SYSTEM AND METHOD FOR REAL IMAGE VIEW AND TRACKING GUIDED POSITIONING FOR A MOBILE RADIOLOGY OR MEDICAL DEVICE

• US 20190328465A1
• Filed: 04/30/2019
• Published: 10/31/2019
• Est. Priority Date: 04/30/2018
• Status: Active Application

• Current Assignee: AIH LLC, Nordbo Robotics
• Original Assignee: AIH LLC, Nordbo Robotics
• Inventors: Li, Yan M., Jorgensen, Jimmy Alison, Huang, Chi
• Application Number:
  US16/399,266
• Publication Number:
  US 20190328465A1
• Time in Patent Office: Days
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• 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 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 6/547 involving tracking of position of the device or parts of the device
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/10121 Fluoroscopy
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 7/0012 Biomedical image inspection
• CPC Class Codes: G06T 7/33 using feature-based methods
• 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 30/40 for processing medical images, e.g. editing

Abstract

A location tracking system (LTS) together with a surgical area visualization (SAV) is responsible to guide a user such that multiple x-ray images can be taken from the same spot even though the x-ray machine is moved in between image captures. The LTS may be based on RGB-D data and the RGB-D sensor may be attached to the X-ray tube on the upper part of the arm looking downwards.

Claims

1. A method for intraoperative tracking and aligning of a medical imaging device, the method comprising;

a) mounting a depth camera to the medical imaging device;

b) providing a computing device including a processor and a memory, wherein the computing device is in communication with the depth camera;

c) providing a user interface in communication with the computing device;

d) acquiring first image data using the depth camera;

e) communicating the first image data to the computing device to display a first image on the user interface;

f) analyzing the first image data, via the processor, to identify a plurality of image features;

g) superimposing a first alignment indicia over the first image;

h) acquiring second image data using the depth camera;

i) communicating the second image data to the computing device;

j) analyzing the second image data, via the processor, to identify the plurality of image features;

k) superimposing a second alignment indicia over the first image;

l) adjusting one or both of a location or orientation of the medical imaging device until the second alignment indicia coincides with the first alignment indicia.

2. The method of claim 1 wherein steps f) and j) further include transforming the plurality of image features within the first image data and the second image data, respectively, into camera coordinate space.

3. The method of claim 2 wherein the first and second alignment indicia include first and second slider bars and a compass ball.

4. The method of claim 1 wherein the depth camera is configured to mount adjacent to an image intensifier of a C-arm x-ray machine, the image intensifier being located opposite an x-ray source.

5. The method of claim 4 further comprising adjusting a camera angle of the depth camera relative to a travel direction of x-rays emitted by the x-ray source.

6. The method of claim 5 wherein the depth camera is mounted onto a swivel configured to allow adjustment of the camera angle.

7. The method of claim 1 wherein the computing device includes the user interface.

8. An intraoperative tracking and aligning apparatus for a medical imaging device comprising;

a) a depth camera configured to mount to the medical imaging device;

b) a computing device including a processor and a memory, wherein the computing device is in communication with the depth camera;

c) a user interface in communication with the computing device;

wherein the depth camera acquires first image data and communicates the first image data to the computing device to display a first image on the user interface, wherein the processor analyzes the first image data to identify a plurality of image features and superimposes a first alignment indicia over the first image, and wherein the depth camera acquires second image data and communicates the second image data to the computing device, wherein the processor analyzes the second image data to identify the plurality of image features and superimposes a second alignment indicia over the first image, and

wherein one or both of a location or orientation of the medical imaging device is adjusted until the second alignment indicia coincides with the first alignment indicia.

9. The apparatus of claim 8 further comprising:

d) a collision warning system configured to mount to the medical imaging device, wherein the collision warning system is in communication with the computing device and is configured to trigger a warning signal when a possible collision is sensed.

10. The apparatus of claim 9 wherein the collision warning system comprises one or more of a video camera, an ultrasonic distance sensor or a laser sensor.