METHODS, SYSTEMS, AND COMPUTER READABLE MEDIA FOR IMAGE GUIDED ABLATION

• US 20110046483A1
• Filed: 07/23/2010
• Published: 02/24/2011
• Est. Priority Date: 01/24/2008
• Status: Active Grant

• Current Assignee: University of South Carolina
• Original Assignee: University of South Carolina
• Inventors: Yang, Hua, Fuchs, Henry, Bulysheva, Anna, Peck, Tabitha, State, Andrei
• Granted Patent: US 9,265,572 B2
• Time in Patent Office: Days
• US Class Current: 600/439
• CPC Class Codes: A61B 18/0218 with open-end cryogenic probe, e.g. for spraying fluid directly on tissue or via a tissue-contacting porous tip
• CPC Class Codes: A61B 18/14 Probes or electrodes therefor
• CPC Class Codes: A61B 18/1477 Needle-like probes
• CPC Class Codes: A61B 18/148 having a short, rigid shaft for accessing the inner body transcutaneously, e.g. for neurosurgery or arthroscopy
• CPC Class Codes: A61B 18/18 by applying electromagnetic radiation, e.g. microwaves radiation therapy A61N5/00
• CPC Class Codes: A61B 2018/00577 Ablation
• CPC Class Codes: A61B 2034/2063 Acoustic tracking systems, e.g. using ultrasound
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2090/368 changing the image on a display according to the operator's position
• CPC Class Codes: A61B 2090/3784 both receiver and transmitter being in the instrument or receiver being also transmitter
• CPC Class Codes: A61B 3/113 for determining or recording eye movement
• 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 8/00 Diagnosis using ultrasonic, sonic or infrasonic waves imaging of objects using sonar G01S15/00
• 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 8/4263 using sensors not mounted on the probe, e.g. mounted on an external reference frame
• CPC Class Codes: A61B 8/4416 related to combined acquisition of different diagnostic modalities, e.g. combination of ultrasound and X-ray acquisitions
• CPC Class Codes: A61B 8/462 characterised by constructional features of the display

Abstract

The subject matter described herein includes methods, systems, and computer readable media for image guided ablation. One system for image guided ablation includes an ultrasound transducer for producing a real-time ultrasound image of a target volume and of surrounding tissue. The system further includes an ablation probe for ablating the target volume. The system further includes a display for displaying an image to guide positioning of the ablation probe during ablation of the target volume. The system further includes at least one tracker for tracking position and orientation of the ablation probe during the ablation of the target volume. The system further includes a rendering and display module for receiving a pre-ablation image of the target volume and for displaying a combined image on the display, where the combined image includes a motion tracked, rendered image of the ablation probe and an equally motion tracked real-time ultrasound image registered with the pre-ablation image.

Claims

1. A system for image guided ablation, the system comprising:

an ultrasound transducer for producing a real-time ultrasound image of surrounding tissue and a target volume and surrounding tissue;

an ablation probe for ablating the target volume;

a display for displaying an image to guide positioning of the ablation probe during ablation of the target volume;

at least one tracker for tracking position of the ablation probe during the ablation of the target volume; and

a rendering and display module for receiving a pre-ablation-treatment image of the target volume and for displaying a combined image on the display, where the combined image includes a motion tracked, rendered image of the ablation probe and the real-time ultrasound image registered with the pre-ablation image of the target volume.

2. The system of claim 1 wherein the ablation probe comprises one of:

a radio frequency ablation (RFA) probe;

a microwave ablation probe;

and a cryo-ablation probe.

3. The system of claim 1 wherein the at least one tracker is further adapted to track position and orientation of the ultrasound transducer and wherein the rendering and display module renders and displays an image the ultrasound transducer as part of the combined image.

4. The system of claim 1 wherein the at least one tracker tracks the positions and orientations of the user'"'"'s head and of the display and wherein the rendering and display module displays the combined image from the viewpoint of the user based on the tracked positions and orientations of the display and the user'"'"'s head.

5. The system of claim 4 wherein the rendering and display module receives eye calibration data indicating positions of the user'"'"'s left and right eyes with respect to the tracked position and orientation of the user'"'"'s head and wherein combined image comprises a stereoscopic image with left and right eye images generated based on the eye calibration data and the tracked position and orientation of the user'"'"'s head.

6. The system of claim 1 wherein the rendered image of the ablation probe in the combined image maintains a parallel orientation with respect to the real ablation probe during the ablation of the target volume.

7. The system of claim 1 wherein the combined image includes a visual indication of the target volume and of the surrounding tissue that will be affected by an ablation pass.

8. The system of claim 1 wherein the rendering and display module successively removes, from the combined image, portions of the combined image that represent volumes already treated by successive applications of energy by the ablation probe.

9. The system of claim 1 wherein the rendering and display module renders pre-operative data including an anatomical context for the ablation of the target volume.

10. The system of claim 1 wherein the rendering and display module renders and displays a volume that will be affected by an ablation pass for the current position and orientation of the ablation probe and for its operational specifications.

