Positioning unit with a plurality of indicators for guiding a needle

Abstract

A positioning unit for guiding a medical object such as a needle includes a securing unit by which the positioning unit may be arranged on the medical object. In order to enable an improved guidance for the medical object, an indicating element with a plurality of indicators is provided. The indicating element is arranged in a fixed position relative to the securing unit. An acquisition unit acquires an item of movement information. The positioning unit is configured to control the plurality of indicators dependent upon the movement information.

Claims

1. A positioning unit for guiding a medical object, the positioning unit comprising: a securing unit, by which the positioning unit is arrangeable on the medical object; an indicating element that is arranged in a fixed position relative to the securing unit, the indicating element comprising: two plates that are each arrangeable on the medical object by a respective part of the securing unit independently of one another, and a plurality of indicators, wherein at least three first indicators of the plurality of indicators are arranged on a first of the two plates, and at least three second indicators of the plurality of indicators are arranged on a second of the two plates, and wherein the securing unit is arrangeable on the medical object such that the medical object extends through the first plate between one of the at least three first indicators and another of the at least three first indicators and through the second plate between one of the at least three second indicators and another of the at least three second indicators; and an acquisition unit for acquiring an item of movement information, wherein the positioning unit is configured to control the plurality of indicators dependent upon item of the movement information.

2. The positioning unit of claim 1, wherein the medical object is a needle.

3. The positioning unit of claim 1, wherein the two plates are round plates.

4. The positioning unit of claim 1, wherein each indicator of the plurality of indicators is configured as a lighting device.

5. The positioning unit of claim 4, wherein the lighting device is a light-emitting diode.

6. The positioning unit of claim 1, wherein the plurality of indicators are arranged such that the plurality of indicators lie on a same circle or a same envelope surface of a cylinder.

7. The positioning unit of claim 6, wherein the securing unit is configured to arrange the positioning unit on the medical object such that a line of gravity, which extends along a main extent direction of the medical object, extends through a midpoint of the circle or the envelope surface.

8. The positioning unit of claim 6, wherein two adjacent items of the plurality of indicators that are arranged together on the circle or on the cylinder each have an even spacing from one another in a peripheral direction.

9. The positioning unit of claim 1, wherein the indicating element further comprises a plurality of linear lights, wherein the plurality of indicators are part of the plurality of linear lights, and wherein the securing unit is configured to arrange the positioning unit on the medical object such that the plurality of linear lights extend parallel to a main extent of the medical object.

10. The positioning unit of claim 1, wherein the positioning unit is configured, through corresponding control of the plurality of indicators, to indicate a direction in which the positioning unit is to be turned, moved, or turned and moved according to the item of movement information.

11. The positioning unit of claim 1, wherein the positioning unit is configured to: in a first illumination step, indicate a direction in which the positioning unit is to be turned according to the item of movement information; and in a second illumination step, indicate the direction in which the positioning unit is to be moved according to the item of movement information, and wherein the first illumination step and the second illumination step take place one after the other.

12. The positioning unit of claim 1, wherein the positioning unit is configured, through corresponding control of the plurality of indicators, to indicate simultaneously for at least two subregions along a main extent direction of the positioning unit a direction in which a relevant subregion of the at least two subregions is to be turned, moved, or turned and moved according to the item of movement information.

13. The positioning unit of claim 1, wherein the at least three first indicators comprise four first indicators arranged on the first plate, and the at least three second indicators comprise four second indicators arranged on the second plate.

14. The positioning unit of claim 1, wherein the item of movement information includes a translation of the positioning unit.

15. The positioning unit of claim 1, wherein the positioning unit is arrangeable on the medical object, via the securing unit, such that the first plate is at a distance away from the second plate along the medical object and the first plate and the second plate are physically connected to each other only indirectly via the medical object.

