Navigation information overlay onto ultrasound imagery

• US 6,669,635 B2
• Filed: 01/14/2002
• Issued: 12/30/2003
• Est. Priority Date: 10/28/1999
• Status: Expired due to Term

• Current Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Original Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Inventors: Holsing, Troy, Kessman, Paul, Trobaugh, Jason
• Primary Examiner(s): Imam, Ali M.
• Application Number:
  US10/047,927
• Publication Number:
  US 20020156375A1
• Time in Patent Office: 715 Days
• Field of Search: 600/407-471, 128/898, 128/916, 128/849, 128/853, 128/856, 606/130, 395/119, 227/176.1
• US Class Current: 600/437
• 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 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/256 having a database of accessory information, e.g. including context sensitive help or scientific articles
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/378 using ultrasound
• 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 8/0816 using echo-encephalography
• CPC Class Codes: A61B 8/0841 for locating instruments
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: Y10S 128/916 Ultrasound 3-D imaging

Abstract

A surgical instrument navigation system comprises an ultrasound machine and a computer coupled to the ultrasound machine. A memory is coupled to the computer and includes computer instructions that when executed by the computer cause the computer to generate an icon representing the surgical instrument with a tip and the surgical instrument'"'"'s trajectory and to overlay the icon on a real-time ultrasound image having an image plane, such that when the surgical instrument crosses the ultrasound image plane the format of the surgical instrument'"'"'s trajectory is changed to represent the surgical instrument'"'"'s crossing of the ultrasound image'"'"'s plane. The system also comprises a localizer coupled to the ultrasound machine, and a display coupled to the computer for displaying the generated icon superimposed on the real-time image.

Claims

1. A surgical navigation system for use in navigating a patient, said surgical navigation system comprising:

an ultrasound machine operable to acquire an ultrasound image of the patient;

a video imaging device operable to acquire a video image of the patient;

a first localizer attached to said ultrasound machine;

a second localizer attached to said video imaging device;

a computer in communication with said ultrasound machine and said video imaging device, said computer operable to overlay the ultrasound image acquired by the ultrasound device onto the video image acquired by said video imaging device, such that the two images correspond to a common coordinate system; and

a display operable to display the overlaid image.

2. The surgical instrument navigation system as defined in claim 1 wherein said first and said second localizers are selected from a group of localizers consisting of optical, electromagnetic, acoustic localizers or any combination thereof.

3. The surgical instrument navigation system as defined in claim 1 wherein said video imaging device is selected from a group consisting of an x-ray machine, a laparoscope or any combination thereof.

4. The surgical instrument navigation system as defined in claim 1 further comprising a surgical instrument having a third localizer attached to a surgical instrument.

5. The surgical instrument navigation system as defined in claim 4 wherein said computer calculates a location of said surgical instrument and said display displays an iconic representation of said surgical instrument on the overlaid image.

6. The surgical instrument navigation system as defined in claim 1 further comprising a position tracking device operable to track positions of said first and second localizers.

7. A method for surgical navigation using overlaid images from other image modalities onto ultrasound images comprising:

scanning an area of interest using an ultrasound probe to acquire an ultrasound image corresponding to that area of interest;

overlaying an image from other image modalities onto the ultrasound image to create an overlaid image, such that the two images correspond to a common coordinate system;

displaying an iconic representation of a surgical instrument onto the overlaid image; and

recalculating and displaying a new location of the surgical instrument onto the overlaid image in response to a movement of the surgical instrument.

8. The method as defined in claim 7 wherein overlaying images from other modalities onto the ultrasound image includes overlaying an image segmentation onto the ultrasound image.

9. The method as defined in claim 8 wherein said image segmentation is a surface extracted from a three-dimensional data set.

10. The method as defined in claim 7 wherein overlaying images from other modalities onto the ultrasound image includes overlaying atlas data onto the ultrasound image.

11. The method as defined in claim 10 wherein said atlas data includes annotations describing at least one of anatomy, physiology, pathology, and planning information.

12. The method as defined in claim 7 wherein overlaying images from other modalities onto the ultrasound image includes overlaying images acquired from a group consisting of computed tomography (CT), magnetic resonance imaging (MRI), positron emission tomography (PET), x-rays or any combination thereof.

13. A method for representing the real-time position of a surgical instrument and its trajectory in an overlaid image comprising:

acquiring a first image from an image device;

acquiring a second real-time ultrasound image;

overlaying the first image onto the second real-time ultrasound image, such that the two images correspond to a common coordinate system;

tracking a real-time position of the surgical instrument;

generating an icon of the surgical instrument and overlaying the icon on the overlaid image;

generating a trajectory of the surgical instrument on the overlaid image; and

changing the format of the surgical instrument'"'"'s trajectory when the surgical instrument crosses an ultrasound image plane.

14. The method as defined in claim 13 wherein changing the format of the surgical instrument'"'"'s trajectory to represent the surgical instrument crossing the ultrasound image plane further includes changing the trajectory to a dotted representation after the trajectory crosses the ultrasound image plane.

15. The method as defined in claim 13 further comprising displaying an angle of the surgical instrument relative to the ultrasound image plane by displaying periodic markers.

16. The method as defined in claim 15 further comprising changing the distance between the periodic markers as a function of the cosine of the angle between the surgical instrument trajectory and the ultrasound image plane.

17. The method as defined in claim 13 further comprising displaying an angle of the surgical instrument relative to the ultrasound image plane by drawing a circle with its center at a point where the surgical instrument'"'"'s trajectory passes through the ultrasound image plane where the radius of the circle represents the angle of the trajectory to the ultrasound image plane.