KR102852808B1 - System for tracking position and posture of needle - Google Patents

Abstract

The present invention provides a needle position and posture tracking system, comprising: a first light source that irradiates a living body with a first light including a first wavelength; a second light source that irradiates the living body with a second light including a second wavelength; a needle that is inserted into the living body and includes a luminescent material that absorbs the first light and emits a third light including a third wavelength; a first detector that detects the third light; and a second detector that detects a fourth light that is reflected from the living body and has a specific spectrum centered on the second wavelength.

Description

System for tracking position and posture of needle

Embodiments of the present invention relate to a needle position and posture tracking system, and more particularly, to a medical needle position and posture tracking system inserted into a human body.

In the medical field, needles are inserted into living organisms for purposes such as blood draws, drug administration, or biopsies. For example, when inserting a needle into a specific blood vessel or location within a living organism, precise needle handling and adjustment are crucial.

Traditionally, needles were handled by doctors or nurses using their senses or with the assistance of specific medical imaging. However, when using medical imaging (e.g., ultrasound, CT, MRI, etc.) to handle needles, it was difficult to accurately monitor the needle's position and posture.

For example, when using conventional medical imaging, it was difficult to monitor the position and posture (e.g., angle) of the needle in real time, and precise needle handling was impossible.

Specifically, the depth or angle at which the needle must be inserted may vary depending on the characteristics of the blood vessel, such as its thickness, elasticity, and resilience. For example, the blood vessels of children are thin, and the blood vessels, veins, and blood vessels of patients with low blood pressure have low elasticity, making it difficult to handle the needle. For example, the blood vessels above have low elasticity, so the blood vessel may move when trying to insert the needle. In addition, arteries have high elasticity, so the needle may not be inserted properly in some cases. Therefore, when monitoring the needle using ultrasound images, CT images, MRI images, etc., the above difficulties exist, and there is a problem that it is difficult to monitor the position and posture of the needle in real time during the above process.

Furthermore, medical imaging using radiation (e.g., CT scans) poses a risk of radiation exposure. Furthermore, because conventional medical imaging is two-dimensional, even if a needle is identified, it is difficult to determine whether it has been properly inserted into the target location or whether it is positioned anterior or posterior to the target location.

Japanese Patent Publication No. 2015-136494 (July 30, 2015)

The present invention has been devised to improve the above-mentioned problems, and aims to provide a system that tracks the position and posture of a needle in real time using light without the risk of radiation exposure.

However, these tasks are exemplary and the scope of the present invention is not limited thereby.

A needle position and posture tracking system according to one embodiment of the present invention may include: a first light source that irradiates a living body with first light including a first wavelength; a second light source that irradiates the living body with second light including a second wavelength; a needle that is inserted into the living body and includes a luminescent material that absorbs the first light and emits third light including a third wavelength; a first detector that detects the third light; and a second detector that detects fourth light reflected from the living body and having a specific spectrum centered on the second wavelength.

According to one embodiment, the system may further include a display device that visualizes a signal detected by the first detector and a signal detected by the second detector and displays the image on one screen.

According to one embodiment, the system may further include a scanner that changes the path of the first light and the second light within a predetermined angular range so as to irradiate the first light and the second light to a predetermined area of the living body.

According to one embodiment, at least a portion of the path of the first light and the path of the second light overlap, and the path of the first light and the path of the second light can be combined by a half mirror.

According to one embodiment, the system may further include a light emitter that emits laser light to guide the insertion angle and insertion depth of the needle.

In one embodiment, the light emitters are at least two, and a total of three laser lights can be emitted from the at least two light emitters to guide the insertion angle and insertion depth of the needle.

According to one embodiment, the system further includes: an ultrasonic detector; an optical tracker connected to the ultrasonic detector; and a processor connected to the optical tracker, a display device, and the first detector; wherein the processor can display an image of a needle by superimposing it on an ultrasonic image obtained through the ultrasonic detector and the optical tracker.

In one embodiment, the needle includes an optical coherence tomography (OCT) detector, and the system further includes an OCT imaging device connected to the OCT detector; and a processor connected to the OCT detector, the OCT imaging device, and the first detector; wherein the processor can control the OCT imaging device to display an image of the OCT detector acquired through the first detector by superimposing it on an OCT image acquired through the OCT detector.