16. A positioning system comprising: a positioning unit for guiding a medical object, the positioning unit comprising: a securing unit, by which the positioning unit is arrangeable on the medical object; an indicating element that is arranged in a fixed position relative to the securing unit, the indicating element comprising: two plates that are each arrangeable on the medical object by a respective part of the securing unit independently of one another, and a plurality of indicators, wherein at least three first indicators of the plurality of indicators are arranged on a first of the two plates, and at least three second indicators of the plurality of indicators are arranged on a second of the two plates, and wherein the securing unit is arrangeable on the medical object such that the medical object extends through the first plate between one of the at least three first indicators and another of the at least three first indicators and through the second plate between one of the at least three second indicators and another of the at least three second indicators; and an acquisition unit for acquiring an item of movement information, wherein the positioning unit is configured to control the plurality of indicators dependent upon the item of movement information; a sensor unit configured to acquire a position, orientation, or position and orientation of the positioning unit; and a processor configured to determine the movement information dependent upon the acquired position, orientation, or position and orientation of the positioning unit and a target position.

17. The positioning system of claim 16, further comprising a registration unit configured to acquire a positioning of the positioning unit on the medical object.

18. The positioning system of claim 16, wherein the sensor unit comprises an acceleration sensor that is arranged on the positioning unit, and the sensor unit is configured to determine the position, orientation, or position and orientation of the positioning unit based on acceleration data of the acceleration sensor.

19. The positioning system of claim 16, wherein the sensor unit comprises an ultrasound sensor, a radar sensor, an X-ray sensor, an electromagnetic sensor, or a camera.

20. The positioning system of claim 16, wherein the sensor unit is configured to acquire the position or the position and the orientation of the positioning unit.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 shows a schematic side view of one embodiment of a medical system with a positioning system;

(2) FIG. 2 shows a schematic perspective view of a first embodiment of a positioning unit of the positioning system;

(3) FIG. 3 shows a schematic perspective view of a second embodiment of a positioning unit of the positioning system;

(4) FIG. 4 shows a schematic perspective view showing an overview of a visualization of an item of movement information through the positioning unit; and

(5) FIG. 5 shows a schematic perspective view showing an overview of an alternative visualization of an item of movement information through the positioning unit.

DETAILED DESCRIPTION

(6) FIG. 1 shows one embodiment of a medical system 10 that includes a positioning unit 1, a patient support 16, and an immovable module 15. In an intended operating state, the immovable module 15 is arranged, for example, such that the immovable module 15 is immovable relative to the patient support 16. For example, the module 15 is mechanically connected to the patient support 16 by a connecting element 19. The relative position between the module 15 and the patient support 16 is defined by the connecting element 19 and, for example, is constant at least during an operation of the system 10. Alternatively, the immovable module 15 may be arranged in any other way in the pre-determined position relative to the patient support 16. For example, the module 15 is arranged on a wall or a ceiling of a room in which the patient support 16 is located. The patient support 16 may be, for example, an operating table or a hospital bed.

(7) The patient support 16 is configured for holding or receiving a medical target object 17. The medical target object 17 may be a patient or a dummy for simulating the patient. Within the medical target object 17 is a target point 18 to which a medical object 6 is to be guided. For example, the target point is a tumor or a specified position between two bones (e.g., in a joint or on a vertebral column). Thereby, the target point 18 may be simulated by the design of the dummy. In other words, the dummy may simulate bones and tissues of a patient with its design, with a corresponding tumor or corresponding bones.

(8) The medical object 6 is, in the present case, a medical needle. The medical object 6 is to be guided along a pre-determined trajectory 11 (e.g., a previously planned needle path) to a target point 18. In the present case, for the guidance of the needle, a positioning system 9 is provided. The positioning system 9 includes a positioning unit 1 and the immovable module 15.

(9) FIG. 2 shows a first exemplary embodiment of the positioning unit 1. FIG. 3 shows a second exemplary embodiment of the positioning unit 1. Common features of both the embodiments will be described. The positioning unit 1 has a securing unit 2 by which the positioning unit 1 may be arranged on the medical object 6 (e.g., a needle). FIGS. 2 and 3 each show the positioning unit 1 in a state arranged on the medical object 6.

(10) For example, the securing unit 2 is configured for force-fitting and/or form-fitting arrangement of the positioning unit 1 on the medical object 6. The securing unit 2 is thereby configured, for example, to enter into a releasable mechanical connection with the medical object 6. In the present case, for this purpose, the securing unit 2 is configured to encompass the medical object entirely or partially in order to create the mechanical connection. For example, the securing unit may have a receptacle for at least partial encompassing of the medical object 6. A fixing element of the securing unit 2 may be configured for mechanically securing or fixing the medical object 6 in the receptacle. In other examples, the securing unit 2 may have a clip mechanism or a screw mechanism.

