and advantageous aspects of the present invention are described in the following. Different advantageous elements may be combined in accordance with the invention, whenever this is technically feasible and expedient. Specifically, an element of an embodiment that has the same function or a function similar to another element of another embodiment may be exchanged with said other element, and an element of an embodiment which adds an additional function to another embodiment may in particular be added to said other embodiment. The ultrasonic calibration device, in one embodiment of the present invention, comprises: - a body part having at least one echogenic reference; a marking part having at least one tracking marker which can be detected by a medical monitoring system; and a hook-shaped mounting portion extending from the body portion. In other words, the phantom according to the present invention may comprise a body part which provides support for one or more echogenic mark (s) comprising an echogenic material such as an echogenic plastic which can be detected by an ultrasound probe and therefore seen in an ultrasound image. If the body portion is made of anechoic / sonoluminescent material, the at least one echogenic mark may be incorporated within the body portion. In another embodiment, however, the indicia may be provided outside of the body portion or even at a distance from the body portion by means of connecting members which maintain the markers in a fixed arrangement in space with respect to the body part. The markers may have any conceivable shape suitable for ultrasonic calibration, where different markers may even have different shapes. In a preferred embodiment, however, all landmarks have a spherical shape which therefore appears to be the same, even in ultrasound images taken from different directions. The calibration device according to the invention may also comprise a marking part which supports one or more tracking markers, the spatial position of which can be determined by means of a medical monitoring system, for example a system optical tracking system, ultrasonic tracking system or electromagnetic tracking system. Since the tracking markers are firmly attached to the body part via the marking part, the spatial position of the markers can be determined at any time using the medical tracking system.
    [0004] The calibration device according to the invention may also have a hook-shaped mounting portion extending from the body portion and allowing the calibration device to be mounted or hung on the upper edge of the body. any cup-shaped receptacle, such that the body portion and the at least one mark extend at least partially into the receptacle.
    [0005] The present invention contemplates that cup-shaped receptacles and media with sonoluminescent properties (such as isotonic sterile water) are already available in a medical environment, so that it is possible to use these articles in a variety of ways. integrating them into a calibration procedure for an ultrasound probe. In other words, the invention provides an ultrasonic imaging phantom that removes all portions that are in any case available in a medical environment and do not need to be provided as an integral part of the probe. ultrasound. Specifically, the closed case of a prior art ultrasound imaging phantom can be replaced by any suitable available receptacle, such as a glass, bowl or cup, and the anechoic medium encapsulated by the closed housing. Prior art ghosts may be replaced by any sonoluminescent material, such as sterile isotonic water with which the receptacle is filled. The phantom according to the invention should simply provide one or more markers which can be detected in the space which, when immersed in the sonoluminescent medium, allows allow an ultrasound probe to be calibrated. According to another embodiment of the present invention, the mounting portion has an aperture that substantially points in a direction along the side of the body portion. As already explained above, at least a portion of the body portion must extend into a planned receptacle, so that the at least one echogenic mark is immersed in the sonoluminescent medium with which the receptacle is to be filled. For this purpose, the hook-shaped mounting portion 30 must be positioned relative to the body portion so that, when the mounting portion is hooked to the upper rim of the receptacle, the body portion extends toward the body portion. down in the receptacle. If the body portion has an elongate shape, the opening of the hook-shaped mounting portion should be oriented downwardly along the side of the body portion and in a direction substantially parallel to the longitudinal axis of the body portion. the body part.
    [0006] According to another preferred embodiment of the present invention, the body portion has a longitudinal shape, wherein a plurality of echoic markers may, but need not be, arranged successively along the side of the body portion. Such an arrangement of the markers may, for example, be capable of being ultrasonically calibrated for different depths, since markers may be arranged at different depths below the level of the echogenic medium in accordance with the length of the ultrasound probe. body portion extending into the receptacle. The markers can be firmly coupled to the body portion via arms that extend in different spatial directions, so that the distance between the markers increases for a given length of the body portion. In accordance with a preferred embodiment, the body portion comprises at least one member for breaking between at least two of the markers. Breaking elements such as break points or break lines, which may be formed by indentations, recesses, cutouts, bores, or apertures, and which weaken the structure of the body portion to allow a portion of the body part to be broken, allow the user to adapt the size of the calibration device to receptacles of different depths. If, for example, only a shallow receptacle is available, the user may break part of the markers as well as a portion of the body part, so that the remaining portion of the body part as well as the remaining markers can be immersed inside the shallow receptacle.
