Systems, methods, apparatuses, and computer-readable media for image management in image-guided medical procedures

• US 10,398,513 B2
• Filed: 06/07/2016
• Issued: 09/03/2019
• Est. Priority Date: 02/17/2009
• Status: Active Grant

• Current Assignee: Inneroptic Technology, Inc.
• Original Assignee: Inneroptic Technology, Inc.
• Inventors: Razzaque, Sharif, State, Andrei, Green, Caroline, Heaney, Brian
• Primary Examiner(s): Luong, Peter
• Application Number:
  US15/175,981
• Publication Number:
  US 20170065352A1
• Time in Patent Office: 1,183 Days
• CPC Class Codes: A61B 18/02 by cooling, e.g. cryogenic techniques devices for cooling specific reflex points of the body within cell-life limits A61H39/06
• CPC Class Codes: A61B 18/082 Probes or electrodes therefor
• CPC Class Codes: A61B 18/1442 Probes having pivoting end effectors, e.g. forceps
• CPC Class Codes: A61B 18/1477 Needle-like probes
• CPC Class Codes: A61B 18/18 by applying electromagnetic radiation, e.g. microwaves radiation therapy A61N5/00
• CPC Class Codes: A61B 18/20 using laser
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2018/1425 Needle
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/104 Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/207 Divots for calibration
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/252 indicating steps of a surgical procedure
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• 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 8/4245 : involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
• CPC Class Codes: G06T 19/003 : Navigation within 3D models or images
• CPC Class Codes: G06T 2210/41 : Medical

Abstract

Presented herein are methods, systems, devices, and computer-readable media for image management in image-guided medical procedures. Some embodiments herein allow a physician to use multiple instruments for a surgery and simultaneously provide image-guidance data for those instruments. Various embodiments disclosed herein provide information to physicians about procedures they are performing, the devices (such as ablation needles, ultrasound transducers or probes, scalpels, cauterizers, etc.) they are using during the procedure, the relative emplacements or poses of these devices, prediction information for those devices, and other information. Some embodiments provide useful information about 3D data sets and allow the operator to control the presentation of regions of interest. Additionally, some embodiments provide for quick calibration of surgical instruments or attachments for surgical instruments.

Claims

1. A method for image management in image-guided medical procedures, comprising:

obtaining pose data for a set of 3D visualizable medical data, wherein the set of 3D visualizable medical data includes a plurality of parallel slices;

determining, with one or more computing devices, a real-time pose of a tracking sensor associated with a medical device;

based at least in part on the real-time pose of the tracking sensor associated with the medical device, determining a pose of an imaging plane associated with the medical device;

selecting a region of the set of 3D visualizable medical data based at least in part on the determined pose of the imaging plane, wherein the selected region of the set of 3D visualizable medical data comprises data from the set of 3D visualizable medical data that intersects with at least a portion of the imaging plane associated with the medical device;

determining a perspective view of the selected region of the set of 3D visualizable medical data based at least in part on an expected location of a user, wherein the expected location of the user is a fixed location in front of one or more displays; and

causing the one or more displays to concurrently display, in a virtual 3D space;

a rendering of the perspective view of the selected region of the set of 3D visualizable medical data, and

image guidance data based at least in part on the real-time pose of the tracking sensor associated with the medical device.

2. The method of claim 1, wherein the set of 3D visualizable medical data comprises preoperative imaging data.

3. The method of claim 1, wherein the set of 3D visualizable medical data comprises annotations of imaging data.

4. The method of claim 1, wherein the set of 3D visualizable medical data is a first set of 3D visualizable medical data, the selected region of the first set of 3D visualizable medical data is a first selected region of the first set of 3D visualizable medical data, and the imaging plane is a first imaging plane, the method further comprising:

obtaining pose data for a second set of 3D visualizable medical data;

based at least in part on the real-time pose of the tracking sensor associated with the medical device, determining a pose of a second imaging plane associated with the medical device;

selecting a second region of the second set of 3D visualizable medical data based at least in part on the determined pose of the second imaging plane, wherein the second selected region of the second set of 3D visualizable medical data comprises data from the second set of 3D visualizable medical data that intersects with at least a portion of the second imaging plane associated with the medical device;

determining a perspective view of the second selected region of the set of 3D visualizable medical data based at least in part on the expected location of the user; and

causing the one or more displays to further concurrently display, in the virtual 3D space, a rendering of the perspective view of the second selected region of the second set of 3D visualizable medical data.

