Surgical navigation using a three-dimensional user interface
First Claim
Patent Images
1. A system for controlling a medical device in a patient comprising:
- a display system that displays an image of at least part of a volume of the patient in a virtual three-dimensional space, wherein the medical device is registered to coordinates of the virtual three-dimensional space such that a virtual reference device is provided in the virtual three-dimensional space;
a stylus registered with the virtual three-dimensional space such that a virtual element is provided in the virtual three-dimensional space, where the stylus is controllable to actuate the virtual element in the virtual three-dimensional space, and wherein the stylus is registered to the virtual reference so that the virtual reference can be manipulated in the virtual three-dimensional space by the stylus; and
a navigation system that controls the medical device in the patient volume based on a position of the actuated virtual element.
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Abstract
A system for controlling a medical device in a patient. A display system displays an image of a volume of the patient in a virtual three-dimensional space. A stylus is controllable to actuate a virtual element in the virtual space. A navigation system controls the medical device in the patient volume based on a position of the actuated virtual element. This inherently three-dimensional interface allows a physician to actuate the medical device more intuitively than possible using a two-dimensional interface.
146 Citations
30 Claims
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1. A system for controlling a medical device in a patient comprising:
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a display system that displays an image of at least part of a volume of the patient in a virtual three-dimensional space, wherein the medical device is registered to coordinates of the virtual three-dimensional space such that a virtual reference device is provided in the virtual three-dimensional space; a stylus registered with the virtual three-dimensional space such that a virtual element is provided in the virtual three-dimensional space, where the stylus is controllable to actuate the virtual element in the virtual three-dimensional space, and wherein the stylus is registered to the virtual reference so that the virtual reference can be manipulated in the virtual three-dimensional space by the stylus; and a navigation system that controls the medical device in the patient volume based on a position of the actuated virtual element. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A system for controlling a medical device in an operating volume in a subject, the system comprising:
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a device localization system that determines a position of the medical device in the operating volume in the subject, wherein the medical device is registered to coordinates of a virtual three-dimensional space such that a virtual reference device is provided in the virtual three-dimensional space; a navigation system that controls the position of the device in the operating volume in the patient based at least in part upon the position determined by the device localization system; a stylus controllable in a real space, wherein the stylus is registered with the virtual three-dimensional space such that a virtual three-dimensional element is provided in the virtual three-dimensional space; and a display system that displays the medical device as a virtual three-dimensional reference and the stylus as a virtual three-dimensional element relative to an image of at least part of the patient volume, and communicates a position of the virtual element to the navigation system, wherein the stylus is also registered to the virtual three-dimensional reference so that the virtual reference may be manipulated in the virtual three-dimensional space by the stylus; wherein the navigation system uses the virtual element position as an input to control the medical device.
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8. A system for controlling a medical device in an operating volume in a subject, the system comprising:
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a device localization system that determines the position of the medical device in the operating volume in the subject, wherein the medical device is registered to coordinates of a virtual three-dimensional space such that a virtual reference device is provided in the virtual three-dimensional space; a navigation system that controls the medical device in the operating volume in the subject based on the determined position; a stylus controllable in a real space outside the operating volume, wherein the stylus is registered with the virtual three-dimensional space such that a virtual three-dimensional element is provided in the virtual three-dimensional space, and the stylus is also registered to the virtual three-dimensional reference so that the virtual reference may be manipulated in the virtual three-dimensional space by the stylus, the navigation system changing the position of the medical device in the operating volume based upon changes in the position of the stylus in the real space. - View Dependent Claims (9)
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10. A system for controlling a medical device in an operating volume in a subject, the system comprising:
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a device localization system that determines the position of the device in the operating volume in the subject, wherein the medical device is registered to coordinates of a virtual three-dimensional space such that a virtual device is provided in the virtual three-dimensional space; a navigation system that controls the medical device in the operating volume in the subject based on the determined position; a real stylus registered with the virtual three-dimensional space such that a virtual stylus is provided in the virtual three-dimensional space, wherein the stylus is also registered to the virtual device so that the virtual device can be manipulated in the virtual three-dimensional space by the stylus, said stylus being controllable in a real space to cause the virtual stylus to move the virtual device in a virtual space; and wherein the navigation system controls the position of the distal end of the medical device in response to the position of the virtual device. - View Dependent Claims (11, 12)
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13. A method of controlling a medical device in a patient comprising:
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registering a stylus with the coordinates of a virtual three-dimensional space such that a virtual element may be provided in the virtual three-dimensional space, where the stylus is controllable to actuate the virtual element in the virtual three-dimensional space; registering the stylus with a representation of the medical device so that the representation can be manipulated in the virtual three-dimensional space by the stylus; moving the stylus in a real space to actuate the virtual element relative to the virtual three-dimensional space corresponding to a volume of the patient; and observing, in the virtual three-dimensional space, the representation of the medical device actuated in the patient volume in accordance with the actuated virtual element.