    [0007] The calibration device according to the invention may also include a dedicated handle portion which may be arranged between the mounting portion and the marking portion. It is often desirable to determine the so-called timing of the ultrasound images (the divergence between the moment at which a real change in the position of structures detected by the ultrasound probe occurs and the moment at which this change of position occurs in the ultrasound image), which requires that the calibration device be moved inside the receptacle. Since the line of sight between the marking portion supporting the tracking markers and an optical tracking system must not be interrupted, and the user must be prevented from grasping the calibration device in the vicinity of the markers. If the echogenesis could otherwise be disturbed, it is beneficial to provide a dedicated handle portion to clearly indicate to the user where to enter the calibration device during movement to determine timing. The calibration device may be made of a plastic material, for example an echogenic plastic material, so that it can be provided as an inexpensive disposable article. Specifically, the calibration device can be injection molded. It is also possible to form the entire calibration device as an integral part, so that the body part as well as the marks, the marking part and the mounting part are injection molded as one piece. It is also conceivable for the body part, echogenic markers and / or the marking part to form separate portions which are assembled to form the calibration device. Alternatively, the marking portion may be attached to the body portion 15 and / or the mounting portion through a bonding interface that allows the marking portion to be attached to the calibration device. . For example, the body part as well as the markings and the mounting part can be provided as an inexpensive disposable item, while the marking part is provided as a reusable article which is connected to the body part or the mounting part. The interface may be a fastener attachment or other suitable fastener that provides a complementarity fit or a friction fit, where the interface may also allow the marking portion to be attached to the portion of the fastener. and / or the mounting portion in a single position only, so that the tracking markers are always arranged in a predetermined spatial position relative to the markings on the body portion. According to another embodiment, at least a portion of the calibration device has an overall density which is substantially equivalent to a density of the sonoluminescent medium used, for example a saline solution. If the body part to be immersed in a saline solution has a neutral buoyancy, the body part may be prevented from sinking or mounting, so that the calibration device will maintain its position within the body. receptacle. For this purpose, the calibration device may also comprise at least one floating aid 35 and / or at least one balancing part which makes it possible to obtain a balanced calibration device. The remaining portions that extend above the water level can also be balanced. Specifically, the center of gravity of the remaining portions may be substantially on a vertical plane that includes the point of contact or the line of contact between the mounting portion and the upper rim of a receptacle. More generally, the calibration device 5 may be balanced around the contact point or the contact line of the mounting portion so that the spatial position of the submerged body portion as well as landmarks is maintained. The calibration device may also include a mark, preferably at a predetermined distance from the at least one mark, which indicates the extent to which the calibration device is to be immersed. If the body portion to be immersed in the sonoluminescent medium has a neutral buoyancy, the rupture of a portion of the body portion will have no effect on the overall balance of the calibration device. As already explained above, the calibration device may be a disposable article and thus provided as a packaged and pre-sterilized item. The calibration device according to the invention may also include a calibration element in a predetermined position with respect to the tracking markers. For example, an indentation may be formed in the calibration device, preferably in the body portion or the mounting portion. This indentation may assist in the calibration of an instrument or a follow-up surgical device. Since the spatial position (spatial location and / or spatial orientation) of the indentation can be determined through the tracking system by detecting the position of the markers of the marking portion, the relative position of the indentation and tracking markers attached to the instrument or device to be calibrated are also known. An instrument tip, for example, can be brought into contact with the indentation so as to determine the position of the instrument tip relative to the tracking markers of the instrument. In the same manner, a focal point of a monitored medical microscope can be determined with respect to microscope tracking markers by focusing the microscope on the indentation. The calibration element may, of course, also have any other suitable shape, such as for example a groove, an edge or an extension. Another aspect of the present invention relates to an ultrasonic calibration system comprising a calibration device as indicated above and a receptacle / container which is configured to be filled with a fluid and which is shaped to receive the calibration device. Such a system makes it possible to carry out ultrasonic calibration even if no suitable receptacle is readily available. The user simply has to fill the receptacle with a sonoluminescent medium, such as, for example, sterile isotonic water, and attach the calibration device to the upper rim of the receptacle. The calibration device may be provided together with the receptacle in a pre-sterilized package or may be provided separately. The receptacle may be made of a plastic material and / or may be a disposable article.