Other aspects, features and advantages other than those described above will become apparent from the following drawings, claims and detailed description of the invention.

According to one embodiment of the present invention as described above, the position and posture of a needle inserted into a living body can be monitored in real time.

Additionally, in one embodiment, there is no risk of exposure to radiation.

Additionally, it can image needles and blood vessels in three dimensions, which can improve the accuracy of needle handling.

In addition, the insertion location, insertion angle, and insertion depth of the needle can be projected onto the skin of the living body, thereby further improving the accuracy of needle handling.

Of course, the scope of the present invention is not limited by these effects.

FIG. 1 schematically illustrates a needle position and posture tracking system (100) according to one embodiment of the present invention.
Figure 2 schematically illustrates an enlarged view of the needle (30) and blood vessel (B) illustrated in Figure 1.
Figure 3 schematically illustrates an image of a needle (30) and a blood vessel (B) according to one embodiment of the present invention.
FIG. 4 and FIG. 5 are drawings for explaining a method for guiding the insertion position, insertion angle, and insertion depth of a needle (30) in a needle position and posture tracking system according to one embodiment of the present invention.
FIG. 6 schematically illustrates a needle position and posture tracking system (200) according to another embodiment of the present invention.
FIG. 7 schematically illustrates a needle position and posture tracking system (300) according to another embodiment of the present invention.

The present invention is capable of various modifications and embodiments. Specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention, as well as the methods for achieving them, will become clearer with reference to the embodiments described in detail below, along with the drawings. However, the present invention is not limited to the embodiments disclosed below and can be implemented in various forms.

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. When describing with reference to the drawings, identical or corresponding components are given the same reference numerals and redundant descriptions thereof will be omitted.

In the examples below, the terms first, second, etc. are not used in a limiting sense, but are used for the purpose of distinguishing one component from another.

In the examples below, singular expressions include plural expressions unless the context clearly indicates otherwise.

In the examples below, terms such as “include” or “have” mean that a feature or component described in the specification is present, and do not preclude the possibility that one or more other features or components may be added.

For convenience of explanation, the sizes of components in the drawings may be exaggerated or reduced. For example, the sizes and thicknesses of each component shown in the drawings are arbitrarily indicated for convenience of explanation, and thus the present invention is not necessarily limited to what is shown.

In the following examples, when a part such as a component, block, unit, module, etc. is said to be on or above another part, it includes not only the case where it is directly above the other part, but also the case where another component, block, unit, module, etc. is interposed in between.

In the following examples, when components, blocks, units, modules, etc. are said to be connected, this includes not only cases where the components, blocks, units, and modules are directly connected, but also cases where other components, blocks, units, and modules are interposed between the components, blocks, units, and modules and are indirectly connected.

FIG. 1 schematically illustrates a needle position and posture tracking system (100) according to one embodiment of the present invention. FIG. 2 schematically illustrates an enlarged view of the needle (30) and blood vessel (B) illustrated in FIG. 1.

Referring to FIG. 1, a needle position and posture tracking system (100) according to one embodiment of the present invention may include a first light source (11), a second light source (12), a first detector (21), a second detector (22), and a needle (30) to be inserted into a living body. However, the present invention is not limited thereto, and the system (100) may further include other components.

For example, a needle (30) may need to be inserted into a blood vessel (B) by penetrating the skin (S) and tissue (T) of a living body. However, the present invention includes not only a case where the needle (30) is inserted into a blood vessel (B), but also a case where it is inserted into a specific cell, specific tissue, or specific location within a living body. In the present invention, the needle (30) may include a syringe, an arthroscope, etc., but is not limited thereto. Hereinafter, a case where the needle (30) is inserted into a blood vessel (B) will be described as an example.

In one embodiment, the first light source (11) can emit first light including a first wavelength. The second light source (12) can emit second light including a second wavelength. For example, the first light can be light in a predetermined band centered around the first wavelength, and may be conveniently referred to as light of the first wavelength. The second light can be light in a predetermined band centered around the second wavelength, and may be conveniently referred to as light of the second wavelength.