(11) An acquisition unit 5 of the positioning unit 1 is configured to detect an item of movement information. For example, the acquisition unit 5 is configured to receive the movement information from a determining unit 8, 13. The determining unit 8 may be located partially or entirely in the positioning unit 1. Alternatively or additionally, the determining unit 13 may be located partially or entirely in the immovable module 15. The movement information relates to the positioning of the positioning unit 1 relative to the pre-determined trajectory 11. In that the positioning unit 1 is arranged on the medical object 6, the movement information indirectly also relates to the positioning of the medical object 6 relative to the pre-determined trajectory 11.

(12) The positioning unit 1 has an indicating element 3. The indicating element 3 has a plurality of indicators 4. The indicators 4 may include, for example, lighting devices (e.g., light-emitting diodes). The positioning unit 1 is configured to control the plurality of indicators 4 dependent upon the movement information. Thereby, the movement information is displayed to a user (e.g., a doctor). By displaying the movement information, for example, an item of guidance information is provided for guiding the positioning unit 1 and/or the medical object 6. For example, the positioning unit 1 has a control unit (e.g., a microcontroller or a microprocessor) for controlling the indicators 4 according to the movement information. The control unit may be arranged within the acquisition unit 5.

(13) According to FIG. 2, the indicating element 3 is provided in the form of two round plates 30. The plates 30 are herein not directly connected to one another. For example, the plates 30 are herein exclusively connected indirectly via the medical object 6 when both plates 30 are arranged on the medical object 6. The plates 30 each have a subelement of the securing unit 2, where the plates 30 may each be arranged, by the respective subelement, independently of one another on the medical object 6. In the present case, a plurality of the indicators 4 are arranged on each of the plates 30. For example, at least three indicators 4 are arranged on each of the plates 30. In the present example, four indicators 4 are arranged on each of the plates 30. Both plates 30 may be configured similarly. Alternatively, the plates 30 may also differ from one another. For example, only one of the plates 30 has the determining unit 8. The other of the plates 30 may then be configured to receive the movement information by the acquisition unit 5 from the determining unit 13 of the module 15 or from the determining unit 8 of the other plate 30.

(14) In the present case, the positioning unit 1 also has a light strip 7. The light strip 7 may indicate an orientation of the positioning unit 1. For example, the light strip 7 may be configured to indicate an orientation of the positioning unit 1 relative to the pre-determined trajectory 11. For this purpose, the light strip 7 may be configured to display a pattern that recreates a spirit level. The light strip 7 may indicate that the orientation of the positioning unit 1 corresponds to a desired value when the corresponding plate 30 with which the light strip 7 is associated is oriented perpendicular to the needle path 11 or the trajectory 11. For example, the light strip 7 may visualize the deviation of the orientation from the desired value.

(15) In the exemplary embodiment according to FIG. 2, the positioning unit 1 is configured to represent the movement for both plates 30 simultaneously according to the movement information. Thereby, the two plates are arranged, as shown in FIG. 2, in different subregions of the medical object 6 in relation to a main extent direction of the medical object 6. Thereby, for both subregions, a corresponding movement is visualized. Considered mathematically, in this way, the guidance along the pre-determined trajectory 11 may be unambiguously specified in relation to two different spatial directions, since a straight line is clearly defined by two points. This is described in greater detail below in relation to FIG. 4.

(16) In some embodiments, the positioning unit 1 has only one plate 30. In this case, for example, the combination of the indicators 4 with a light strip 7 is advantageous. In the case of one plate 30, the positioning unit 1 may be configured to display the movement information sequentially. For example, a portion of the movement information that relates to a first spatial direction is firstly visualized, and subsequently, a portion of the movement information that concerns a portion of the movement information that relates to a second spatial direction is visualized. In other words, the first portion of the movement information relates to the first spatial direction, and the second portion of the movement information relates to the second spatial direction. The positioning unit 1 may be configured to control the indicators 4 one after the other according to the first portion and the second portion of the movement information. In this way, the positioning unit 1 may be configured particularly compactly.