    [0008] Another aspect of the present invention relates to a method for calibrating an ultrasound probe, comprising the steps of: - filling a container with a fluid, particularly a saline solution; Placing an ultrasonic calibration device as described herein in the container; comparing, using a medical navigation system, a calculated position of at least one marker which is calculated using a virtual model of the calibration device and a tracking system which detects the spatial position of the at least one tracking marker - at a determined position of the at least one marker that is determined using an ultrasound probe followed. To perform the calibration procedure according to the invention, medical personnel may fill any suitable receptacle or container with a sonoluminescent medium, for example a saline solution, and hook the calibration device in accordance with the present invention. invention on the upper rim of the receptacle. Since the benchmarks of the calibration device are arranged in a known spatial position relative to the tracking markers, the exact spatial position of the echogenic markers can be determined by means of a tracking system configured to detect the tracking markers. . Likewise, the ultrasound probe may include tracking markers that can be detected by the tracking system, so that the relative position of the ultrasound probe and landmarks can also be determined. Once the relative position of the ultrasound probe and landmarks is known, it is possible to verify whether the position of the landmarks as shown on the ultrasonic image generated by the ultrasound probe corresponds to the determined landmark position. through the tracking system. Although the method explained above is used for "static" calibration, the invention also provides a means for performing "dynamic" calibration. In order to determine the timing of the ultrasound image, the calibration device is moved inside the container, which changes the position of the marks. Since the tracking system will determine any change in position in real time, a comparison between the landmark position as determined through the tracking system and the landmark position as determined via the ultrasound probe calculates the delay of the ultrasound image. A marking device may for example be a reference star or pointer or a single tracking marker or a plurality of (individual) markers which are therefore preferably in a predetermined spatial relationship. A tagging device comprises one, two, three or more tags, wherein two or more tags are in a predetermined spatial relationship. This predetermined spatial relationship is known in particular of a navigation system and is for example stored on a computer of the navigation system. A "reference star" refers to a device with a number of tracking markers, preferably three markers, which are attached thereto, where the markers are attached (particularly removably) to the reference star so that they are stationary, thereby providing a known (and advantageously fixed) position of the markers relative to one another. The position of the markers relative to each other may be individually different for each reference star used in a surgical navigation method, in order to allow a surgical navigation system to identify the corresponding reference star on the basis of the position of its markers relative to each other. It is therefore also possible later for the objects (for example, instruments and / or portions of a body) to which the reference star is fixed to be identified and / or differentiated accordingly. In a surgical navigation method, the reference star serves to attach a plurality of markers to an object (e.g., bone or medical instrument) in order to be able to detect the position of the object (e.g. that is, its location and / or its spatial alignment). Such a reference star in particular has an attachment means to the object (for example, a clamp and / or a wire) and / or a holding element which ensures a distance between the markers and the object (in particular to contribute to the visibility of the markers for a marker detection device) and / or marker carriers which are mechanically connected to the holding member and to which the markers can be attached. The present invention can also be applied to a navigation system for computer assisted surgery. This navigation system 10 preferably includes the aforementioned computer for processing the data provided in accordance with the data processing method as described in any of the previous embodiments. The navigation system preferably comprises a detection device and / or a tracking system for detecting the position of the detection points and / or tracking markers which represent the main points and the auxiliary points, in order to generate signals. detecting and providing the detection signals generated to the computer so that the computer can determine the absolute data of the main points and the absolute data of auxiliary points on the basis of the received detection signals. In this way, the absolute dot data can be supplied to the computer. The navigation system preferably also includes a user interface for receiving the calculation results from the computer (e.g., the position of the main plane, the position of the auxiliary plane and / or the position of the standard plane). The user interface provides the received data to the user as information. Examples of a user interface include a display device such as a monitor or a speaker. The user interface may use any type of indication signal (e.g., a visual signal, an audio signal and / or a vibration signal). An example of a display device is an augmented reality device (also referred to as augmented reality glasses) which can be used as goggles for navigation. A specific example of such augmented reality glasses is Google Glass (a trademark of Google, Inc.). An augmented reality device may be used both to input information into the navigation system computer through user interaction and to display information outputted by the computer.
