Augmented reality visualization and guidance for spinal procedures

• US 10,511,822 B2
• Filed: 07/22/2019
• Issued: 12/17/2019
• Est. Priority Date: 12/30/2014
• Status: Active Grant

• Current Assignee: Onpoint Medical, Inc.
• Original Assignee: Onpoint Medical, Inc.
• Inventors: Casas, Carlos Quiles
• Primary Examiner(s): Nasri, Maryam A
• Application Number:
  US16/518,426
• Publication Number:
  US 20190349559A1
• Time in Patent Office: 148 Days
• CPC Class Codes: A61B 1/00 Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes examination of body cavities or body tracts using ultrasonic, sonic or infrasonic waves A61B8/12; endoscopic instruments for taking cell samples or for biopsy A61B10/04; for surgical purposes A61B17/00; endoscopic surgical cutting instruments A61B17/32; surgical instruments using a laser beam being directed along or through a flexible conduit A61B18/22; Illuminating arrangements therefor for the eyes A61B3/00
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2090/371 with simultaneous use of two cameras
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: G02B 2027/0134 of stereoscopic type
• CPC Class Codes: G02B 2027/0138 comprising image capture systems, e.g. camera
• CPC Class Codes: G02B 2027/014 comprising information/image processing systems
• CPC Class Codes: G02B 27/0172 characterised by optical features
• CPC Class Codes: G06F 2203/04804 Transparency, e.g. transparent or translucent windows
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 3/017 Gesture based interaction, e.g. based on a set of recognized hand gestures interaction based on gestures traced on a digitiser G06F3/04883
• CPC Class Codes: G06F 3/0304 Detection arrangements using opto-electronic means constructional details of pointing devices not related to the detection arrangement using opto-electronic means G06F3/033; optical digitisers G06F3/042
• CPC Class Codes: G06F 3/04845 for image manipulation, e.g. dragging, rotation, expansion or change of colour
• CPC Class Codes: G06T 19/006 Mixed reality object pose determination, tracking or camera calibration for mixed reality G06T7/00
• CPC Class Codes: G06T 2210/41 Medical
• CPC Class Codes: G16Z 99/00 Subject matter not provided for in other main groups of this subclass
• CPC Class Codes: H04N 13/111 Transformation of image signals corresponding to virtual viewpoints, e.g. spatial image interpolation
• CPC Class Codes: H04N 13/156 Mixing image signals
• CPC Class Codes: H04N 13/239 : using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/279 : the virtual viewpoint locations being selected by the viewers or determined by tracking
• CPC Class Codes: H04N 13/296 : Synchronisation thereof; Control thereof
• CPC Class Codes: H04N 13/366 : using viewer tracking

Abstract

Embodiments disclose a real-time surgery method and apparatus for displaying a stereoscopic augmented view of a patient from a static or dynamic viewpoint of the surgeon, which employs real-time three-dimensional surface reconstruction for preoperative and intraoperative image registration. Stereoscopic cameras provide real-time images of the scene including the patient. A stereoscopic video display is used by the surgeon, who sees a graphical representation of the preoperative or intraoperative images blended with the video images in a stereoscopic manner through a see through display.

Claims

1. A system comprising:

a stereoscopic optical see-through head mounted display;

at least one computing system configured to receive preoperative, intraoperative or preoperative and intraoperative image information of the physical spine of a patient,

at least one marker configured to be attached to the physical spine of the patient,

wherein the at least one computing system is configured to register the image information of the physical spine in a common coordinate system,

wherein the at least one computing system is configured to register the at least one marker in the common coordinate system,

wherein the at least one computing system is configured to generate a stereoscopic view by the optical see-through head mounted display based on the image information of the physical spine,

wherein the at least one computing system is configured to superimpose the stereoscopic view on a target portion of the patient visible directly through the optical see-through head mounted display,

wherein the at least one computing system is configured to track movement from a first position to a second position of the physical spine during surgery by tracking the position of the at least one marker,

wherein the at least one computing system is configured to track the location and orientation of the optical see-through head mounted display in the common coordinate system,

wherein the at least one computing system is configured to adjust in real time the stereoscopic view based on the location and orientation of the tracked optical see-through head mounted display,

wherein the at least one computing system is configured to adjust in real time the stereoscopic view based on the tracked movement from the first position to the second position of the physical spine, and

wherein the first and second positions of the physical spine of the patient are different.