11. The system of claim 1 wherein the rendering and display module renders guidance graphics including schematic 3D structures to emphasize a spatial relationship of the real-time ultrasound image and the ablation probe.

12. The system of claim 1 wherein the rendering and display module displays the combined image in one of the following modes:

a centered mode where the ultrasound image is always shown in the center of the display and where it is not possible to move the ultrasound transducer such that it leaves the display area;

a free mode where the user can interactively define the position offset between an area within the patient and a 3D space seen inside the display, where translational motion of the ablation probe and the ultrasound transducer is shown fully within the display, and where it is possible to move the ultrasound transducer such that it leaves the display area; and

a delayed mode where ultrasound image is initially centered as in the centered mode, where the user can move the ultrasound transducer, even outside the display area, and where after a time lag, the system catches up and re-centers the ultrasound image.

13. The system of claim 1 wherein the combined image is displayed stereoscopically within the display from the point of view of the user and thereby forms a fish tank virtual reality display.

14. The system of claim 1 wherein the display comprises a virtual see through head mountable display.

15. The system of claim 1 further comprising a tine deployment tracker for tracking deployment of tines of the ablation probe and for providing tine deployment tracking data to the rendering and display module so that ablation probe tine deployment can be displayed in the combined image.

16. A method for producing an image suitable for image guided ablation, the method comprising:

receiving a real-time ultrasound image of a target image and surrounding tissue;

receiving a pre-ablation image of the target volume;

tracking position of an ablation probe during ablation of the target volume; and

rendering and displaying on a display device viewable by a user, a combined image including the pre-ablation image of the target volume, the real-time ultrasound image registered with the pre-ablation image of the target volume, and a motion tracked rendered image of the ablation probe.

17. The method of claim 16 wherein the ablation probe comprises one of:

a radio frequency ablation (RFA) probe, a microwave ablation probe, and a cryo-ablation probe.

18. The method of claim 16 comprising tracking position of an ultrasound transducer and rendering and displaying an image of the ultrasound transducer as part of the combined image.

19. The method of claim 16 comprising tracking position and orientation of a user'"'"'s head and the display device that displays the combined image and wherein the combined image is displayed from the viewpoint of the user based on the tracked positions and orientations of the display device and the user'"'"'s head.

20. The method of claim 19 comprising receiving eye calibration data regarding positions of the user'"'"'s left and right eyes and wherein the combined image comprises a stereoscopic image including left and right eye images generated using the eye calibration data and the tracked position and orientation of the user'"'"'s head.

21. The method of claim 16 wherein the rendered image of the ultrasound transducer and of the ablation probe in the combined image maintain a parallel orientation with respect to the real transducer and ablation probe during guidance of the ablation probe to the target volume and during the ablation of the target volume.

22. The method of claim 16 wherein the combined image includes a visual indication of the target volume and of the surrounding tissue that will be affected by an ablation pass.

23. The method of claim 16 comprising successively removing, from the combined image, portions of the combined image that represent volumes treated by successive applications of energy by the ablation probe.

24. The method of claim 16 comprising rendering preoperative data including an anatomical context for the ablation of the target volume in the combined image.

25. The method of claim 16 comprising rendering and displaying a predicted treatment volume for the current position and orientation of the ablation probe and for its operational specifications.

26. The method of claim 16 comprising rendering guidance graphics including schematic 3D structures to emphasize a spatial relationship between the real-time ultrasound image and the ablation probe.

27. The method of claim 16 wherein displaying the combined image comprises displaying the combined image in one of the following modes:

a centered mode where the ultrasound image is always shown in the center of the display and where it is not possible to move the ultrasound transducer such that it leaves the display area;

a free mode where the user can interactively define the position offset between an area within the patient and a 3D space seen inside the display, where translational motion of the ablation probe and the ultrasound transducer is shown fully within the display, and where it is possible to move the ultrasound transducer such that it leaves the display area; and

a delayed mode where ultrasound image is initially centered as in the centered mode, where the user can move the ultrasound transducer, even outside the display area, and where after a time lag, the system catches up and re-centers the ultrasound image.

28. The method of claim 16 wherein the combined image is displayed stereoscopically on the display device from the viewpoint of the user and thereby forms a fish tank virtual reality display.

29. The method of claim 16 wherein the display device comprises a virtual see through head mountable display.

30. The method of claim 16 comprising tracking deployment of tines of the RFA probe and using the tine deployment tracking information to render an accurate position of the tines of the RFA probe in the combined image.

31. A computer readable medium having stored thereon executable instructions that when executed by the processor of a computer perform steps:

receiving a real-time ultrasound image of a target volume and surrounding tissue;

receiving a pre-ablation image of the target volume;

tracking position of an ablation probe during ablation of the target volume; and

rendering a combined image including the pre-ablation image, the real-time ultrasound image registered with the pre-ablation image and a motion tracked rendered image of the ablation probe.