    [0009] A navigation system, particularly a medical and / or surgical navigation system, is interpreted to mean a system that may include: at least one marking device; a transmitter that emits electromagnetic waves and / or electromagnetic radiation and / or ultrasonic waves; a receiver that receives electromagnetic waves and / or electromagnetic radiation and / or ultrasonic waves; and an electronic data processing device which is connected to the receiver and / or the transmitter, wherein the data processing device (e.g. a computer) comprises in particular a processor (CPU) and a working memory and advantageously an indicating device for transmitting an indication signal (for example, a visual indication device such as a monitor and / or an audio indication device, such as a speaker and / or a tactile indication device, such as a vibrator) and a permanent data memory, in which the data processing device processes the navigation data transmitted to it by the receiver and can advantageously output guidance information to a user via the indication device. The navigation data can be stored in the permanent data memory, and for example compared to data previously stored in said memory.
    [0010] In the following, the invention is described with reference to the accompanying figures which show preferred embodiments of the invention. The scope of the invention is however not limited to the specific elements described in the figures. Figures 1A to 1D show four different side views of a preferred embodiment of the calibration device according to the invention. Figures 2A and 2B show the calibration device of Figures 1A-1D and a cup-shaped receptacle in a side view and a top view, respectively.
    [0011] As shown in FIGS. 1A-1D, the calibration device according to the invention comprises an elongate body portion 1 with three spherical markers 2 connected thereto. Each of the pins 2 is connected to the body portion 1 through a rigid arm, wherein each arm extends in a direction perpendicular to the longitudinal axis of the body portion 1. Figure 1D shows also that the arms extend in different directions so as to increase the distance between the marks 2. The body portion 1 also comprises two elements intended for breaking 6, one at the point of attachment between the distal reference mark 2 and the center mark 2 and one at the point of attachment between the center mark 2 and the proximal mark 2. Each of the elements intended for rupture 6 allows the portion of the body part 1 located distal to the the breaking element 6 to be broken. The body part 1 also comprises indication marks for each of the marks 2 which indicate the depth of the corresponding marks 2 below the watermark 8. The watermark 8 indicates the level at which the calibration device must be immersed in a sonoluminescent medium in order to obtain the best possible result and to achieve the depth indication provided by the indication marks printed on the body part 1. A mounting part 5 is connected to the body part 1 and has a shape hook with an opening which is oriented in a direction substantially parallel to the longitudinal axis of the body portion 1, although it can be seen that the opening and the parallel side walls of the hook extend to a certain angle with respect to the longitudinal axis of the body portion 1, the reason being that this shape of the mounting portion 5 keeps the markers 2 away from the receptacle wall on which the mounting part 5 was hooked. This is shown in more detail in Figures 2A and 2B.
    [0012] A marking portion 3 of the calibration device is connected to the top of the mounting portion 5, where a handle portion 7 which is designed to be grasped by a person is arranged between the marking portion 3 and the mounting portion. 5 and connects the mounting portion 5 and the marking portion 3 to each other. The marking portion 3 comprises three tracking markers 4 which can be detected by an optical tracking system (not shown) to determine the spatial position of the calibration device. As can also be seen in FIGS. 1A-1D, the ultrasonic calibration device in accordance with the present invention is formed as an integral device comprising only a portion that can be made of a plastic material, particularly a plastic material. injection molded. However, it is also conceivable that the calibration device comprises two or more distinct portions that are made from the same material or different materials and connected to each other.
