System and method for augmented reality navigation in a medical intervention procedure
First Claim
1. A method for augmented reality navigation during a medical intervention, said method comprising the steps of:
- providing stereoscopic head mounted display, said display including a pair of stereo viewing cameras, at least one tracking camera, and a stereoscopic guidance display;
providing a plurality of markers on a frame attached to a table;
providing a medical instrument for performing said medical intervention, and providing a plurality of markers on the instrument;
during a medical intervention on a patient positioned on said table, determining a rigid body transformation between the tracking camera and the frame markers, and determining said patient'"'"'s body pose from said rigid body transformation;
determining the pose of said medical instrument with respect to the table from the patient'"'"'s body pose and said instrument markers; and
displaying in the guidance display a visual representation of said patient, said instrument, and a path for guiding said instrument to perform said medical intervention, wherein the visual representation of said patient and said instrument is generated based on a signal received from said viewing cameras, and wherein the visual representation of said patient is overlaid with a medical image of a target of said intervention.
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Accused Products
Abstract
A method for augmented reality navigation of a medical intervention includes providing a stereoscopic head mounted display, the display including a pair of stereo viewing cameras, at least one tracking camera, and a stereoscopic guidance display. During a medical intervention on a patient, the patient'"'"'s body pose is determined from a rigid body transformation between the tracking camera and frame markers on the scanning table, and the pose of an intervention instrument with respect to the table is determined. A visual representation of the patient overlaid with an image of the intervention target, the instrument, and a path for guiding the instrument to perform said medical intervention is displayed in the stereoscopic guidance display.
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Citations
26 Claims
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1. A method for augmented reality navigation during a medical intervention, said method comprising the steps of:
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providing stereoscopic head mounted display, said display including a pair of stereo viewing cameras, at least one tracking camera, and a stereoscopic guidance display;
providing a plurality of markers on a frame attached to a table;
providing a medical instrument for performing said medical intervention, and providing a plurality of markers on the instrument;
during a medical intervention on a patient positioned on said table, determining a rigid body transformation between the tracking camera and the frame markers, and determining said patient'"'"'s body pose from said rigid body transformation;
determining the pose of said medical instrument with respect to the table from the patient'"'"'s body pose and said instrument markers; and
displaying in the guidance display a visual representation of said patient, said instrument, and a path for guiding said instrument to perform said medical intervention, wherein the visual representation of said patient and said instrument is generated based on a signal received from said viewing cameras, and wherein the visual representation of said patient is overlaid with a medical image of a target of said intervention. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for augmented reality navigation during a medical intervention, comprising:
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stereoscopic head mounted display, said display including a pair of stereo viewing cameras, at least one tracking camera, and a stereoscopic guidance monitor;
a plurality of markers on a frame attached to a table;
a medical instrument for performing said medical intervention, said instrument including a plurality of markers; and
a control component, said control component accepting signals from said viewing cameras and tracking camera to generate an image for display in said stereoscopic guidance monitor, said control component including a program storage device readable by a computer, tangibly embodying a program of instructions executable by the computer to perform the method steps for determining a rigid body transformation between the tracking camera and the frame markers, determining a patient'"'"'s body pose from said rigid body transformation, during a medical intervention on said patient, wherein said patient is positioned on said table, determining the pose of said medical instrument with respect to the table from the patient'"'"'s body pose and said instrument markers, and displaying in the guidance display a visual representation of said patient, said instrument, and a path for guiding said instrument to perform said medical intervention, wherein the visual representation of said patient is overlaid with an image of a target of said intervention. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A method for augmented reality navigation during a magnetic resonance guided intervention, said method comprising the steps of:
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providing stereoscopic head mounted display, said display including a pair of stereo viewing cameras, at least one tracking camera, and a stereoscopic guidance display;
providing a biopsy needle for performing said intervention;
providing a scanning table;
during a medical intervention on a patient positioned on said table, determining said patient'"'"'s body pose from a rigid body transformation between the tracking camera and the table;
determining the pose of said biopsy needle with respect to the table from the patient'"'"'s body pose; and
displaying in the guidance display a visual representation of said patient, said needle, and a path for guiding said needle to perform said intervention, wherein the visual representation of said patient and said needle is generated based on a signal received from said viewing cameras, and wherein the visual representation of said patient is overlaid with a magnetic resonance image of a target of said intervention. - View Dependent Claims (22, 23, 24, 25, 26)
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Specification