SYSTEM AND METHOD FOR DISPLAYING REAL-TIME STATE OF IMAGED ANATOMY DURING A SURGICAL PROCEDURE
First Claim
Patent Images
1. A method of displaying real-time state of imaged anatomy during a surgical procedure comprising the steps of:
- (a) attaching a measurement device to a patient to measure and ongoing body activity and generating a gating signal corresponding to the ongoing body activity;
(b) establishing a navigation reference frame around the patient in a surgical field of interest;
(c) acquiring a time series of images of a patient'"'"'s anatomy in the surgical field of interest in sync with the gating signal;
(d) determining an image position for each image in the time series in relation to the navigation reference frame;
(e) determining a position for at least one navigated surgical instrument used during the surgical procedure in relation to the navigation reference frame; and
(f) displaying the time series of images along with the at least one navigated surgical instrument used during the surgical procedure superimposed on the time series of images showing the real-time state of the imaged anatomy and the accurate positions of the at least one navigated surgical instrument within the real-time state of imaged anatomy.
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Abstract
A system and method for displaying surgical instruments accurately, in both time and space, within both slice and volumetric medical images of organs that may deform in a predictable manner over time due to an ongoing body activity. The system and method comprising using a gating signal associated with an ongoing body activity to determine which image in a sequence of acquired images best represents the state of the imaged anatomy at a given point in time and accurately displaying navigated surgical instruments within that image at that point in time.
196 Citations
27 Claims
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1. A method of displaying real-time state of imaged anatomy during a surgical procedure comprising the steps of:
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(a) attaching a measurement device to a patient to measure and ongoing body activity and generating a gating signal corresponding to the ongoing body activity; (b) establishing a navigation reference frame around the patient in a surgical field of interest; (c) acquiring a time series of images of a patient'"'"'s anatomy in the surgical field of interest in sync with the gating signal; (d) determining an image position for each image in the time series in relation to the navigation reference frame; (e) determining a position for at least one navigated surgical instrument used during the surgical procedure in relation to the navigation reference frame; and (f) displaying the time series of images along with the at least one navigated surgical instrument used during the surgical procedure superimposed on the time series of images showing the real-time state of the imaged anatomy and the accurate positions of the at least one navigated surgical instrument within the real-time state of imaged anatomy. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method of displaying real-time state of imaged anatomy during a surgical procedure comprising the steps of:
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(a) attaching a measurement device to a patient to measure and ongoing body activity and generating a gating signal corresponding to the ongoing body activity; (b) acquiring a time series of pre-operative 3D images of a patient'"'"'s anatomy in a surgical field of interest in sync with the gating signal; (c) establishing a navigation reference frame around the patient in the surgical field of interest; (d) acquiring a time series of intraoperative 2D images of the patient'"'"'s anatomy in the surgical field of interest in sync with the gating signal; (e) reconstructing a time series of intraoperative 3D images from the time series of intraoperative 2D images; (f) registering the time series of pre-operative 3D images with the time series of intraoperative 3D images; and (g) displaying the time series of pre-operative 3D images along with at least one navigated surgical instrument used during the surgical procedure superimposed on the time series of pre-operative 3D images showing the real-time state of the imaged anatomy and the accurate positions of the at least one navigated surgical instrument within the real-time state of imaged anatomy. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14)
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15. A method of displaying real-time state of imaged anatomy during a surgical procedure comprising the steps of:
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(a) attaching an EKG measurement device to a patient to measure the EKG of a patient and generating a gating signal corresponding to the measured EKG; (b) acquiring a time sequence of pre-operative 3D CT volumetric images of a patient'"'"'s anatomy in a surgical field of interest in sync with the gating signal; (c) establishing a navigation reference frame around the patient in the surgical field of interest; (d) acquiring a series of intraoperative 2D fluoroscopic images of the patient'"'"'s anatomy in the surgical field of interest taken at various intervals while an imaging apparatus rotates around the patient; (e) recording the EKG measurement and an image position within the navigation reference frame for each image in the series of intraoperative 2D fluoroscopic images; (f) reconstructing a series of intraoperative 3D fluoroscopic volumetric images from the series of intraoperative 2D fluoroscopic images that have approximately the same EKG measurement; (g) registering each intraoperative 3D fluoroscopic volumetric image in the time series with the navigation reference frame; (h) registering each intraoperative 3D fluoroscopic volumetric image in the series with the corresponding pre-operative 3D CT volumetric image in the time sequence; and (i) displaying the time sequence of pre-operative 3D CT volumetric images along with at least one navigated surgical instrument used during the surgical procedure superimposed on the time sequence of pre-operative 3D CT volumetric images showing the real-time state of the patient'"'"'s imaged anatomy and the accurate positions of the at least one navigated surgical instrument within the real-time state of the patient'"'"'s imaged anatomy. - View Dependent Claims (16, 17, 18, 19)
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20. A method of displaying real-time state of imaged anatomy during a surgical procedure comprising the steps of:
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(a) attaching a respiratory cycle measurement device to a patient to measure the respiratory cycle of the patient and generating a gating signal corresponding to the measured respiratory cycle; (b) establishing a navigation reference frame around the patient in a surgical field of interest; (c) acquiring a time series of 2D fluoroscopic images of a patient'"'"'s anatomy in the surgical field of interest in sync with the gating signal; (d) recording the respiratory cycle measurement and an image position within the navigation reference frame for each image in the time series of 2D fluoroscopic images; and (e) displaying the time series of 2D fluoroscopic images along with navigated surgical instruments superimposed on the time series of 2D fluoroscopic images showing the real-time state of the patient'"'"'s imaged anatomy and the accurate positions of the navigated surgical instruments within the real-time state of the patient'"'"'s imaged anatomy. - View Dependent Claims (21, 22, 23)
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24. An image-guided surgery system comprising:
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a measurement device coupled to a patient for measuring an ongoing body activity of the patient and generating a gating signal corresponding to the ongoing body activity measurement; a plurality of tracking elements coupled to a navigation apparatus, wherein the navigation apparatus includes at least one processor; at least one imaging apparatus coupled to the navigation apparatus configured for imaging a patient'"'"'s anatomy that deforms and changes position in relation to the ongoing body activity; and at least one display coupled to the a navigation apparatus and at least one imaging apparatus configured for displaying 2D slice and 3D volumetric images of the patient'"'"'s anatomy that deforms and changes position in relation to the ongoing body activity and displaying an accurate position of at least one navigated surgical instrument within the 2D slice and 3D volumetric images in real-time. - View Dependent Claims (25, 26, 27)
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Specification