5. The method of claim 4, wherein the second imaging plane is parallel to the first imaging plane.

6. The method of claim 5, wherein the first selected region of the set of 3D visualizable medical data is rendered at one or more first focus settings based at least in part on real-time relative pose of the tracking sensor associated with the medical device with respect to the expected location of the user, and the second selected region of the second set of 3D visualizable medical data is rendered at one or more second focus settings, wherein the one or more second focus settings vary in proportion to a distance between the second imaging plane and the first imaging plane.

7. The method of claim 1, wherein the medical device is a first medical device, wherein the tracking sensor is a first tracking sensor, wherein the imaging plane is a first imaging plane, the method further comprising:

determining, with the one or more computing devices, a real-time pose of a second tracking sensor associated with a second medical device;

based at least in part on the real-time pose of the second tracking sensor associated with the second medical device, determining a pose of a second imaging plane associated with the second medical device;

selecting a second region of the set of 3D visualizable medical data based at least in part on the determined pose of the second imaging plane, wherein the second selected region comprises data from the set of 3D visualizable medical data that intersects with at least a portion of the second imaging plane associated with the second medical device;

determining a perspective view of the second selected region of the set of 3D visualizable medical data based at least in part on the expected location of the user; and

causing the one or more displays to further concurrently display, in the virtual 3D space, a rendering of the perspective view of the second selected region of the set of 3D visualizable medical data.

8. The method of claim 7, wherein the image guidance data comprises a volume of image guidance data, the method further comprising:

determining a pose of the volume of image guidance data based at least in part on the set of 3D visualizable medical data; and

determining a perspective view of the volume of image guidance data based at least in part on the expected location of a user,

wherein said causing the one or more displays to further concurrently display the image guidance data comprises causing the one or more displays to further concurrently display a rendering of the perspective view of the volume of image guidance data based at least in part on the determined pose of the volume of image guidance data.

9. The method of claim 8, wherein said determining the pose of the volume of image guidance data is further based at least in part on the selected region of the set of 3D visualizable medical data.

10. The method of claim 8, wherein the medical device is an ablation needle and wherein the volume of image guidance data corresponds to an ablation volume of the ablation needle.

11. The method of claim 1, wherein the image guidance data comprises data of the set of 3D visualizable medical data which corresponds to 3D visualizable medical data that is different from the selected region of the set of 3D visualizable medical data.

12. The method of claim 1, wherein the medical device is a first medical device, wherein the tracking sensor is a first tracking sensor, wherein the imaging plane is a first imaging plane, and wherein the set of 3D visualizable medical data is a first the set of 3D visualizable medical data, the method further comprising:

obtaining pose data for a second set of 3D visualizable medical data;

determining, with the one or more computing devices, a real-time pose of a second tracking sensor associated with a second medical device;

based at least in part on the real-time pose of the second tracking sensor associated with the second medical device, determining a pose of a second imaging plane associated with the second medical device;

selecting a second region of the second set of 3D visualizable medical data based at least in part on the determined pose of the second imaging plane, wherein the second selected region comprises data from the second set of 3D visualizable medical data that intersects with at least a portion of the second imaging plane;

determining a perspective view of the second selected region of the set of 3D visualizable medical data based at least in part on the expected location of the user; and

causing the one or more displays to further concurrently display, in the virtual 3D space, a rendering of the perspective view of the second selected region of the set of 3D visualizable medical data.