Meanwhile, referring to FIG. 2, the needle (30) may include a luminescent material (33) that absorbs first light and emits third light including a third wavelength. The luminescent material (33) may be, for example, a quantum dot (QD).

Accordingly, the first light of the first wavelength may be light of a wavelength band well absorbed by the luminescent material (33) included in the needle (30). In addition, the second light of the second wavelength may be light of a wavelength band well absorbed by the target (e.g., blood vessel (B)) into which the needle (30) is to be inserted.

For example, the light of the first wavelength, the second wavelength, and the third wavelength may be short wave infrared (SWIR). The wavelength of the SWIR may be, for example, 0.9 μm to 2.5 μm. Therefore, even if the first light and the second light are irradiated onto a living body and the third light is emitted from a needle (30) within the living body, the living body may not be at risk of being exposed to radiation. For example, the first wavelength may be 950 nm, the second wavelength may be 1400 nm, and the third wavelength may be 1100 nm.

Meanwhile, referring to FIG. 2, the needle (30) may include a hollow portion (32) and an outer wall (31) surrounding the hollow portion (32). A luminescent material (33) may be included in the outer wall (31) of the needle (30). The luminescent material (33) may be composed of a material that absorbs shortwave infrared rays (e.g., 950 nm) and emits shortwave infrared rays (e.g., 1100 nm). According to one embodiment of the present invention, the luminescent material (33) may absorb incident light (I) of a first wavelength and emit or radiate emitted light (E) of a third wavelength. The third wavelength is shorter than the first wavelength.

According to one embodiment, the luminescent material (33) may be a quantum dot (e.g., a shortwave infrared quantum dot), and the quantum dots may be coated on the surface of the outer wall (31) of the needle (30). The coating may be a polymer-based coating. The quantum dots may be spherical semiconductor particles of less than 10 nm. The quantum dots may be mixed into various media, for example, depending on the surface material surrounding the quantum dots. For example, the needle (30) may be manufactured by incorporating quantum dots into the polymer coating surrounding the outer wall (31) of the needle (30). For example, the needle (30) may be manufactured by coating the outer wall (31) of the needle (30) with the quantum dots.

Referring again to FIG. 1, the first detector (21) can detect a third light having a third wavelength. The second detector (22) can detect a fourth light centered around a second wavelength (e.g., 1400 nm).

The third light is light emitted by the luminescent material (33) of the needle (30). Therefore, the first detector (21) can detect the position and posture of the needle (30). For example, by imaging the signal detected by the first detector (21), the shape of the needle (30) can be identified.

The fourth light may be the remaining light or reflected light after the second light is absorbed by the target (e.g., a blood vessel). For example, the target into which the needle is to be inserted may have a high absorption rate for the second wavelength. For example, if the target is a blood vessel (B), the blood vessel (B) has a high absorption rate for the second wavelength, so when the signal detected by the second detector (22) (i.e., the signal corresponding to the fourth light) is imaged, only the area where the blood vessel (B) is present may appear dark (e.g., black). Accordingly, the second detector (22) can detect the location and shape of the blood vessel (B).

In one embodiment, the second wavelength (e.g., 1400 nm) may be highly absorbed by blood vessels due to its high absorption rate in water.

Therefore, for example, the fourth light may not be light of the second wavelength, but rather light of a specific spectrum centered around the second wavelength. This is because the fourth light may be light remaining after the second wavelength band of the second light is absorbed by the blood vessels.

In one embodiment, the first light source (11) and the second light source (12) may be multispectral shortwave infrared light emitting diodes (LEDs). In one embodiment, the first detector (21) and the second detector (22) may be multispectral shortwave infrared detectors. The first detector (21) and the second detector (22) may be, for example, cameras. However, the present invention is not limited thereto.

In one embodiment, the starting positions of the first light and the second light are different, but the paths of the first light and the second light may overlap at one point.