    [0013] Figures 2A and 2B show the calibration device according to the invention together with a receptacle 9 which can be used with the present invention and which is part of it and which can be supplied together with the calibration device, preferably as a disposable article made of a plastic material.
    权利要求:
    Claims (15)
    [0001]
    REVENDICATIONS1. Ultrasonic calibration device, comprising: - a body part (1) having at least one echogenic mark (2); a marking part (3) having at least one tracking marker (4) which is configured to be detected by a medical monitoring system; and - a hook-shaped mounting portion (5) extending from the body portion (1).
    [0002]
    The calibration device according to claim 1, wherein the mounting portion (5) has an aperture that points in a direction along the side of the body portion (1).
    [0003]
    Calibration device according to any of claims 1 or 2, wherein the body portion (1) has a longitudinal shape, and wherein a plurality of markers (2) are arranged successively along the side of the body part (1).
    [0004]
    4. Calibration device according to claim 3, wherein the body portion (1) comprises at least one element intended for breaking (6) between at least two of the marks (2).
    [0005]
    5. Calibration device according to any one of claims 1 to 4, further comprising a dedicated handle portion (7).
    [0006]
    6. Calibration device according to any one of claims 1 to 5, wherein the calibration device is made of a plastic material.
    [0007]
    The calibration device according to any one of claims 1 to 6, wherein the calibration device is formed in one piece.
    [0008]
    Calibration device according to one of Claims 1 to 6, in which the marking part (3) is fixed to the body part (1) and / or the mounting part (5) by the intermediate link interface that allows the marking portion (3) to be attached to the calibration device. 3024832 14
    [0009]
    The calibration device according to any one of claims 1 to 8, wherein at least a portion of the calibration device has an overall density that is substantially equivalent to a density of a physiological saline solution. 5
    [0010]
    Calibration device according to any one of claims 1 to 9, further comprising a floating aid or a balancing portion.
    [0011]
    The calibration device of any one of claims 1 to 10, further comprising a mark (8) at a predetermined distance from the at least one mark (2), which indicates the extent to which the calibration must be immersed.
    [0012]
    Calibration device according to any one of claims 1 to 11, wherein the calibration device is a disposable and sterilized article.
    [0013]
    An ultrasonic calibration system, comprising a calibration device according to any one of claims 1 to 12 and a container (9) which is configured to be filled with a fluid and shaped to receive the device. 'calibration.
    [0014]
    14. A method of calibrating an ultrasonic probe, comprising the steps of: - filling a container (9) with a fluid, particularly a saline solution; placing an ultrasonic calibration device according to any one of claims 1 to 12 in the container (9); comparing, with the aid of a medical navigation system, a calculated position of at least one marker (2) which is calculated by using a virtual model of the calibration device and a tracking system which detects the spatial position of the at least one tracking marker (4) - at a determined position of the at least one marker (2) which is determined using an ultrasound probe followed. 35
    [0015]
    The method of claim 14, further comprising the steps of: - grasping and moving the calibration device within the container (9); to determine, by means of a medical navigation system, the delay of the ultrasound image by comparing the calculated position of the at least one marker (2) with the determined position of the at least one marker (2) when the calibration device is moved.
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    同族专利:
    公开号 | 公开日
    DE102015110995A1|2016-02-18|
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    GB2529283A|2016-02-17|
    US10575828B2|2020-03-03|
    US20170215848A1|2017-08-03|
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    法律状态:
    2016-04-21| PLFP| Fee payment|Year of fee payment: 2 |
    2017-04-19| PLFP| Fee payment|Year of fee payment: 3 |
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    PCT/EP2014/073205|WO2016023599A1|2014-08-14|2014-10-29|Ultrasound calibration device|
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