Locating tumors using structured light scanning

• US 10,521,916 B2
• Filed: 02/21/2018
• Issued: 12/31/2019
• Est. Priority Date: 02/21/2018
• Status: Active Grant

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Covidien LP (Medtronic Plc)
• Inventors: Sartor, Joe D.
• Primary Examiner(s): Sherali, Ishrat I
• Application Number:
  US15/900,882
• Publication Number:
  US 20190259162A1
• Time in Patent Office: 678 Days
• Field of Search: 382128
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• 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 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/373 using light, e.g. by using optical scanners
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/397 electromagnetic other than visible, e.g. microwave
• 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 8/0841 for locating instruments
• CPC Class Codes: A61B 8/085 for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
• CPC Class Codes: A61B 8/4254 using sensors mounted on the probe
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation
• CPC Class Codes: A61B 90/98 using electromagnetic means, e.g. transponders
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/10048 Infrared image
• CPC Class Codes: G06T 2207/10132 Ultrasound image
• CPC Class Codes: G06T 2207/30096 Tumor; Lesion
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 7/13 Edge detection
• CPC Class Codes: G06T 7/521 : from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: G06T 7/70 : Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06T 7/73 : using feature-based methods

Abstract

Provided in accordance with the present disclosure are systems for identifying a position of target tissue relative to surgical tools using a structured light detector. An exemplary system includes antennas configured to interact with a marker placed proximate target tissue inside a patient'"'"'s body, a structured light pattern source, a structured light detector, a display device, and a computing device configured to receive data from the antennas indicating interacting with the marker, determine a distance between the antennas and the marker, cause the structured light pattern source to project and detect a pattern onto the antennas. The instructions may further cause the computing device to determine, a pose of the antennas, determine, based on the determined distance between the antennas and the marker, and the determined pose of the antennas, a position of the marker relative to the antennas, and display the position of the marker relative to the antennas.

Claims

1. A system comprising:

an antenna configured to interact with a marker placed proximate target tissue inside a patient'"'"'s body;

a structured light pattern source;

a structured light detector;

a display device; and

a computing device including a processor and a memory storing instructions which, when executed by the processor, cause the computing device to;

receive first data from the antenna indicating that the antenna is interacting with the marker at a first location;

determine a distance between the antenna and the marker at the first location;

cause the structured light pattern source to project a pattern onto the antenna;

cause the structured light detector to;

detect the pattern projected onto the antenna; and

generate second data regarding the pattern projected onto the antenna;

determine, based on the second data, a pose of the antenna at the first location;

receive third data from the antenna indicating that the antenna is interacting with the marker at a second location;

determine a distance between the antenna and the marker at the second location;

cause the structured light pattern source to project a pattern onto the antenna;

cause the structured light detector to;

detect the pattern projected onto the antenna; and

generate fourth data regarding the pattern projected onto the antenna;

determine, based on the fourth data, a pose of the antenna at the second location;

determine, based on the determined distance between the antenna and the marker at the first location and the second location, and the determined pose of the antenna at the first location and the second location, a position of the marker relative to the antenna; and

cause the display device to display the determined position of the marker relative to the antenna.

2. The system according to claim 1, wherein the instructions, when executed by the processor, further cause the computing device to:

receive image data of at least a portion of the patient'"'"'s body;

identify the marker in the image data;

identify the target tissue in the image data;

determine a position of the target tissue relative to the marker;

determine a distance between the antenna and the target tissue; and

cause the display device to display the determined distance between the antenna and the target tissue.

3. The system according to claim 2, wherein the distance between the antenna and the target tissue is determined based on the determined position of the target tissue relative to the marker.

4. The system according to claim 2, wherein the instructions, when executed by the processor, further cause the computing device to:

identify an edge of the target tissue in the image data;

determine a position of the edge of the target tissue relative to the marker;

determine a distance between the antenna and the edge of the target tissue; and

cause the display device to display the determined distance between the antenna and the edge of the target tissue.

5. The system according to claim 4, wherein the distance between the antenna and the edge of the target tissue is determined based on the determined position of the edge of the target tissue relative to the marker.

6. The system according to claim 2, further comprising:

an ultrasound device,

wherein the antenna is included in the ultrasound device, and

wherein the image data is received from the ultrasound device.

7. The system according to claim 1, wherein the antenna is a high-gain directional antenna.

8. The system according to claim 1, wherein the antenna is included in a surgical tool.

9. The system according to claim 1, wherein the antenna is included in an ultrasound device.

10. The system according to claim 1, wherein the marker is a radio frequency identification (RFID) device.

11. The system according to claim 1, wherein the antenna is a first antenna and a second antenna, and

wherein the computing device receives the first data from the first antenna and receives the third data from the second antenna.

12. The system according to claim 11, wherein the first antenna is included in an ultrasound device, and the second antenna is included in a surgical tool.

13. The system according to claim 1, wherein determining the pose of the antenna includes determining a position and an orientation of the antenna relative to the structured light detector based on the pattern projected onto the antenna.

14. The system according to claim 13, wherein determining a position and an orientation of the antenna relative to the structured light detector includes determining a distortion of at least a portion of the pattern projected onto the antenna.

15. The system according to claim 1, wherein the first and third data include a signal strength metric, and

wherein the distance between the antenna and the marker at the first and third locations is determined based on the signal strength metric.

16. The system according to claim 1, wherein the instructions, when executed by the processor, further cause the computing device to determine an orientation of the marker relative to the antenna based on the first data or the third data.

17. The system according to claim 1, wherein the structured light pattern source and the structured light detector are included in a structured light scanning device.

18. The system according to claim 1, wherein the structured light detector is an infrared imaging device.

19. The system according to claim 1, wherein the structured light detector is a laser.

20. The system according to claim 19, wherein the laser is an LED laser emitting a collimated beam of light.