SYSTEMS, METHODS, APPARATUSES, AND COMPUTER-READABLE MEDIA FOR IMAGE GUIDED SURGERY

• US 20100268067A1
• Filed: 02/09/2010
• Published: 10/21/2010
• Est. Priority Date: 02/17/2009
• Status: Active Grant

• Current Assignee: Inneroptic Technology, Inc.
• Original Assignee: Inneroptic Technology, Inc.
• Inventors: Siperstein, Allan, Martinie, John, Iannitti, David, State, Andrei, Keller, Kurtis, Heaney, Brian, Razzaque, Sharif
• Granted Patent: US 8,690,776 B2
• Time in Patent Office: Days
• US Class Current: 600/424
• CPC Class Codes: A61B 18/02 by cooling, e.g. cryogenic techniques devices for cooling specific reflex points of the body within cell-life limits A61H39/06
• CPC Class Codes: A61B 18/082 Probes or electrodes therefor
• CPC Class Codes: A61B 18/1442 Probes having pivoting end effectors, e.g. forceps
• CPC Class Codes: A61B 18/1477 Needle-like probes
• CPC Class Codes: A61B 18/18 by applying electromagnetic radiation, e.g. microwaves radiation therapy A61N5/00
• CPC Class Codes: A61B 18/1815 using microwaves
• CPC Class Codes: A61B 18/20 using laser
• CPC Class Codes: A61B 2018/00577 Ablation
• CPC Class Codes: A61B 2018/1425 Needle
• CPC Class Codes: A61B 2018/1869 with an instrument interstitially inserted into the body, e.g. needles
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/104 Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/207 Divots for calibration
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/368 changing the image on a display according to the operator's position
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 2090/502 Headgear, e.g. helmet, spectacles
• 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: A61B 34/25 : User interfaces for surgical systems
• CPC Class Codes: A61B 8/4245 : involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
• CPC Class Codes: A61B 90/37 : Surgical systems with images on a monitor during operation
• CPC Class Codes: B33Y 80/00 : Products made by additive manufacturing

Abstract

Presented herein are methods, systems, devices, and computer-readable media for image guided surgery. The systems herein allow a physician to use multiple instruments for a surgery and simultaneously provide image-guidance data for those instruments. Various embodiments disclosed herein provide information to physicians about procedures they are performing, the devices (such as ablation needles, ultrasound wands or probes, scalpels, cauterizers, etc.) they are using during the procedure, the relative emplacements or poses of these devices, prediction information for those devices, and other information. Some embodiments provide useful information about 3D data sets. Additionally, some embodiments provide for quickly calibratable surgical instruments or attachments for surgical instruments.

Claims

1. A method for image guided surgery, comprising:

determining, with a computer system, device type information for a first medical device;

determining, with the computer system, real-time emplacement information for the first medical device;

determining, with the computer system, real-time emplacement information for a second medical device;

determining the real-time relative emplacements of the first and second medical devices with the computer system;

determining, with the computer system, at least based on the device type of the first medical device, real-time prediction information for the first medical device;

generating image guidance information, with the computer system, based on the real-time relative emplacements of the first and second medical devices, the real-time prediction information for the first medical device, and data related to the second medical device; and

displaying, on one or more displays, a graphical rendering of the image guidance information.

2. The method of claim 1, wherein the first medical device comprises an ablation needle and the prediction information comprises an estimated ablation volume for the ablation needle.

3. The method of claim 1, wherein the first medical device comprises a needle and the prediction information comprises a drive projection for the needle.

4. The method of claim 1, wherein the prediction information comprises a graphical approximation of visual characteristics of the first medical device.

5. The method of claim 1, wherein the prediction information comprises graphical indicators of the real-time relative emplacements of the first medical device and the second medical device.

6. The method of claim 1, wherein the first medical device comprises an ablation needle, the second medical device comprises a medical imager, and the prediction information comprises an intersection of the ablation needle'"'"'s axis and an image plane for the medical imager.

7. The method of claim 6, wherein the method further comprises:

receiving an indication of a point of interest; and

marking, in an underlying 3D model, the intersection of the ablation needle'"'"'s axis and the image plane as the point of interest.