(17) According to FIG. 3, a plurality of linear lights 32 is arranged between two plates 31. The linear lights 32 extend thereby from one of the plates 31 to the other of the plates 31. In other words, the linear lights 32 are arranged on both plates 31. The plates 31 may be connected to one another directly by an additional connecting element. Alternatively, apart from the linear lights 32, the plates 32 are connected only indirectly via the medical object 6 when both plates 31 are arranged on the medical object 6. The plurality of indicators 4 are distributed over the linear lights 32. In other words, each of the linear lights 32 has a plurality of indicators 4. The positioning unit 1 has at least three linear lights 32 (e.g., exactly four linear lights 32).

(18) The positioning unit 1 has a sensor unit 33. The sensor unit 33 has, for example, an acceleration sensor. The sensor unit 33 may be configured to determine the position and/or the orientation of the positioning unit based on the acceleration data of the acceleration sensor. In other words, the sensor unit 33 may be configured to determine the position and/or the orientation of the positioning unit similarly to an odometry based on the acceleration data. Thereby, the position determination may take place, starting from a reference position, by summation and/or integration of acceleration values contained in the acceleration data. The reference position may be defined and/or provided, for example, by the immovable module 15 and/or the patient support 16. For example, the immovable module 15 or the patient support 16 has a holding element 34. The holding element 34 may thereby be configured as a base station or a “dock”. Using a pre-determined relative position between the reference position and the patient support 16 or the medical target object 17, in this way, the position of the positioning unit 1, and thereby also of the medical object 6, relative to the patient support 16 may be determined. Alternatively or additionally, the sensor unit 33 may have a camera, a radar sensor, or an ultrasonic sensor for navigation in the space.

(19) The determining unit 8 may be configured to determine the movement information dependent upon the relative position that is acquired by the sensor unit 33. The determination of the movement information takes place, for example, additionally dependent upon a pre-determined target position. In other words, the determining unit 8 is configured to determine the movement information dependent upon the aforementioned relative position and the target position. The target position corresponds, for example, to the pre-determined trajectory 11. The target position may be stored in the determining unit 8. For example, the target position, which is stored in the determining unit 8, is related to the reference position.

(20) Referring again to FIG. 1, the immovable module 15 may have a sensor unit 12. The sensor unit 12 may have a camera, an electromagnetic sensor, an ultrasonic sensor, a radar sensor, or an X-ray sensor. The camera may be part of an optical tracking system, such as is well known from the prior art. The electromagnetic sensor may be part of an electromagnetic tracking system, such as is well known from the prior art. The sensor unit 12 is configured to determine the position of the positioning unit 1 relative to the module 15.

(21) The determining unit 13 is configured to determine the movement information dependent upon the relative position between the positioning unit 1 and the immovable module 15. The determination of the movement information takes place (e.g., additionally) dependent upon the pre-determined target position. In other words, the determining unit 8 is configured to determine the movement information dependent upon the aforementioned relative position and the target position.

(22) The acquisition unit 5 may be configured to receive the movement information exclusively from the determining unit 8. Alternatively, the acquisition unit may be configured to receive the movement information exclusively from the determining unit 13. Alternatively, the acquisition unit 5 may be configured to receive the movement information both from the determining unit 8 and also from the determining unit 13. The reception of the movement information from the determining unit 13, which is arranged in the immovable module 15, takes place, for example, via radio (e.g., by Wi-Fi or Bluetooth).

(23) Each determining unit 8, 13 is configured to determine the movement information such that during a visualization of the movement information, the positioning unit 1 is guided in the direction of the pre-determined trajectory 11. In other words, the movement information may indicate the direction in which the positioning unit 1 is to move in order to arrive in the direction of the pre-determined trajectory or into alignment with the pre-determined trajectory 11. For this purpose, a mathematical rule and/or an allocation table may be provided.

(24) In a further embodiment, the positioning system 9 may have a registration unit 14. The registration unit 14 is configured to acquire the positioning of the positioning unit 1 on the medical object 6. For this purpose, the registration unit 14 may have a camera. Alternatively, the registration unit 14 is configured to receive a corresponding image of the positioning unit 1 arranged on the medical object 6 from the sensor unit 12. For example, the registration unit 14 is configured to determine, from the positioning of the positioning unit 1 on the medical object 6, a relative position between the positioning unit 1 and the medical object 6. These relative positions may be used during determination of the relative position between the medical object 6 and the sensor unit 12 or the module 15. In other words, the relative position between the positioning unit 1 and the medical object 6 is to be taken into account for the determination of the relative position between the medical object 6 and the sensor unit 12 or the module 15. Alternatively or additionally, the determining unit 8, 13 is configured to take account of the relative position between the positioning unit 1 and the medical object 6 for the determination of the movement information.

