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System and method for augmented reality navigation in a medical intervention procedure

  • US 7,774,044 B2
  • Filed: 02/11/2005
  • Issued: 08/10/2010
  • Est. Priority Date: 02/17/2004
  • Status: Active Grant
First Claim
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1. A method for augmented reality navigation during a medical intervention, said method comprising the steps of:

  • providing stereoscopic head mounted display, said display including a pair of stereo viewing cameras, at least one tracking camera, and a stereoscopic guidance display;

    providing a plurality of markers on a frame attached to a table;

    providing a medical instrument for performing said medical intervention, and providing a plurality of markers on the instrument;

    during a medical intervention on a patient positioned on said table, determining a rigid body transformation between the tracking camera and the frame markers, and determining said patient'"'"'s body pose from said rigid body transformation;

    determining the pose of said medical instrument with respect to the table from the patient'"'"'s body pose and said instrument markers;

    displaying in the stereoscopic guidance display a visual representation of said patient, said instrument, and a path for guiding said instrument to perform said medical intervention, wherein the visual representation of said patient and said instrument is generated based on a signal received from said viewing cameras, and wherein the visual representation of said patient is overlaid with a medical image of a target of said intervention; and

    color-coding the visual representation of the medical instrument to indicate penetration of said medical instrument toward said target in real-time to show the time evolution of the medical instrument'"'"'s trajectory.

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