Surgical guidance intersection display

• US 10,188,467 B2
• Filed: 12/14/2015
• Issued: 01/29/2019
• Est. Priority Date: 12/12/2014
• Status: Active Grant

• Current Assignee: Inneroptic Technology, Inc.
• Original Assignee: Inneroptic Technology, Inc.
• Inventors: Razzaque, Sharif, State, Andrei, Kohli, Luv, Heaney, Brian
• Primary Examiner(s): Shin, Soo
• Application Number:
  US14/968,445
• Publication Number:
  US 20160166336A1
• Time in Patent Office: 1,142 Days
• Field of Search: None
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/372 Details of monitor hardware
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3925 ultrasonic
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 2090/502 Headgear, e.g. helmet, spectacles
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation

Abstract

A system and method for providing image guidance for placement of one or more medical devices at a target location. The system can determine one or more intersections between a medical device and an image region based at least in part on first emplacement data and second emplacement data. Using the determined intersections, the system can cause one or more displays to display perspective views of image guidance cues, including an intersection indicator in a virtual 3D space.

Claims

1. A method, comprising:

receiving first emplacement data associated with a first device tracker associated with a first medical device;

receiving second emplacement data associated with a second device tracker associated with a second medical device;

determining emplacement of a virtual 3D rendering of the first medical device with respect to a point-of-view location based at least in part on the first emplacement data;

determining emplacement of an image region with respect to the point-of-view location based at least in part on the second emplacement data;

determining an intersection of an axis associated with the virtual 3D rendering of the first medical device and at least a portion of the image region based at least in part on the determined emplacement of the virtual 3D rendering of the first medical device and the determined emplacement of the image region;

determining an intersection indicator based at least in part on the determined intersection, a variance parameter of the first device tracker, and an orientation angle of the virtual 3D rendering of the first medical device with respect to the image region; and

causing one or more displays to concurrently display;

a perspective view of at least a portion of the virtual 3D rendering of the first medical device in a virtual 3D space based at least in part on the determined emplacement of the virtual 3D rendering of the first medical device,

a perspective view of at least a portion of the image region based at least in part on the determined emplacement of the image region, and

the intersection indicator, wherein an area of the intersection indicator increases in proportion to a decrease in the orientation angle.

16. The method of Claim 1, further comprising:

determining a variance volume based at least in part on the variance parameter of the first device tracker and the emplacement of the virtual 3D rendering of the first medical device,

wherein said determining the intersection is based at least in part on an intersection of the variance volume and the image region, and

wherein said causing the display to display the intersection indicator is based at least in part on the intersection of the variance volume and the image region.

2. A method, comprising:

receiving first emplacement data associated with a first medical device;

receiving second emplacement data associated with a second medical device;

determining emplacement of a first virtual medical device with respect to a point- of-view location based at least in part on the first emplacement data;

determining emplacement of an image region with respect to a point-of-view location based at least in part on the second emplacement data;

determining an intersection based at least in part on the first emplacement data and the second emplacement data; and

causing one or more displays to concurrently display;

a perspective view of at least a portion of the virtual medical device in a virtual 3D space based at least in part on the determined position and orientation of the virtual medical device,

a perspective view of at least a portion of the image region, and

an intersection indicator based at least in part on the determined intersection and an orientation angle of the first virtual medical device with respect to the image region, wherein a size of the intersection indicator increases in proportion to an increased difference between the determined orientation angle and a threshold angle.

3. The method of claim 2, wherein said determining the intersection comprises determining an intersection between an axis associated with the first medical device and a plane associated with the second medical device.

4. The method of claim 2, wherein a part of the at least a portion of the image region is displayed differently from another part of the at least a portion of the image region based at least in part on a determination that the intersection is outside the image region.

5. The method of claim 2, wherein said causing the display to display further comprises causing the one or more displays to display an arrow indicating a direction of a virtual medical device and/or the intersection indicator based at least in part on a determination that the intersection is outside the image region.

6. The method of claim 2, wherein said determining the intersection comprises determining an intersection between an axis associated with the first medical device and at least a plurality of planes of the image region.

7. The method of claim 2, wherein said determining the intersection comprises determining an intersection between an axis associated with the first medical device and an axis associated with a second virtual medical device associated with the second medical device.

8. The method of claim 7, wherein at least a portion of the intersection indicator is displayed on the second virtual medical device.

9. The method of claim 2, wherein the intersection is a first intersection, the method further comprising determining a second intersection based at least in part on the first emplacement data and third emplacement data associated with a display object, wherein the intersection indicator is displayed based at least in part on the first intersection and the second intersection.

10. The method of claim 9, further comprising determining an obstructed portion of the intersection indicator based at least in part on the second intersection, wherein the obstructed portion of the intersection indicator is not displayed or is displayed differently from an unobstructed portion of the intersection indicator.

11. The method of claim 9, further comprising determining an obstructed portion of the image region based at least in part on the second intersection, wherein the obstructed portion of the image region is displayed differently from an unobstructed portion of the image region.

12. The method of claim 2, wherein at least a portion of the intersection indicator is parallel to a side of the image region.

13. The method of claim 2, wherein a first portion of the intersection indicator is parallel to a first side of the image region and a second portion of the intersection indicator is parallel to a second side of the image region.

14. The method of claim 2, wherein the intersection indicator comprises two parallel lines and rounded ends.

15. The method of claim 2, wherein a medical image is mapped to the image region, and wherein portions of the image region that do not include the medical image are displayed differently than portions of the image region that include the medical image.

17. A system, comprising

one or more processors communicatively coupled with one or more displays;

and

a non-transitory computer-readable storage medium storing computer-executable instructions that when executed by the one or more processors cause the one or more processors to;

receive first emplacement data associated with a first medical device;

receive second emplacement data associated with a second medical device;

determine emplacement of a first virtual medical device with respect to a point-of-view location based at least in part on the first emplacement data;

determine emplacement of an image region with respect to a point-of-view location based at least in part on the second emplacement data;

determine an intersection based at least in part on the first emplacement data and the second emplacement data; and

cause one or more displays to concurrently display;

a perspective view of at least a portion of the virtual medical device in a virtual 3D space based at least in part on the determined position and orientation of the virtual medical device,

a perspective view of at least a portion of the image region, and

an intersection indicator based at least in part on the determined intersection and an orientation angle of the first virtual medical device with respect to the image, wherein a size of the intersection indicator increases in proportion to an increased difference between the determined orientation angle and a threshold angle.

18. The system of claim 17, wherein the intersection is a first intersection, and wherein the computer-executable instructions further cause the one or more processors to determine a second intersection based at least in part on the first emplacement data and third emplacement data associated with a display object, wherein the intersection indicator is displayed based at least in part on the first intersection and the second intersection.

19. The system of claim 18, wherein the computer-executable instructions further cause the one or more processors to determine an obstructed portion of the intersection indicator based at least in part on the second intersection, wherein the obstructed portion of the intersection indicator is not displayed or is displayed differently from an unobstructed portion of the intersection indicator.

20. The system of claim 18, wherein the computer-executable instructions further cause the one or more processors to determine an obstructed portion of the image region based at least in part on the second intersection, wherein the obstructed portion of the image region is displayed differently from an unobstructed portion of the image region.