(25) FIG. 4 shows, by way of example, how the indicators 4 may be controlled according to the movement information. Thereby, the control of the indicators 4 takes place dependent upon the position and/or orientation of the positioning unit 1 relative to the pre-determined trajectory 11. Indicators 4 arranged in a spatial direction on the indicating element 3 in which the positioning unit 1 is to be moved, presents a first light pattern 20. For example, the first light pattern 20 includes the representation of a first color value and/or a blinking. In other words, according to the movement information, the positioning unit 1 is to be moved in the direction of the aforementioned spatial direction in order to reach the pre-determined trajectory 11. Indicators 4 that lie in this spatial direction show the first light pattern 20. Indicators 4 arranged opposing this spatial direction on the indicating element 3 present a third light pattern 22. For example, the third light pattern 22 includes the representation of a third color value and/or a blinking.

(26) Indicators 4 arranged on the indicating element 3 according to a spatial direction along which, according to the movement information, no movement is provided present a second light pattern 21. The second light pattern 21 includes, for example, the representation of a second color value and/or a blinking.

(27) The respective blinking of the different light patterns 20, 21, 22 may differentiate the light patterns. Alternatively or additionally, the first color value, the second color value and the third color value may differ from one another. For example, the first color value corresponds to a blue color, the second color value corresponds to a green color, and the third color value corresponds to a red color.

(28) According to FIG. 5, the control of the linear lights 32 takes place in an analogue manner. Due to the continuous form of the linear lights 32, however, a different control of the linear lights 32 according to the movement information may be provided. For two of the linear lights 58 and 59, the control is represented according to different exemplary embodiments. Respective regions of the linear lights 58, 59 are to be moved, by way of example, in the drawing plane to the left through to the far right, in order to be guided in the direction of the trajectory 11 according to the movement information. For this reason, the linear lights 58, 59 represent different light patterns in some portions. Above an intersection point 47 between the medical object 6 and the trajectory 11, the positioning unit 1 is to be moved to the left. Below the intersection point 47, the positioning unit 1 is to be moved to the right.

(29) First example: An imaginary horizontal line 49 may be drawn through the intersection point 47. Situated above this line 49 is a region 50 of the linear light 58 that is controlled for representing a first light pattern. Situated below the line 49 is a region 40 that is controlled for representing a second, different light pattern. Situated above the line 49 is a region 43 of the linear light 59 that is controlled for representing the second light pattern. Situated below the line 49 is a region 53 of the linear light 59 that is controlled for representing the first light pattern.

(30) Second example: An imaginary line 48 may be drawn through the intersection point 47, perpendicular to the main extent direction of the medical object 6. Situated above this line 48 is a region 51 of the linear light 58 that is controlled for representing the first light pattern. Situated below the line 48 is a region 41 that is controlled for representing the second light pattern. Situated above the line 48 is a region 44 of the linear light 59 that is controlled for representing the second light pattern. Situated below the line 48 is a region 54 of the linear light 59 that is controlled for representing the first light pattern.

(31) Third example: Situated above the trajectory 11 is a region 52 of the linear light 58 that is controlled for representing the first light pattern. Situated below the trajectory 11 is a region 42 that is controlled for representing the second light pattern. Situated above the trajectory 11 is a region 45 of the linear light 59 that is controlled for representing the second light pattern. Situated below the trajectory 11 is a region 55 of the linear light 59 that is controlled for representing the first light pattern.

(32) The elements and features recited in the appended claims may be combined in different ways to produce new claims that likewise fall within the scope of the present invention. Thus, whereas the dependent claims appended below depend from only a single independent or dependent claim, it is to be understood that these dependent claims may, alternatively, be made to depend in the alternative from any preceding or following claim, whether independent or dependent. Such new combinations are to be understood as forming a part of the present specification.

(33) While the present invention has been described above by reference to various embodiments, it should be understood that many changes and modifications can be made to the described embodiments. It is therefore intended that the foregoing description be regarded as illustrative rather than limiting, and that it be understood that all equivalents and/or combinations of embodiments are intended to be included in this description.