For example, a first light source (11) and a second light source (12) may be arranged so that the starting light of the first light and the starting light of the second light form a 90-degree angle. A half-mirror (13) may be provided at a point where the first light and the second light meet at a 90-degree angle. The half-mirror (13) may be arranged at a 45-degree angle with respect to the first light and the second light. For example, the half-mirror (13) may allow light of the first wavelength to pass through, but may reflect light of the second wavelength. Therefore, the paths of the first light and the second light may be combined by the half-mirror (13).

The first light and the second light combined in the half mirror (13) can be incident on the scanner (15) through a predetermined optical system (e.g., mirror (14)). The scanner (15) may include, for example, a mirror. The first light and the second light reflected from the scanner (15) can be irradiated toward the skin (S). For example, the first light and the second light can be irradiated together on the skin (S) with their paths overlapping.

Meanwhile, for example, the scanner (15) can rotate within a predetermined angular range. Depending on the operation of the scanner (15), the positions at which the first light and the second light are irradiated onto the skin can change. For example, the combined path of the first light and the second light can change within a predetermined angular range (A) by the rotation of the scanner (15). Accordingly, the first light and the second light can move and be irradiated within a predetermined area on the skin (S).

Meanwhile, a portion of the third light emitted from the needle (30) and a portion of the fourth light absorbed by the blood vessel and remaining can be incident on the first detector (21) and the second detector (22), respectively.

According to one embodiment, the paths of the third light and the fourth light can be split by the beam splitter (23). The beam splitter (23) can, for example, allow light of the third wavelength to pass through and reflect light of a predetermined band centered on the second wavelength. Accordingly, the third light and the fourth light can be split by the beam splitter (23), and the third light can be incident on the first detector (21) and the fourth light can be incident on the second detector (22).

Meanwhile, the optical system of Fig. 1 (e.g., half mirror (13), mirror (14), scanner (15), beam splitter (23)) is only shown as a simple example, and the present invention is not limited thereto. The present invention may include optical systems of various configurations capable of realizing the above functions.

By the operation of various components of the system (100) as described above, the system (100) according to the present invention can detect the position and shape of the blood vessel (B) and the position and position (e.g., angle) of the needle (30) in real time and continuously.

For example, the first detector (21) and the second detector (22) can receive light, convert it into an electrical signal, and then convert it into a digital signal. However, the present invention is not limited thereto. The system (100) according to one embodiment may further include a display device (not shown) (e.g., a display) that visualizes a signal (e.g., a digital signal) detected by the first detector (21) and a signal (e.g., a digital signal) detected by the second detector (22) and displays the image on a single screen. The display device may include a control circuit. However, the present invention is not limited thereto.

For example, FIG. 3 schematically illustrates an image of a needle (30) and a blood vessel (B) according to one embodiment of the present invention. According to one embodiment, the display device (not shown) can display an image (39) of a needle by visualizing a signal detected by a first detector (21), and can display an image (BI) of a blood vessel by visualizing a signal detected by a second detector (22).

By the operation of the optical system, the display device, and the control circuit, the needle image (39) and the blood vessel image (BI) can be displayed on one screen in real time and three-dimensionally. The needle image (39) and the blood vessel image (BI) displayed on the screen can three-dimensionally and in real time represent the relative positions of the actual needle (30) and the actual blood vessel (B). In addition, the needle image (39) can three-dimensionally represent the position (e.g., angle) of the needle (30), and the blood vessel image (BI) can three-dimensionally represent the shape of the blood vessel (B).

FIG. 4 and FIG. 5 are drawings for explaining a method for guiding the insertion position, insertion angle, and insertion depth of a needle (30) in a needle position and posture tracking system according to one embodiment of the present invention.

Referring to FIG. 4, a system (100) according to one embodiment of the present invention may further include a projector (not shown) that projects the location and shape of blood vessels onto the skin (S) of a living body. The projector may be connected (e.g., electrically or via communication) to, for example, a second detector (22). The projector may visualize a signal for the fourth light detected by the second detector (22) and project it onto a corresponding location on the skin (S).

Meanwhile, a system (100) according to one embodiment of the present invention may further include a light emitter (e.g., 40) that emits laser light (41, 42, 43) that guides the insertion position, insertion angle, and insertion depth of the needle. In this document, the insertion position of the needle refers to an entry point displayed on the skin (S), not a point on a target (e.g., a blood vessel (B)).

