(12) United States Patent ao) Patent No.: us 6,626,832 Bi
Paltieli et al. (45) Date of Patent: Sep. 30,2003
(54) APPARATUS AND METHOD FOR
DETECTING THE BENDING OF MEDICAL
INVASIVE TOOLS IN MEDICAL
(75) Inventors: Yoav Paltieli, Haifa (IL); Stuart Wolf, Yokneam (IL)
(73) Assignee: Ultraguide Ltd., Yokneam (IL)
( * ) Notice: Subject to any disclaimer, the term of this patent is extended or adjusted under 35 U.S.C. 154(b) by 0 days.
(21) Appl. No.: 09/958,543
(22) PCT Filed: Apr. 16, 2000
(86) PCT No.: PCT/IL00/00224
§ 371 (c)(1),
(2), (4) Date: Jan. 7, 2002
(87) PCT Pub. No.: WO00/63658 PCT Pub. Date: Oct. 26, 2000
Related U.S. Application Data
(60) Provisional application No. 60/129,358, filed on Apr. 15, 1999.
(51) Int. CI. A61B 8/00
(52) U.S. CI 600/439; 600/437; 128/897
(58) Field of Search 600/437, 443,
600/444, 427, 411, 461, 130, 459, 460, 439; 128/897-98; 351/41
(56) References Cited
U.S. PATENT DOCUMENTS
4,249,539 A 2/1981 Vilkomerson et al.
4,407,294 A 10/1983 Vilkomerson
5,095,910 A 3/1992 Powers
5,469,853 A * 11/1995 Law et al 600/463
An apparatus for detecting the bending of a medical invasive tool (2) during its insertion in a body (4, 6) comprises an ultrasound transducer (8), and a position measuring system (29, 22, 26, 28) including position measuring components, and/or articulated arms (20, 22) being attached to the medical invasive tool (2). The expected position of the medical invasive tool is calculated according to the measurements produced by the position measuring system. Echo points, and/or segments of the medical invasive tool are identified on the ultrasound image (24). The comparison between the identified echo, and the calculated position of the invasive tool (without bending) is the base of detecting the bending of the medical invasive tool. Additionally, the identified echo points/segments are used in order to evaluate the actual shape of the invasive tool. Additionally, the expected position, and/or velocity of the invasive tool calculated, and a representation thereof is displayed on the image of the invasive tool calculated, and a representation thereof is displayed on the image viewable to the user. Similar apparatus can be utilized when employing a CT scanner or MI scanner.
30 Claims, 6 Drawing Sheets