System and Method for Alignment of Instrumentation in Image-Guided Intervention
First Claim
1. A method for aligning or guiding a tracked instrument during an image-guided intervention, the method comprising:
- registering volumetric image data of an anatomy of a patient to patient space data of the anatomy of the patient, wherein the patient space data is obtained using a tracking device;
determining, in the coordinate system of the tracking device, location information regarding one or more position indicating elements rigidly associated with an ultrasound simulator using the tracking device;
determining an imaginary scan plane of an ultrasound simulator in a the coordinate system of the tracking device;
determining an intersection of the imaginary scan plane of the ultrasound simulator through the volumetric image data of the anatomy of the patient using the location information of the one or more position indicating elements;
formatting at least a portion of the volumetric image data into a display of the anatomy of the patient intersected by the imaginary scan plane; and
displaying a location of a tracked instrument on the display, the tracked instrument including one or more position indicating elements tracked by the tracking device.
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Accused Products
Abstract
The invention provides systems and methods for aligning or guiding instruments during image-guided interventions. A volumetric medical scan (image data) of a patient may first be registered to patient space data regarding the patient obtained using a tracking device. An ultrasound simulator fitted with position indicating elements whose location is tracked by the tracking device is introduced to the surface of the anatomy of the patient and used to determine an imaginary ultrasound scan plane for the ultrasound simulator. This scan plane is used to reformat the image data so that the image data can be displayed to a user in a manner analogous to a handheld ultrasound transducer by re-slicing the image data according to the location and orientation of the ultrasound simulator. The location of an instrument fitted with position indicating elements tracked by the tracking device may be projected onto the re-sliced scan data.
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Citations
25 Claims
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1. A method for aligning or guiding a tracked instrument during an image-guided intervention, the method comprising:
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registering volumetric image data of an anatomy of a patient to patient space data of the anatomy of the patient, wherein the patient space data is obtained using a tracking device; determining, in the coordinate system of the tracking device, location information regarding one or more position indicating elements rigidly associated with an ultrasound simulator using the tracking device; determining an imaginary scan plane of an ultrasound simulator in a the coordinate system of the tracking device; determining an intersection of the imaginary scan plane of the ultrasound simulator through the volumetric image data of the anatomy of the patient using the location information of the one or more position indicating elements; formatting at least a portion of the volumetric image data into a display of the anatomy of the patient intersected by the imaginary scan plane; and displaying a location of a tracked instrument on the display, the tracked instrument including one or more position indicating elements tracked by the tracking device. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A system for aligning or guiding a tracked instrument during an image-guided intervention, the system comprising:
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a tracking device that obtains patient space data regarding an anatomy of a patient, determines location information regarding one or more position indicating elements rigidly associated with an ultrasound simulator, and tracks one or more position indicating elements associated with a tracked instrument; a registration module that registers volumetric image data of the anatomy of a patient to the patient space data of the anatomy of the patient; and a display module that determines an intersection of an imaginary scan plane from a front portion of the ultrasound simulator through the volumetric image data of anatomy of the patient using the location information of the position indicating elements and formats at least a portion of the volumetric image data into a display of the anatomy of the patient intersected by the imaginary scan plane, wherein the display indicates a location of the tracked instrument relative to the anatomy of the patient intersected by the imaginary scan plane. - View Dependent Claims (9, 10, 11, 12)
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13. A method for training users to align instrumentation during image guided surgery, the method comprising:
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registering volumetric image data of an anatomy of a patient to patient space data of a phantom object representing the anatomy of the patient, wherein the patient space data is obtained using a tracking device; determining, in the coordinate system of the tracking device, location information regarding one or more position indicating elements rigidly associated with an ultrasound simulator using the tracking device; determining an imaginary scan plane of the ultrasound simulator in the coordinate system of the tracking device; determining an intersection of the imaginary scan plane of the ultrasound simulator through the volumetric image data of the phantom object using the location information of the one or more position indicating elements; formatting at least a portion of the volumetric image data into a display of a portion of the phantom object intersected by the imaginary scan plane; and displaying a location of a tracked instrument relative to the portion of the phantom object intersected by the imaginary scan plane on the display, the tracked instrument including one or more position indicating elements tracked by the tracking device. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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20. A system for training users to align instrumentation during an image-guided intervention, the system comprising:
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a phantom object that simulates a portion of an anatomy a patient; a tracking device that obtains patient space data regarding the phantom object, determines location information regarding one or more position indicating elements rigidly associated with an ultrasound simulator, and tracks one or more position indicating elements associated with a tracked instrument; a registration module that registers volumetric image data of the anatomy of a patient to the patient space data of the phantom object; and a display module that determines an intersection of an imaginary scan plane from a front portion of the ultrasound simulator through the volumetric image data of the phantom object using the location information of the one or more position indicating elements and formats at least a portion of the volumetric image data into a display of the phantom object intersected by the imaginary scan plane, wherein the display indicates a location of the tracked instrument relative to the portion of the phantom object intersected by the imaginary scan plane. - View Dependent Claims (21, 22, 23, 24)
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25. A method for displaying a portion of an anatomy of a patient, the method comprising:
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registering volumetric image data of an anatomy of a patient to patient space data of the anatomy of the patient, wherein the patient space data is obtained using a tracking device; determining, in a coordinate system of the tracking device, location information regarding one or more position indicating elements rigidly associated with an ultrasound simulator using the tracking device; determining an imaginary scan plane of the ultrasound simulator in the coordinate system of the tracking device; determining an intersection of the imaginary scan plane of the ultrasound simulator through the volumetric image data of the anatomy of the patient using the location information of the one or more position indicating elements; and formatting at least a portion of the volumetric image data into a display of the anatomy of the patient intersected by the imaginary scan plane.
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Specification