According to one embodiment, the light emitter may include a light emitter (40) that can mark the insertion position of the needle on the skin with a first laser light (41) and guide the insertion depth of the needle with a third laser light (43). The light emitter may further include a light emitter (not shown) that guides the insertion angle of the needle with a second laser light (42). Therefore, for example, there may be at least two light emitters. However, the present invention is not limited thereto, and it goes without saying that the light emitters may be partially merged or partially separated.

According to one embodiment, the light emitter (40) can emit a first laser light (41) that indicates the insertion location of the needle on the skin (S) as a first point (51).

According to one embodiment, the light emitter (not shown) can emit a second laser light (42) that guides the insertion angle of the needle. For example, the needle (30) can be inserted into the skin (S) while adjusting the angle of the needle (30) to correspond to the angle of the second laser light (42). For example, the insertion angle of the needle (30) can be adjusted so that the second laser light (42) is visible (i.e., shines) along the longitudinal direction of the needle (30). The second laser light (42) can point to the first point (51). That is, the first laser light (41) and the second laser light (42) can converge at one first point (51).

According to one embodiment, the light emitter (e.g., 40) can emit a third laser light (43) that passes through a second point (52) on the path of the second laser light (42). The second point (52) can be a point where the second laser light (42) and the third laser light (43) intersect. The second point (52) can guide the insertion depth of the needle (30). The method by which the second point (52) guides the insertion depth of the needle is described in detail below with reference to FIG. 5.

Meanwhile, even while inserting the needle (30) using the first, second, and third laser beams (41, 42, 43) as guides, the three-dimensional image (e.g., BI) of the blood vessel measured through the aforementioned light source (11, 12), detector (21, 22), and other optical systems (e.g., 13, 14, 15, 23) and the three-dimensional image (e.g., 39) of the needle (30) can be displayed in real time through a separate display device.

In addition, even while inserting the needle (30) using the first, second, and third laser beams (41, 42, 43) as a guide, the blood vessel (B) can be imaged through the second detector (22) described above and continuously projected onto the skin (S). The projection can indicate the location and shape of the blood vessel (B).

Meanwhile, referring to FIG. 5, a second point (52) where a second laser light (42) and a third laser light (43) meet can be displayed on the needle (30). A user (e.g., a doctor or nurse) can insert the needle until a predetermined mark (e.g., a graduation) (35) on the outer wall (31) of the needle (30) overlaps with the second point (52). In this way, the second point (52) can guide the insertion depth of the needle. That is, when the needle (30) is inserted to a designated depth, a specific mark (e.g., a specific graduation) (35) on the needle (30) can overlap with the second point (52).

Meanwhile, according to one embodiment, even if inserted into the same blood vessel, the insertion depth or the markings marked on the needle (30) may be different depending on the type of needle (30). Therefore, according to one embodiment, the system (100) may further include a reader (not shown) capable of recognizing separate identification information marked on the needle (30). The reader (not shown) may recognize the identification information (e.g., barcode or QR code) of the needle (30) and transmit it to a processor (not shown) shared by at least a portion of the system (100). The processor (not shown) may identify the type of needle (30) or the position of a specific mark (e.g., a specific marking) on the needle (30) according to the received identification information. The processor (not shown) may control the light emitter (e.g., 40) to display the first point (51) and the second point (52) by considering the type of needle or the position of a specific mark (e.g., a specific marking) on the needle according to the identification information.

FIG. 6 schematically illustrates a needle position and posture tracking system (200) according to another embodiment of the present invention.

Referring to FIG. 6, a needle position and posture tracking system (200) according to another embodiment of the present invention may further include an ultrasonic detector (61) and an optical tracker (62) compared to the system (100) illustrated in FIG. 1.

An optical tracker (62) can be connected (e.g., electrically or via communication) to an ultrasonic probe (61) and the first and second detectors (21, 22). The optical tracker (62) can be controlled to display an ultrasonic image based on a signal received from the ultrasonic probe (61). The optical tracker (62) can detect a three-dimensional shape of a target (e.g., a blood vessel) and a three-dimensional position and posture of a needle (30) based on digital signals received from the first and second detectors (21, 22).

