MULTIPLE MEDICAL DEVICE GUIDANCE

• US 20130197357A1
• Filed: 01/29/2013
• Published: 08/01/2013
• Est. Priority Date: 01/30/2012
• Status: Active Grant

• Current Assignee: Inneroptic Technology, Inc.
• Original Assignee: Inneroptic Technology, Inc.
• Inventors: Heaney, Brian, Razzaque, Sharif, State, Andrei, Green, Caroline
• Granted Patent: US 8,670,816 B2
• Time in Patent Office: Days
• US Class Current: 600/424
• CPC Class Codes: A61B 1/04 combined with photographic or television appliances
• CPC Class Codes: A61B 1/303 for the vagina, i.e. vaginoscopes
• CPC Class Codes: A61B 1/3132 for laparoscopy
• CPC Class Codes: A61B 17/221 Gripping devices in the form of loops or baskets for gripping calculi or similar types of obstructions surgical snare instruments A61B17/32056
• CPC Class Codes: A61B 17/320016 Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes A61B10/0233, A61B17/29, A61B17/3207 take precedence
• CPC Class Codes: A61B 17/3403 Needle locating or guiding means guides for suture needles A61B17/0482; guiding or tracking by nuclear magnetic resonance G01R33/285
• CPC Class Codes: A61B 18/14 Probes or electrodes therefor
• CPC Class Codes: A61B 18/1815 using microwaves
• CPC Class Codes: A61B 18/20 using laser
• CPC Class Codes: A61B 2018/00559 Female reproductive organs
• CPC Class Codes: A61B 2018/00577 Ablation
• CPC Class Codes: A61B 2018/1425 Needle
• CPC Class Codes: A61B 2018/143 multiple needles
• CPC Class Codes: A61B 2018/1861 with an instrument inserted into a body lumen or cavity, e.g. a catheter
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2090/378 using ultrasound
• 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 5/0066 Optical coherence imaging
• CPC Class Codes: A61B 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 5/062 : using magnetic field
• CPC Class Codes: A61B 5/24 : Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
• CPC Class Codes: A61B 5/6848 : Needles
• CPC Class Codes: A61B 5/72 : Signal processing specially adapted for physiological signals or for diagnostic purposes character recognition, recognising digital ink, document-oriented image-based pattern recognition G06V30/00; recognition or understanding of postal images G06V30/424
• CPC Class Codes: A61B 5/742 : using visual displays A61B5/339 takes precedence
• CPC Class Codes: A61B 5/7425 : Displaying combinations of multiple images regardless of image source, e.g. displaying a reference anatomical image with a live image geometric transforms for image registration G06T3/14; enhancement using image fusion G06T5/50; algorithms for registration of images G06T7/30
• CPC Class Codes: A61B 5/743 : Displaying an image simultaneously with additional graphical information, e.g. symbols, charts, function plots
• CPC Class Codes: A61B 5/7475 : User input or interface means, e.g. keyboard, pointing device, joystick
• CPC Class Codes: A61B 6/032 : Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/037 : Emission tomography
• CPC Class Codes: A61B 6/12 : Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/463 : characterised by displaying multiple images or images and diagnostic data on one display
• CPC Class Codes: A61B 6/466 : adapted to display 3D data
• CPC Class Codes: A61B 6/468 : allowing annotation or message recording
• CPC Class Codes: A61B 6/5223 : generating planar views from image data, e.g. extracting a coronal view from a 3D image
• CPC Class Codes: A61B 8/0841 : for locating instruments
• CPC Class Codes: A61B 8/12 : in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/4483 : characterised by features of the ultrasound transducer
• CPC Class Codes: A61B 8/466 : adapted to display 3D data 3D imaging and stereoscopic displays in devices for short-range imaging with acoustic waves G01S15/8993 and G01S7/52068, respectively; 3D image rendering G06T15/00; manipulating 3D models for computer graphics G06T19/00
• CPC Class Codes: A61B 8/468 : allowing annotation or message recording
• CPC Class Codes: A61B 8/483 : involving the acquisition of a 3D volume of data
• CPC Class Codes: A61B 8/523 : for generating planar views from image data in a user selectable plane not corresponding to the acquisition plane
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras

Abstract

A system and method for providing image guidance for placement of one or more medical devices at a target location. The system receives emplacement information of medical devices within a predetermined area. The system calculates a viewing angle in a virtual 3D space of a plurality of virtual medical devices corresponding to the plurality of medical devices. The system also causes a display device to display the plurality of virtual medical devices based at least on the calculated viewing angle.

Claims

1. A method, comprising

receiving emplacement information of a plurality of needles;

receiving emplacement information of a medical imaging device;

receiving at least one image from the medical imaging device;

calculating a first viewing angle in a virtual 3D space of the at least one image based at least on the emplacement information of the medical imaging device with respect to a perspective view;

calculating a second viewing angle in the virtual 3D space of a virtual medical imaging device corresponding to the medical imaging device based at least on the emplacement information of the medical imaging device with respect to the perspective view;

calculating a plurality of viewing angles in the virtual 3D space of a plurality of virtual needles corresponding to the plurality of needles based at least on the emplacement information of the plurality of needles with respect to the perspective view;

causing the display device to display the at least one image based at least on the first calculated viewing angle in the virtual 3D space;

causing the display device to display the virtual medical imaging device based at least on the second calculated viewing angle in the virtual 3D space; and

causing a display device to display the plurality of virtual needles based at least on the plurality of calculated viewing angles in the virtual 3D space.

