Systems, Methods, and Devices for Instrument Guidance

Abstract

A system for instrument guidance is disclosed. The system can include an instrument guide device and a transducer system. The instrument guide device can include an instrument guide and an instrument guide bracket that includes a magnet, and the instrument guide bracket can be removably attachable to the instrument guide. The transducer system can include an ultrasound probe bracket that is removably attachable to an ultrasound probe. Further, the instrument guide device can removably attach to the ultrasound probe bracket. The ultrasound probe bracket can further include a first sensor and second sensor. The first sensor can wirelessly track a position of the magnet to determine position data of the instrument guidance system. And the second sensor can provide power or disengage power to the instrument guidance device when the instrument guide is attached or detached, respectively.

What is claimed is: 
     
         1 . An instrument guidance device comprising:
 an instrument guide device comprising:
 an instrument guide comprising a first aperture, a magnet, and one or more protrusions, wherein the instrument guide is configured to secure at least one instrument, and 
 an instrument guide bracket comprising a plurality of openings located at one or more side surfaces, wherein the instrument guide bracket is removably attachable to the instrument guide when at least a first protrusion from the one or more protrusions engages with at least a first opening from the plurality of openings; and 
   a transducer system comprising:
 an ultrasound probe bracket comprising:
 a first sensor configured to determine a position of the instrument guide device by wirelessly tracking the magnet and configured to transmit the position of the instrument guide device, and 
 a transceiver configured to receive the position of the instrument guide device from the first sensor and output the position to an external device, 
 a processor configured to generate position data based on the position of the instrument guide device, 
 
 the ultrasound probe bracket sized to fit the ultrasound probe, wherein the ultrasound probe bracket is removably attachable to the ultrasound probe. 
   
     
     
         2 . The instrument guidance device of  claim 1 , wherein:
 the instrument guide further comprises an instrument guide insert that is sized to fit within the first aperture,   the instrument guide insert is sized to accommodate a first instrument having a specific instrument size in a second aperture created between the instrument guide insert and the instrument guide, and   the instrument guide insert is configured to turn between an open position and closed position such that the instrument guidance device is removable from the first instrument while the first instrument is inserted in a portion of a body.   
     
     
         3 . The instrument guidance device of  claim 1 , further comprising a plurality of instrument guide inserts, wherein each of the plurality of instrument guide inserts can accommodate a different instrument size. 
     
     
         4 . The instrument guidance device of  claim 1 , further comprising an instrument guide insert, wherein:
 the instrument guide insert has a plurality of faces,   when the instrument guide insert is rotated, each of the plurality of faces aligns with an open channel in the instrument guide to create a closed channel that is sized to accommodate a specific instrument size, and   each of the plurality of faces of the instrument guide insert corresponds to a different instrument size, such that the instrument guide insert can be rotated to select from a set of apertures depending on a desired instrument size.   
     
     
         5 . The instrument guidance device of  claim 1 , wherein a first insert is insertable into a second opening of the instrument guide bracket from an exterior surface of the instrument guide bracket such that the first insert intersects with a portion of the instrument guide to lock and/or induce friction on rotation of the instrument guide. 
     
     
         6 . The instrument guidance device of  claim 1 , wherein a first insert is insertable into a second opening of the instrument guide bracket from an exterior surface of the instrument guide bracket such that when the first insert is tightened it deforms the instrument guide bracket and reduces the size of a cutout in the instrument guide bracket within which at least one protrusion of the one or more protrusions rotates. 
     
     
         7 . The instrument guidance device of  claim 1 , wherein a second insert is insertable into the instrument guide along a central axis such that the instrument guide is rotatable along the central axis. 
     
     
         8 . The instrument guidance device of  claim 1 , wherein the ultrasound probe bracket is adaptable to fit a plurality of geometries. 
     
     
         9 . The instrument guidance device of  claim 1 , wherein in response to movement of the instrument guidance device, the instrument guide remains positioned in the same orientation as a first instrument secured by the instrument guide. 
     
     
         10 . The instrument guidance device of  claim 1 , wherein the instrument guide further comprises a rotation lock configured to allow and prevent rotation of the instrument guide. 
     