2. The system of claim 1, wherein the at least one computing system is configured to reconstruct one or more preoperative, intraoperative or preoperative and intraoperative two-dimensional (2D) images into three-dimensional (3D) images using 2D to 3D reconstruction.

3. The system of claim 1, wherein the at least one computing system is configured to track movement from the first position to the second position of the physical spine by tracking the position of the at least one marker in real time.

4. The system of claim 1, wherein the at least one computing system is configured to compare tracking data of one or more instruments and/or one or more devices to the tracked position of the physical spine during surgery in real time.

5. The system of claim 1, wherein the at least one computing system is configured to track the location and/or orientation of one or more instruments, one or more devices, the physical spine, the surgeon, the optical see-through head mounted display, or combinations thereof in real time.

6. The system of claim 1, wherein the image information of the physical spine of the patient is registered with one or more structures of the physical spine using a navigation system.

7. The system of claim 1, wherein the at least one computing system is configured to provide for adjustment of one or more of transparency, color or contrast of the stereoscopic view displayed by the optical see-through head mounted display superimposed on the physical spine.

8. The system of claim 1, wherein the at least one computing system is configured to display one or more virtual graphical representations of tracked instruments or devices by the optical see-through head mounted display superimposed on the physical spine.

9. The system of claim 1, wherein the stereoscopic view of the spine displayed by the optical see-through head mounted display includes images of individually rendered vertebrae registered in the common coordinate system superimposed with corresponding individual vertebrae of the physical spine.

10. The system of claim 9, wherein the at least one computing system is configured to track pose changes of the individual vertebrae in the common coordinate system, and wherein the pose changes are translated into display of a different second stereoscopic view at a location and orientation that corresponds to the location and orientation of the individual vertebrae of the patient'"'"'s spine after the pose changes.

11. The system of claim 5, wherein the tracking of the one or more instruments, the one or more devices, the physical spine, the surgeon, the optical see-through head mounted display or combinations thereof is performed using at least one attached passive optical marker, at least one active optical marker, or a combination thereof, and/or at least one of magnetic tracking, electromagnetic tracking, ultrasonic tracking, mechanical tracking, tracking using one or more inertial measurement units, tracking using one or more 3D scanners, or a combination thereof.

12. The system of claim 1, wherein the optical see-through head mounted display is configured to display at least one of a graphical representation of one or more instruments, surgical guides or techniques, or anatomical models superimposed on the physical spine.

13. The system of claim 1, wherein the image information comprises a 2D image of the spine of the patient.

14. The system of claim 13, wherein the 2D image of the spine of the patient comprises a CT image, an MRI image, an ultrasound image, an x-ray image or combinations thereof.

15. The system of claim 1, wherein the image information comprises a 3D image of the spine of the patient, and wherein the 3D image of the spine is generated using a CT image, an MRI image, an ultrasound image, an x-ray image or combinations thereof.

16. The system of claim 15, wherein the 3D image of the spine comprises a surface reconstruction.

17. The system of claim 1, wherein the tracked movement from the first position to the second position of the physical spine during surgery is a rotation of one or more vertebrae.

18. The system of claim 1, wherein the tracked movement from the first position to the second position of the physical spine during surgery is a lateralization of one or more vertebrae.

19. The system of claim 1, wherein the tracked movement from the first position to the second position of the physical spine during surgery is a change in sagittal position of one or more vertebrae.

