SYSTEM AND METHOD FOR DISPLAYING ANATOMY AND DEVICES ON A MOVABLE DISPLAY

• US 20140357984A1
• Filed: 05/23/2014
• Published: 12/04/2014
• Est. Priority Date: 05/30/2013
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Translucent Medical, Inc.
• Inventors: Stahler, Gregory, Grogan, Aaron, Wallace, Daniel
• Granted Patent: US 11,020,016 B2
• Time in Patent Office: Days
• US Class Current: 600/424
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• 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 5/7425 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 5/7445 Display arrangements, e.g. multiple display units
• CPC Class Codes: A61B 6/487 involving fluoroscopy
• CPC Class Codes: A61B 8/0833 involving detecting or locating foreign bodies or organic structures
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation
• CPC Class Codes: G16H 20/40 relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/63 for local operation

Abstract

An image display system is provided comprised of a virtual window system that creates a visual coherency between the patient'"'"'s anatomical images and the actual patient by aligning the image on the display to the patient and then presenting the image to the user in a way that feels as if the user is looking directly into the patient through the display. The image shown within the image display system is dependent upon the position of the image display apparatus and the position of the user so that the display orientation of the image may be biased slightly toward the user to improve ergonomics and usability.

Claims

1. A system for displaying an image of a tool and an image of a patient'"'"'s anatomy, said system comprising:

a display screen;

an articulated support adapted to hold the display screen over the patient'"'"'s anatomy; and

a data processer adapted to receive;

(a) an image of the patient'"'"'s anatomy;

(b) position data for the tool;

(c) position data for the patient'"'"'s anatomy;

(d) position data for the display screen; and

(e) position data for where the user stands relative to the patient

wherein the processor superimposes the images of the tool on the image of the patient'"'"'s anatomy and repositions the image of the patient'"'"'s anatomy on the display screen in real time so the images of both the anatomy and the tool are substantially aligned with the actual patient anatomy as the display screen is moved over the actual patient anatomy while biasing the angular origin of the image slightly toward the user.

2. A system as in claim 1, wherein the data processor is adapted to receive a pre-operative static image of the patient'"'"'s anatomy.

3. A system as in claim 1, wherein the data processor is adapted to receive a real time image of the patient'"'"'s anatomy.

4. A system as in claim 3, wherein the real time image is fluoroscopic.

5. A system as in claim 3, wherein the real time image is ultrasonic.

6. A system as in claim 3, wherein the real time image is a 3 dimensional point cloud of the tool positions within the anatomy.

7. A system as in claim 1, further comprising an external position tracker which tracks the positions of the tool, the patient anatomy, and the display screen in a reference frame.

8. A system as in claim 7, wherein the external position tracker can track electromagnetic sensors.

9. A system as in claim 8, wherein electromagnetic sensors are present on at least one tool.

10. A system as in claim 9, wherein an electromagnetic sensor is also affixed to the patient anatomy.

11. A system as in claim 7, wherein the articulated support has encoders which provide display screen position data to the data processor.

12. A system as in claim 7, wherein the predicted position of the tool based on the current position and orientation of the tool is presented relative to the patient anatomy.

13. A system as in claim 7, wherein the predicted position of the tool based on the current position and orientation of the tool is presented relative to the patient anatomy, wherein the system displays collisions and free workspace between the tracked medical device and anatomical structures and other tracked medical devices.

14. A system as in claim 1, wherein a display may be repositioned relative to its associated image by interrupting a control loop within a data processor between the display position and an image;

freezing the image on the display at the time of the interruption;

moving the display to a desired position; and

uninterrupting the control loop between the display position and the image.

15. A system as in claim 14, wherein the data processor can selectively decouple the relationship between the display screen position and the image based at least in part on the signal received from a user input device.

16. A system as in claim 14, wherein the data processor can change the relationship between the display screen position and the image based at least in part on the signal received from the user input device.

17. A system for displaying an image of a tool and an image of a patient'"'"'s anatomy, said system comprising:

a display screen; and

a data processer adapted to receive;

(a) an image of the patient'"'"'s anatomy;

(b) position data for the patient'"'"'s anatomy; and

(c) position data for the display screen;

(d) position data for where the user stands relative to the patient

wherein the processor repositions the image of the patient'"'"'s anatomy on the display screen in real time so the image the anatomy is substantially aligned with the actual patient anatomy as the display screen is moved over the actual patient anatomy while biasing the angular origin of the image slightly toward the user.

18. A system as in claim 17, wherein the data processor is adapted to receive a pre-operative static image of the patient'"'"'s anatomy.

19. A system as in claim 17, wherein the data processor is adapted to receive a real time image of the patient'"'"'s anatomy.

20. A system as in claim 19, wherein the real time image is fluoroscopic.

21. A system as in claim 19, wherein the real time image is ultrasonic.

22. A system as in claim 17, further comprising an external position tracker which tracks the positions of the patient anatomy and the display screen in a reference frame.

23. A system as in claim 22, wherein the external position tracker can track electromagnetic sensors.

24. A system as in claim 23, wherein an electromagnetic sensor is affixed to the patient anatomy.

25. A system as in claim 24, wherein an electromagnetic sensor is affixed to the display screen.

26. A system as in claim 17, wherein a display may be repositioned relative to its associated image by interrupting a control loop within a data processor between the display position and an image;

freezing the image on the display at the time of the interruption;

moving the display to a desired position; and

uninterrupting the control loop between the display position and the image.

27. A system as in claim 26, wherein the data processor can selectively decouple the relationship between the display screen position and the image based at least in part on the signal received from a user input device.

28. A system as in claim 26, wherein the data processor can change the relationship between the display screen position and the image based at least in part on the signal received from the user input device.