     
         11 . The instrument guidance device of  claim 1 , wherein:
 the processor is further configured to determine whether the instrument guide is attached to the instrument guidance device; and the instrument guidance device further comprises:
 a second sensor configured to:
 provide power to the instrument guidance device when the instrument guide is attached, and 
 disengage power to the instrument guidance device when the instrument guide is detached. 
 
   
     
     
         12 . A system for instrument guidance, the system comprising:
 a computing device comprising a first processor, a first transceiver, and a screen;   an instrument guidance device comprising an instrument guide device and a transducer system, the instrument guidance device configured to:
 determine, by a first sensor of the transducer system, a position of the instrument guide device by wirelessly tracking a magnet located in the instrument guide device; 
 receive, by a second transceiver of the transducer system, the position of the instrument guide device from the first sensor; 
 generate, by a second processor of the transducer system, position data based on the position of the instrument guide device, the position data indicating a position with respect to a surface of an attached ultrasound transducer of an instrument attached to the instrument guidance device; and 
 send, by the second transceiver, the position data to a computing device; 
   an ultrasound device configured to:
 generate imaging data representative of a portion of a human body; and 
 send the imaging data to the computing device; and 
   wherein the computing device is configured to:
 receive, by the first transceiver, the imaging data from the ultrasound device; 
 receive, by the first transceiver, the position data from the instrument guidance device; 
 determine, by the first processor, how physical space in the imaging data is mapped on a virtual display; 
 generate, by the first processor, an image overlay that projects the position data onto the imaging data, wherein an instrument trajectory is shown in relation to the imaging data; and 
 display, by the screen, the image overlay. 
   
     
     
         13 . The system of  claim 12 , wherein the instrument guide device comprises:
 an instrument guide comprising an aperture, a magnet, and one or more protrusions, wherein the instrument guide is configured to secure at least one instrument; and   an instrument guide bracket comprising a plurality of openings located at one or more side surfaces, wherein the instrument guide bracket is removably attachable to the instrument guide when at least a first protrusion from the one or more protrusions engages with at least a first opening from the plurality of openings.   
     
     
         14 . The system of  claim 13 , wherein the instrument guide further comprises an instrument guide insert that is sized to fit within the aperture, and wherein the at least one instrument is secured to the instrument guide insert. 
     
     
         15 . The system of  claim 14 , wherein the instrument guide insert is adaptable to accommodate instruments of different sizes. 
     
     
         16 . The system of  claim 13 , wherein an insert is insertable into a second opening of the instrument guide bracket from an exterior surface of the instrument guide bracket and the insert is further insertable into the instrument guide along a central axis such that the instrument guide is rotatable along the central axis. 
     
     
         17 . The system of  claim 13 , wherein in response to movement of the instrument guidance system, the instrument guide remains positioned in the same orientation as a first instrument secured by the instrument guide. 
     
     
         18 . The system of  claim 13 , wherein the transducer system further comprises:
 an ultrasound probe bracket, wherein the first sensor, the second transceiver, and the second processor are position with the ultrasound probe bracket;   a cut-out space configured to allow the instrument guide device to removably attach to the ultrasound probe bracket; and   an ultrasound probe sized to fit within the ultrasound probe bracket, wherein the ultrasound probe is removably attachable to the ultrasound probe bracket.   
     
     
         19 . The system of  claim 18 , wherein the second processor is configured to determine whether the instrument guide is attached to the instrument guidance system, and the ultrasound probe bracket further comprises:
 a second sensor configured to:
 provide power to the instrument guidance device when the instrument guide is attached, and 
 disengage power to the instrument guidance device when the instrument guide is detached. 
   
     
     
         20 . A method for real-time instrument guidance placement comprising:
 receiving, by a transceiver of a computing device, imaging data from an ultrasound probe, the imaging data representative of a portion of a human body;   receiving, by the transceiver, position data from an instrument guide device, the position data indicating a position with respect to a surface of an attached ultrasound probe of an instrument attached to the instrument guide device;   determining, by a processor of the computing device, pixel distance of the imaging data at a predetermined imaging depth;   mapping, by the processor, a physical space in the imaging data onto a virtual display based on the pixel distance;   generating, by the processor, an image overlay that projects the position data onto the imaging data, wherein an instrument trajectory is shown in relation to the imaging data; and   displaying, by a screen of the computing device, the image overlay.