2. A method, comprising

receiving emplacement information of a plurality of medical devices within a predetermined area;

calculating a viewing angle in a virtual 3D space of a plurality of virtual medical devices corresponding to the plurality of medical devices based at least on the emplacement information of the plurality of medical devices; and

causing a display device to display the plurality of virtual medical devices based at least on the calculated viewing angle in the virtual 3D space.

3. The method of claim 2, wherein the plurality of medical devices are invasive medical devices.

4. The method of claim 2, further comprising:

receiving emplacement information of a medical imaging device within the predetermined area;

receiving image data based at least on the emplacement information of the medical imaging device;

calculating a viewing angle in the virtual 3D space of the image data based at least on the emplacement information of the medical imaging device; and

causing the display device to display the image data based at least on the calculated viewing angle in the virtual 3D space.

5. The method of claim 4, wherein the medical imaging device comprises an ultrasound transducer and the image data comprises an ultrasound image.

6. The method of claim 4, further comprising:

calculating an intersection between an image plane of the image data and a calculated trajectory of at least one medical device of the plurality of medical devices; and

causing the display device to display an indication of the intersection of the image plane and the calculated trajectory of the at least one medical device.

7. The method of claim 4, further comprising:

calculating a viewing angle in the virtual 3D space of a virtual medical imaging device space corresponding to the medical imaging device based at least on the emplacement information of the medical imaging device; and

causing the display device to display the virtual medical imaging device space based at least on the calculated viewing angle in the virtual 3D space.

8. The method of claim 2, further comprising identifying a foundational medical device from the plurality of medical devices, wherein each of the plurality of medical devices comprises a first portion and a second portion.

9. The method of claim 8, wherein the first portion of each of the plurality of medical devices is a tip of the medical device and the second portion of each of the plurality of medical devices is an end of an electrode of the medical device distal to the tip of the medical device.

10. The method of claim 8, further comprising:

determining a first foundational plane based at least on a location of the first portion of the foundational medical device, wherein the first foundational plane is orthogonal to a trajectory of the foundational medical device and intersects with the first portion of the foundational medical device; and

causing the display device to indicate the first foundational plane in the virtual 3D space.

11. The method of claim 10, further comprising:

calculating a distance between the first foundational plane and the first portion of a medical device of the plurality of medical devices; and

causing the display device to display the plurality of medical devices based at least in part on the calculated distance.

12. The method of claim 10, further comprising:

determining an intersection between the first foundational plane and a trajectory of one or more medical devices of the plurality of medical devices; and

causing the display device to display an indication of the intersection of the first foundational plane and the trajectory of the one or more medical devices.

13. The method of claim 10, further comprising:

determining a second foundational plane based at least on a location of the second portion of the foundational medical device, wherein the second foundational plane is orthogonal to a trajectory of the foundational medical device and intersects with the second portion of the foundational medical device; and

causing the display device to indicate the second foundational plane in the virtual 3D space.

14. The method of claim 10, further comprising causing the display device to display a graphical indicator on the foundational plane from the first portion of the foundational medical device to a location on the foundational plane where the first portion of at least one other medical device of the plurality of medical devices.

15. The method of claim 8, further comprising:

calculating an angle difference between the foundational medical device and at least one other medical device of the plurality of medical devices; and

causing the display device to display an indication of the calculated angle difference.

16. The method of claim 8, further comprising causing the display device to display a plurality of graphical indicators indicating a distance between a plurality of portions of the foundational medical device and a plurality of portions of at least one other medical device of the plurality of medical devices.

17. The method of claim 8, further comprising causing the display device to display a plurality of graphical indicators indicating a distance between at least one of a target axis and a target plane and a plurality of portions of at least one medical device of the plurality of medical devices.

18. A system comprising:

a display; and

a computer system comprising a computer processor and memory and in communication with the display and a plurality of tracking units associated with a plurality of medical devices, wherein the computer system is configured to;

receive emplacement information of at least a portion of the plurality of medical devices within a predetermined area;

calculate a viewing angle in a virtual 3D space of a plurality of virtual medical devices corresponding to the plurality of medical devices based at least on the emplacement information of the plurality of medical devices; and

cause the display to display the plurality of virtual medical devices based at least on the calculated viewing angle in the virtual 3D space.

19. The system of claim 18, further wherein the computer system is further configured to identify a foundational medical device from the plurality of medical devices, wherein each of the plurality of medical devices comprises a first portion and a second portion.

20. The system of claim 19, wherein the computer system is further configured to:

determine a first foundational plane based at least on a location of the first portion of the foundational medical device, wherein the first foundational plane is orthogonal to a trajectory of the foundational medical device and intersects with the first portion of the foundational medical device; and

cause the display device to indicate the first foundational plane in the virtual 3D space.