20. The system of claim 1, wherein the intraoperative image information is obtained using a CT scan.

21. The system of claim 1, wherein the at least one computing system comprises the computing system configured to receive preoperative, intraoperative or preoperative and intraoperative image information of the physical spine of the patient, the computing system configured to register the image information of the physical spine in the common coordinate system, the computing system configured to register the at least one-marker in the common coordinate system, the computing system configured to generate the stereoscopic view by the optical see-through head mounted display based on the image information of the physical spine, the computing system configured to superimpose the stereoscopic view on the target portion of the patient visible directly through the optical see-through head mounted display, the computing system configured to track movement from the first position to the second position of the physical spine during surgery, the computing system configured to track the location and orientation of the optical see-through head mounted display in the common coordinate system, the computing system configured to adjust in real time the stereoscopic view based on the location and orientation of the tracked optical see-through head mounted display, the computing system configured to adjust in real time the stereoscopic view based on the tracked movement from the first position to the second position of the physical spine, and wherein one or more of the at least one computing system are the same.

22. The system of claim 1, wherein the at least one computing system comprises the computing system configured to receive preoperative, intraoperative or preoperative and intraoperative image information of the physical spine of the patient, the computing system configured to register the image information of the physical spine in the common coordinate system, the computing system configured to register the at least one-marker in the common coordinate system, the computing system configured to generate the stereoscopic view by the optical see-through head mounted display based on the image information of the physical spine, the computing system configured to superimpose the stereoscopic view on the target portion of the patient visible directly through the optical see-through head mounted display, the computing system configured to track movement from the first position to the second position of the physical spine during surgery, the computing system configured to track the location and orientation of the optical see-through head mounted display in the common coordinate system, the computing system configured to adjust in real time the stereoscopic view based on the location and orientation of the tracked optical see-through head mounted display, the computing system configured to adjust in real time the stereoscopic view based on the tracked movement from the first position to the second position of the physical spine, and wherein one or more of the at least one computing system are different.

23. A system comprising:

a stereoscopic optical see-through head mounted display;

at least one computing system configured to receive preoperative, intraoperative, or preoperative and intraoperative image information from two or more images of individual vertebrae of a patient; and

at least one marker configured to be attached to the patient,

wherein the at least one computing system is configured to register the two or more images of the individual vertebrae in a common coordinate system,

wherein the at least one computing system is configured to register the at least one marker in the common coordinate system,

wherein the at least one computing system is configured to generate a stereoscopic view by the optical see-through head mounted display based on the two or more images of the individual vertebrae,

wherein the at least one computing system is configured to superimpose the stereoscopic view on a target portion of the patient visible directly through the optical see through head mounted display,

wherein the at least one computing system is configured to track movement from a first position to a second position of the physical spine during surgery by tracking the position of the at least one marker,

wherein the at least one computing system is configured to track the location and orientation of the optical see-through head mounted display in the common coordinate system,

wherein the at least one computing system is configured to superimpose the stereoscopic view of the two or more images of the individual vertebrae on corresponding individual vertebrae of the physical spine,

wherein the at least one computing system is configured to adjust in real time the stereoscopic view of the two or more images of the individual vertebrae based on the location and orientation of the tracked optical see-through head mounted display,

wherein the at least one computing system is configured to adjust in real time the stereoscopic view of the two or more images of the individual vertebrae based on the tracked movement from the first position to the second position of the physical spine, and

wherein the first and second positions of the physical spine of the patient are different.

24. The system of claim 23, wherein the at least one computing system is configured to track pose changes of the individual vertebrae in the common coordinate system and wherein the pose changes are translated into display of a different second stereoscopic view at a location and orientation that corresponds to the location and orientation of the individual vertebrae of the spine of the patient after the pose changes.

25. The system of claim 23, wherein the two or more images comprise at least one 2D image, and wherein the 2D image comprises a CT image, an MM image, an ultrasound image, an x-ray image, or combinations thereof.

26. The system of claim 23, wherein the two or more images comprise at least one 3D image, and wherein the 3D image of the spine is generated using a CT image, an MRI image, an ultrasound image, an x-ray image, or combinations thereof.

27. The system of claim 23, wherein the tracked movement from the first position to the second position of the physical spine during surgery is a rotation, a lateralization, a change in sagittal position, or a combination thereof of one or more vertebrae.