13. A system, comprising:

a computing device comprising one or more processors, the computing device configured to;

obtain pose data for a set of 3D visualizable medical data, wherein the set of 3D visualizable medical data includes a plurality of parallel slices;

determine a real-time pose of a tracking sensor associated with a medical device;

based at least in part on the real-time pose of the tracking sensor associated with the medical device, determine a pose of an imaging plane associated with the medical device;

select a region of the set of 3D visualizable medical data based at least in part on the determined pose of the imaging plane, wherein the selected region comprises data from the set of 3D visualizable medical data that intersects with at least a portion of the imaging plane;

determine a perspective view of the selected region of the set of 3D visualizable medical data based at least in part on an expected location of a user, wherein the expected location of the user is a fixed location in front of one or more displays; and

cause the one or more displays to concurrently display, in a virtual 3D space;

a rendering of the perspective view of the selected region of the set of 3D visualizable medical data, and

image guidance data based at least in part on the real-time pose of the tracking sensor associated with the medical device.

14. The system of claim 13, wherein the set of 3D visualizable medical data is a first set of 3D visualizable medical data, the selected region of the first set of 3D visualizable medical data is a first selected region of the first set of 3D visualizable medical data, and the imaging plane is a first imaging plane, wherein the computing device is further configured to:

obtain pose data for a second set of 3D visualizable medical data;

based at least in part on the real-time pose of the tracking sensor associated with the medical device, determining a pose of a second imaging plane associated with the medical device;

select a second region of the second set of 3D visualizable medical data based at least in part on the determined pose of the second imaging plane, wherein the second selected region comprises data from the second set of 3D visualizable medical data that intersects with at least a portion of the second imaging plane;

determine a perspective view of the second selected region of the set of 3D visualizable medical data based at least in part on the expected location of the user; and

cause the one or more displays to further concurrently display, in the virtual 3D space, a rendering of the perspective view of the second selected region of the second set of 3D visualizable medical data.

15. The system of claim 13, wherein the medical device comprises at least one of an ablation needle or an ultrasound transducer.

16. The system of claim 13, wherein the set of 3D visualizable medical data comprises at least one of annotations of imaging data or preoperative imaging data.

17. A non-transitory computer-readable medium comprising computer-executable instructions for image management in image-guided medical procedures, said computer-executable instructions, when running on one or more computing devices, performing a method comprising:

obtaining pose data for a set of 3D visualizable medical data, wherein the set of 3D visualizable medical data includes a plurality of parallel slices;

determining a real-time pose of a tracking sensor associated with a medical device;

based at least in part on the real-time pose of the tracking sensor, determining a pose of an imaging plane associated with the medical device;

selecting a region of the set of 3D visualizable medical data based at least in part on the determined pose of the imaging plane, wherein the selected region comprises data from the set of 3D visualizable medical data that intersects with at least a portion of the imaging plane;

determining a perspective view of the selected region of the set of 3D visualizable medical data based at least in part on an expected location of a user, wherein the expected location of the user is a fixed location in front of one or more displays; and

causing the one or more displays to concurrently display, in a virtual 3D space;

a rendering of the perspective view of the selected region of the set of 3D visualizable medical data; and

image guidance data based at least in part on the real-time pose of the tracking sensor.

18. The non-transitory computer-readable medium of claim 17, wherein the medical device is a first medical device, wherein the tracking sensor is a first tracking sensor, wherein the selected region of the set of 3D visualizable medical data is a first selected region of the set of 3D visualizable medical data, wherein the imaging plane is a first imaging plane, wherein the method performed further comprises:

determining a real-time pose of a second tracking sensor associated with a second medical device;

based at least in part on the real-time pose of the second tracking sensor, determining a pose of a second imaging plane associated with the second medical device;

selecting a second region of the set of 3D visualizable medical data based at least in part on the determined pose of the second imaging plane, wherein the second selected region comprises data from the set of 3D visualizable medical data that intersects with at least a portion of the second imaging plane;

determining a perspective view of the second selected region of the set of 3D visualizable medical data based at least in part on the expected location of the user; and

causing the one or more displays to further concurrently display, in the virtual 3D space, a rendering of the perspective view of the second selected region of the set of 3D visualizable medical data.

19. The non-transitory computer-readable medium of claim 17, wherein the set of 3D visualizable medical data comprises annotations of imaging data.

20. The non-transitory computer-readable medium of claim 17, wherein the set of 3D visualizable medical data comprises preoperative imaging data.