A processor (not shown) connected to an optical tracker (62) and a separate display device (not shown) can control the display device to display the actual position of the needle (30) in correspondence with the ultrasound image. For example, the display device can display an image (63) in which a three-dimensional image of the needle (30) is superimposed on the ultrasound image, under the control of the processor.

FIG. 7 schematically illustrates a needle position and posture tracking system (300) according to another embodiment of the present invention.

Referring to FIG. 7, in a needle position and posture tracking system (300) according to another embodiment of the present invention, the needle (30) in the system (100) illustrated in FIG. 1 may be implemented as an optical coherence tomography (OCT) detector (probe) (72). In addition, the needle position and posture tracking system (300) according to another embodiment of the present invention may further include an OCT imaging device (71) compared to the system (100) illustrated in FIG. 1.

OCT images are optical coherence tomography images and can represent, for example, cross-sectional images or cross-sections of biological tissue.

According to one embodiment, the system (300) can use an OCT detector (72) as a needle (30). The OCT detector (72) can include, for example, a luminescent material (33) like the needle (30). Accordingly, an optical system (e.g., 13, 14, 15, 23) including a light source (11, 12) and a detector (21, 22) can detect the real-time position and orientation of the OCT detector (72) like the needle (30).

A processor (not shown) connected (e.g., electrically or communicationally) to the OCT detector (72), the OCT imaging device (71), and the first detector (21) can control the OCT imaging device (71) to display the actual position of the OCT detector (72) in correspondence with the OCT image. For example, the OCT imaging device (71) can display an image in which the image of the OCT detector (72) is superimposed on the OCT image according to the control of the processor.

While the present invention has been described with reference to one embodiment illustrated in the drawings, this is merely exemplary, and those skilled in the art will appreciate that various modifications and variations of the embodiments are possible. Therefore, the true scope of technical protection of the present invention should be determined by the technical spirit of the appended claims.

Claims (8)

A first light source that irradiates a living body with a first light containing a first wavelength;
A second light source that irradiates the living body with a second light containing a second wavelength;
A needle inserted into the living body, comprising a luminescent material that absorbs the first light and emits a third light having a third wavelength;
A first detector for detecting the third light;
A second detector that detects fourth light reflected from the living body and having a specific spectrum centered on the second wavelength;
The above needle includes a hollow body and an outer wall surrounding the hollow body,
The above luminescent material is arranged along the outer wall,
Needle position and posture tracking system. In the first paragraph,
A display device that further includes a display device that visualizes the signal detected by the first detector and the signal detected by the second detector and displays them on one screen;
Needle position and posture tracking system. In the first paragraph,
A scanner further comprising: a scanner that changes the path of the first light and the second light within a predetermined angular range so as to irradiate the first light and the second light to a predetermined area of the living body;
Needle position and posture tracking system. In the first paragraph,
At least a portion of the path of the first light and the path of the second light overlap,
The first light path and the second light path are combined by a half mirror.
Needle position and posture tracking system. In the first paragraph,
Further comprising a light emitter that emits laser light to guide the insertion angle and insertion depth of the needle;
Needle position and posture tracking system. In paragraph 5,
The above light emitters are at least two,
In order to guide the insertion angle and insertion depth of the needle, a total of three laser lights are emitted from at least two light emitters.
Needle position and posture tracking system. In the first paragraph,
Ultrasonic detector;
an optical tracker connected to the ultrasonic detector; and
further comprising a processor connected to the optical tracker, the display device, and the first detector;
The above processor displays an image of a needle by superimposing it on an ultrasound image obtained through the ultrasound detector and the optical tracker.
Needle position and posture tracking system. In the first paragraph,
The needle includes an optical coherence tomography (OCT) detector,
The above system,
An OCT imaging device connected to the OCT detector; and
Further comprising a processor connected to the OCT detector, the OCT imaging device, and the first detector;
The processor controls the OCT imaging device to display an image of the OCT detector acquired through the first detector by overlaying the image acquired through the OCT detector.
Needle position and posture tracking system.