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14. A system for controlling a medical device within a patient, comprising:
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a display that displays an image of at least part of a volume of a patient in a virtual three-dimensional space in which the medical device and a real stylus are registered such that a virtual device corresponding to the medical device and a virtual element corresponding to the real stylus is displayed in the virtual three-dimensional space, the real stylus also being registered to the virtual device so that the virtual device can be manipulated in the display of the virtual three-dimensional space by the real stylus wherein the display converts movement of the real stylus to virtual movement of the virtual element; a navigation system that uses the virtual movement to control the medical device; and an imaging system that provides at least one image of a patient volume to at least one of the navigation system and the display system; wherein the virtual element is displayed in three virtual dimensions relative to the at least one image. - View Dependent Claims (17)
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15. A system for controlling a medical device within a patient, comprising:
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a navigation system that uses actuation control variables to control the medical device; a display that displays an image of at least part of a volume of a patient in a virtual three-dimensional space in which the medical device and a real stylus are registered such that a virtual device corresponding to the medical device and a virtual stylus corresponding to the real stylus is displayed in the virtual three-dimensional space, the real stylus also being registered to the virtual device so that the virtual device can be manipulated in the display of the virtual three-dimensional space by the real stylus; an interface system that converts movement of the real stylus to virtual movement of the virtual stylus, and converts the virtual movement to actuation control variables of the navigation system; and an imaging system that provides at least one image of a patient volume to at least one of the navigation system and the interface system.
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16. A method of displaying a medical device within a patient, comprising:
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registering a stylus with the coordinates of a virtual three-dimensional space such that a virtual element may be provided in the virtual three-dimensional space, where the stylus is controllable to actuate the virtual element in the virtual three-dimensional space; registering the stylus with a representation of the medical device so that the representation can be manipulated in the virtual three-dimensional space by the stylus; receiving data describing movement of the stylus; displaying the virtual element in three virtual dimensions in accordance with the stylus movement data; providing data describing the virtual element to a navigation system that actuates the medical device in the patient based on the virtual element data and provides data describing actuation of the medical device; and displaying the virtual element in accordance with the medical device actuation data.
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18. A system for controlling a medical device within an operating region in a subject, comprising:
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a navigation system that controls the orientation of the distal end of a medical device in response to actuation control variables; a display that displays an image of at least part of a volume of a subject in a virtual three-dimensional space in which the medical device and a real stylus are registered such that a virtual device corresponding to the medical device and a virtual stylus corresponding to the real stylus is displayed in the virtual three-dimensional space, the real stylus also being registered to the virtual device so that the virtual device can be manipulated in the display of the virtual three-dimensional space by the real stylus; an interface system that converts movement of the real stylus operated by a user to actuation control variables for the navigation system; and wherein the display incorporates a representation of the virtual stylus together with three dimensional anatomical data that is registered to the navigation system, and where movements of the virtual stylus are matched with movements of the real stylus. - View Dependent Claims (19, 26, 27)
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20. A method for controlling a medical device within a patient, comprising:
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orienting the distal end of a medical device using a navigation system, in response to actuation control variables to control the medical device; registering a real stylus with the coordinates of a virtual three-dimensional space such that a virtual element may be provided in the virtual three-dimensional space, where the real stylus is controllable to actuate the virtual element in the virtual three-dimensional space; registering the real stylus with the representation of the medical device so that the representation can be manipulated in the virtual three-dimensional space by the real stylus; converting movement of the real stylus operated by a user to actuation control variables for the navigation system; and displaying on a display a representation of a registered, localized device incorporated with three dimensional anatomical data that is registered to the navigation system, where movements of the real stylus are converted through said actuation control variables to movements of the medical device. - View Dependent Claims (21, 22, 23, 24, 25)
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28. A system for controlling a medical device within a patient, comprising:
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a display that displays an image of a virtual three-dimensional space apart from the operating volume in the patent; a medical device in the operating volume in the patient, wherein positional data associated with the medical device is registered to coordinates of the virtual three-dimensional space, such that a virtual reference device is provided within the virtual three-dimensional space; a stylus controllable in a real space outside the operating volume of the patient, where the stylus is registered with the virtual three-dimensional space, such that a virtual stylus is provided within the virtual three-dimensional space that is actuated by movement of the stylus in real space, wherein the stylus is also registered with the virtual reference device so that the virtual reference device can be manipulated in the virtual three-dimensional space using the stylus; wherein the display incorporates a representation of the virtual stylus and the virtual reference device together with three dimensional anatomical data that is registered to the navigation system, where movements of the virtual stylus are matched with movements of the real stylus; an interface system that converts movement of the virtual stylus actuated by a user and/or movements of the virtual reference device to actuation control variables for a navigation system; and a navigation system that controls the orientation of the distal end of a medical device in response to actuation control variables. - View Dependent Claims (29, 30)
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Specification