Intrabody three-dimensional position sensor for an ultrasound endoscope

To avoid or reduce the X-ray exposure in endoscopic examinations and therapy, as an alternative to the conventional two-dimensional X-ray fluoroscopy we are developing an intrabody navigation system that can directly measure and visualize the three-dimensional (3-D) position of the tip and the trace of an ultrasound endoscope. The proposed system can identify the 3-D location and direction of the endoscope probe inserted into the body to furnish endoscopic images. A marker transducer(s) placed on the surface of the body transmits ultrasound pulses, which are visualized as a marker synchronized to the scanning of the endoscope. The position (direction and distance of the marker transducer(s) outside the body relative to the scanning probe inside the body) of the marker is detected and measured in the scanned image of the ultrasound endoscope. Further, an optical localizer locates the marker transducer(s) with six degrees of freedom. Thus, the proposed method performs inside-body 3-D localization by utilizing the inherent image reconstruction function of the ultrasound endoscope, and is able to be used with currently available commercial ultrasound image scanners. The system may be envisaged as a kind of global positioning system for intrabody navigation.