System and method for intra-operative haptic planning of a medical procedure
First Claim
1. A method for intra-operative planning of a medical procedure using a haptic device, comprising:
- registering said haptic device to at least a portion of an anatomy of a patient on which said medical procedure is to be performed;
associating at least one attractive haptic object with a target region of said anatomy;
associating at least one repulsive haptic object with at least one anatomical obstacle to be avoided during said medical procedure;
providing at least one attractive haptic cue from said at least one attractive haptic object and at least one repulsive haptic cue from said at least one repulsive haptic object to guide a user in positioning said haptic device relative to said portion of said anatomy such that a medical device when coupled to said haptic device intersects said target region without intersecting any of said at least one anatomical obstacles; and
providing a special haptic cue in response to canceling of haptic cues from at least two haptic objects.
2 Assignments
0 Petitions
Accused Products
Abstract
In accordance with an embodiment of the present invention, attractive haptic objects are associated with a target region for performing a medical procedure and repulsive haptic objects are associated with anatomical features to be avoided during the medical procedure. A surgeon may perform surgical planning by moving the haptic device around. The surgeon moves the haptic device until a pose is found where haptic cues from the attractive haptic objects are active indicating that a medical device if attached to the haptic device would reach the target region, and haptic cues from the repulsive haptic objects are inactive indicating that the medical device would not penetrate any of the anatomical features to be avoided. During the planning process a virtual tool may be displayed on a display device to indicate the position and/or movement of the medical device if the medical device had been coupled to the haptic device.
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Citations
56 Claims
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1. A method for intra-operative planning of a medical procedure using a haptic device, comprising:
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registering said haptic device to at least a portion of an anatomy of a patient on which said medical procedure is to be performed; associating at least one attractive haptic object with a target region of said anatomy; associating at least one repulsive haptic object with at least one anatomical obstacle to be avoided during said medical procedure; providing at least one attractive haptic cue from said at least one attractive haptic object and at least one repulsive haptic cue from said at least one repulsive haptic object to guide a user in positioning said haptic device relative to said portion of said anatomy such that a medical device when coupled to said haptic device intersects said target region without intersecting any of said at least one anatomical obstacles; and providing a special haptic cue in response to canceling of haptic cues from at least two haptic objects. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for intra-operative planning of a medical procedure using a haptic device, comprising:
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displaying a computer reconstructed diagnostic representation of at least an internal portion of an anatomy of a patient on which said medical procedure is to be performed; registering said haptic device, said diagnostic representation, and said anatomy portion with each other; marking said target region on said displayed representation; identifying and marking at least one anatomical obstacle on said displayed representation; superimposing a virtual tool on the displayed representation; dynamically changing a position of said virtual tool displayed on said displayed representation in response to a change in position of said haptic device; associating at least one attractive haptic object with said target region; associating at least one repulsive haptic object with said at least one anatomical obstacle to be avoided during said medical procedure; providing at least one attractive haptic cue from said at least one attractive haptic object and at least one repulsive haptic cue from said at least one repulsive haptic object to guide a user in positioning said haptic device relative to said portion of said anatomy such that a medical device when coupled to said haptic device intersects said target region without intersecting any of said at least one anatomical obstacles. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A method for intra-operative planning of a medical procedure using a haptic device, comprising:
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registering said haptic device to at least a portion of an anatomy of a patient on which said medical procedure is to be performed; associating at least one attractive haptic object with a target region of said anatomy portion; associating at least one repulsive haptic object with at least one anatomical obstacle to be avoided during said medical procedure; and providing (1) at least one attractive haptic cue from said at least one attractive haptic object, (2) at least one repulsive haptic cue from said at least one repulsive haptic object to guide a user in positioning said haptic device relative to said portion of said anatomy, and (3) providing a special haptic cue in response to canceling of haptic cues from multiple haptic objects such that a medical device coupled to said haptic device intersects said target region without intersecting any of said at least one anatomical obstacles when said medical device is in an operating state. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28)
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29. A method for intra-operative planning of a medical procedure using a haptic device, comprising:
- registering said haptic device to at least one of a portion of an anatomy of a patient on which said medical procedure is to be performed and a displayed representation of said anatomy portion;
associating at least one attractive haptic object with a target region of said anatomy portion; associating at least one repulsive haptic object with at least one anatomical obstacle to be avoided during said medical procedure; and determining, based at least in part on at least one attractive haptic cue provided by said at least one attractive haptic object and at least one repulsive haptic cue provided by said repulsive haptic object, a pose for said haptic device relative to said portion of said anatomy where a medical device when coupled to said haptic device intersects said target region without intersecting any of said at least one anatomical obstacles. - View Dependent Claims (30, 31, 32, 33)
- registering said haptic device to at least one of a portion of an anatomy of a patient on which said medical procedure is to be performed and a displayed representation of said anatomy portion;
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34. A system for intra-operative planning of a medical procedure using a haptic device, comprising:
application logic operatively associated with said haptic device and operable to; register said haptic device to at least a portion of an anatomy of a patient to be operated on; provide at least one attractive haptic cue from at least one attractive haptic object associated with a target region of said anatomy on which said medical procedure is to be performed and at least one repulsive haptic cue from a repulsive haptic object associated with at least one anatomical obstacle to be avoided during said medical procedure to guide a user in positioning said haptic device in a pose relative to said target region such that a medical device when coupled to said haptic device intersects said target region without intersecting any of said at least one anatomical; and lock in said pose in which the medical device intersects the target region without intersecting any of the at least one anatomical obstacles. - View Dependent Claims (35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48)
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49. A haptic surgical system, comprising:
- a computer-aided surgery system;
a haptic device coupled to said computer-aided surgery system and registered to at least one of a portion of an anatomy of a patient on which said medical procedure is to be performed and a displayed representation of said anatomy portion; andintra-operative planning application logic operatively associated with said haptic device and operable to; with a surgical tool in a non-operative or detached state, provide at least one attractive haptic cue from at least one attractive haptic object associated with a target region of said anatomy of the patient and at least one repulsive haptic cue from a repulsive haptic object associated with at least one anatomical obstacle to be avoided during said medical procedure to guide a user in positioning said haptic device relative to said target region such that said surgical tool coupled to said haptic device in an operative and attached state intersects said target region without intersecting any of said at least one anatomical obstacles; and with said surgical tool in said operative and attached state, providing at least one haptic cue to constrain said surgical tool as said surgical tool is moved to said target region. - View Dependent Claims (50, 51, 52, 53, 54)
- a computer-aided surgery system;
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55. A surgical planning method comprising:
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displaying a diagnostic image of a portion of anatomy of a patient who is a candidate for a surgical procedure; on the image, designating a target region and at least an obstacle to be avoided; associating an attractive haptic object with the target region; associating a repulsive haptic object with each obstacle; registering a haptic device With the diagnostic image; with the haptic device, interacting with the attractive haptic object, and the repulsive haptic object to plan the surgical procedure. - View Dependent Claims (56)
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Specification