8. The method of claim 7, wherein the image guidance information comprises the point of interest and displaying the graphical rendering of the image guidance information comprises representing the point of interest in the one or more displays.

9. The method of claim 1, wherein the data related to the second medical device is volumetric medical data, the prediction information is a plane intersecting the volumetric medical data, and displaying the graphical rendering of the image guidance information comprises displaying the volumetric data corresponding to the intersecting plane.

10. The method of claim 1, wherein the data related to the second medical device is volumetric medical data, the prediction information is a plane intersecting the volumetric medical data, and displaying the graphical rendering of the image guidance information comprises displaying the volumetric data in a manner determined based on the intersecting plane.

11. The method of claim 10, wherein displaying the volumetric data in a manner determined based on the intersecting plane comprises displaying the volumetric data intersected by the plane.

12. The method of claim 10, wherein displaying the volumetric data in a manner determined based on the intersecting plane comprises determining the rendering of the volumetric data based on the voxels'"'"' distance from the intersecting plane.

13. The method of claim 1, wherein the data related to the second medical device is volumetric medical data, the prediction information is a sample of the volumetric data determined based on criteria, and displaying the graphical rendering of the image guidance information comprises displaying the volumetric data that meets the criteria.

14. The method of claim 11, wherein the volumetric data comprises 3D ultrasound data and the criteria comprise threshold fluid flow information for the 3D ultrasound data.

15. The method of claim 1, wherein displaying, on one or more displays, a graphical rendering of the image guidance information comprises displaying stereoscopically.

16. A system for image guided surgery, comprising:

one or more displays; and

a computer system, wherein the computer system is configured to;

determine device type information for a first medical device;

determine real-time emplacement information for the first medical device;

determine real-time emplacement information for a second medical device;

determine the real-time relative emplacements of the first and second medical devices;

determine at least based on the device type of the first medical device, real-time prediction information for the first medical device;

generate image guidance information based on the real-time relative emplacements of the first and second medical devices, the real-time prediction information for the first medical device, and data related to the second medical device; and

display, on the one or more displays, a graphical rendering of the image guidance information.

17. The system of claim 16, wherein the first medical device comprises an ablation needle and the prediction information comprises an estimated ablation volume for the ablation needle.

18. The system of claim 16, wherein the first medical device comprises a needle and the prediction information comprises a drive projection for the needle.

19. The system of claim 16, wherein the prediction information comprises graphical indicators of the real-time relative emplacements of the first medical device and the second medical device.

20. The system of claim 16, wherein the first medical device comprises an ablation needle, the second medical device comprises a medical imager, and the prediction information comprises an intersection of the ablation needle'"'"'s axis and an image plane for the medical imager.

21. The system of claim 16, wherein the data related to the second medical device is volumetric medical data, the prediction information is a plane intersecting the volumetric medical data, and displaying the graphical rendering of the image guidance information comprises displaying the volumetric data corresponding to the intersecting plane.

22. The system of claim 16, wherein the data related to the second medical device is volumetric medical data, the prediction information is a sample of the volumetric data determined based on criteria, and displaying the graphical rendering of the image guidance information comprises displaying the volumetric data that meets the criteria.

23. The system of claim 16, wherein displaying, on one or more displays, a graphical rendering of the image guidance information comprises displaying stereoscopically.

24. A computer-readable medium encoded with computer readable program code, the program code comprising instructions, said instructions, when executed perform the method comprising:

determining, with a computer system, device type information for a first medical device;

determining, with the computer system, real-time emplacement information for the first medical device;

determining, with the computer system, real-time emplacement information for a second medical device;

determining the real-time relative emplacements of the first and second medical devices with the computer system;

determining, with the computer system, at least based on the device type of the first medical device, real-time prediction information for the first medical device;

generating image guidance information, with the computer system, based on the real-time relative emplacements of the first and second medical devices, the real-time prediction information for the first medical device, and data related to the second medical device; and

displaying, on one or more displays, a graphical rendering of the image guidance information.