28. The system of claim 23, wherein the at least one computing system comprises the computing system configured to receive preoperative, intraoperative, or preoperative and intraoperative image information from the two or more images of individual vertebrae of the patient, the computing system configured to register the two or more images of the individual vertebrae in the common coordinate system, the computing system configured to register the at least one marker in the common coordinate system, the computing system configured to generate the stereoscopic view by the optical see-through head mounted display based on the two or more images of the individual vertebrae, the computing system configured to superimpose the stereoscopic view on the target portion of the patient visible directly through the optical see through head mounted display, the computing system configured to track movement from the first position to the second position of the physical spine during surgery by tracking the position of the at least one marker, the computing system configured to track the location and orientation of the optical see-through head mounted display in the common coordinate system, the computing system configured to superimpose the stereoscopic view of the two or more images of the individual vertebrae on the corresponding individual vertebrae of the physical spine, the computing system configured to adjust in real time the stereoscopic view of the two or more images of the individual vertebrae based on the location and orientation of the tracked optical see-through head mounted display, the computing system configured to adjust in real time the stereoscopic view of the two or more images of the individual vertebrae based on the tracked movement from the first position to the second position of the physical spine, and wherein one or more of the at least one computing system are the same.

29. The system claim 23, wherein the at least one computing system comprises the computing system configured to receive preoperative, intraoperative, or preoperative and intraoperative image information from the two or more images of individual vertebrae of the patient, the computing system configured to register the two or more images of the individual vertebrae in the common coordinate system, the computing system configured to register the at least one marker in the common coordinate system, the computing system configured to generate the stereoscopic view by the optical see-through head mounted display based on the two or more images of the individual vertebrae, the computing system configured to superimpose the stereoscopic view on the target portion of the patient visible directly through the optical see through head mounted display, the computing system configured to track movement from the first position to the second position of the physical spine during surgery by tracking the position of the at least one marker, the computing system configured to track the location and orientation of the optical see-through head mounted display in the common coordinate system, the computing system configured to superimpose the stereoscopic view of the two or more images of the individual vertebrae on the corresponding individual vertebrae of the physical spine, the computing system configured to adjust in real time the stereoscopic view of the two or more images of the individual vertebrae based on the location and orientation of the tracked optical see-through head mounted display, the computing system configured to adjust in real time the stereoscopic view of the two or more images of the individual vertebrae based on the tracked movement from the first position to the second position of the physical spine, and wherein one or more of the at least one computing system are different.

30. A system comprising:

a stereoscopic optical see-through head mounted display;

at least one computing system configured to receive preoperative, intraoperative, or preoperative and intraoperative image information from two or more images of two or more individual vertebrae of a patient; and

at least two markers configured to be attached to the patient,

wherein the at least one computing system is configured to register the two or more images of the two or more individual vertebrae in a common coordinate system,

wherein the at least one computing system is configured to register the at least two markers in the common coordinate system,

wherein the at least one computing system is configured to generate a stereoscopic view by the optical see-through head mounted display based on the two or more images of the two or more individual vertebrae,

wherein the at least one computing system is configured to superimpose the stereoscopic view on a target portion of the patient visible directly through the optical see through head mounted display,

wherein the at least one computing system is configured to track movement from a first position to a second position of the two or more individual vertebrae of the physical spine during surgery by tracking the position of the at least two markers,

wherein the at least one computing system is configured to track the location and orientation of the optical see-through head mounted display in the common coordinate system,

wherein the at least one computing system is configured to superimpose the stereoscopic view of the two or more images of the two or more individual vertebrae on the corresponding individual vertebrae of the physical spine,

wherein the at least one computing system is configured to adjust in real time the stereoscopic view based on the location and orientation of the tracked optical see-through head mounted display,

wherein the at least one computing system is configured to adjust in real time the stereoscopic view of the two or more images of the two or more individual vertebrae based on the tracked movement from the first position to the second position of the corresponding individual vertebrae of the physical spine, and

wherein the first and second positions of the two or more individual vertebrae of the physical spine of the patient are different.