Medical guiding system

• US 8,204,576 B2
• Filed: 06/04/2008
• Issued: 06/19/2012
• Est. Priority Date: 06/06/2007
• Status: Active Grant

• Current Assignee: Olympus Corporation
• Original Assignee: Olympus Medical Systems Corporation (Olympus Corporation)
• Inventors: Ikuma, Soichi, Kawashima, Tomonao, Komuro, Masahiko
• Primary Examiner(s): Le, Long V.
• Assistant Examiner(s): HOFFA, ANGELA MARIE
• Application Number:
  US12/132,973
• Publication Number:
  US 20080306379A1
• Time in Patent Office: 1,476 Days
• Field of Search: None
• US Class Current: 600/424
• CPC Class Codes: A61B 2017/00221 with wireless transmission of data, e.g. by infrared radiation or radiowaves
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3784 both receiver and transmitter being in the instrument or receiver being also transmitter
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/065 Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
• 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: G16H 50/50 for simulation or modelling of medical disorders
• CPC Class Codes: G16Z 99/00 Subject matter not provided for in other main groups of this subclass

Abstract

A medical guiding system of the invention includes: a detection portion for detecting a position and an orientation of a medical instrument and positions of feature points of a subject; a storage portion for storing reference image data having positional information on an organ of a human body; and a guide image creation portion for creating a guide image indicating the position of the medical instrument with respect to the subject from the reference image data. The guide image creation portion calculates the position of the medical instrument with respect to the subject, based on the position and the orientation of the medical instrument and the positions of feature points of the subject which are detected by the detection portion, and creates a guide image by correcting the calculated position of the medical instrument, using the positions of the feature points.

Claims

1. A medical guiding system comprising:

a detection portion configured to detect at least one of a position and an orientation of a medical instrument and at least one of positions and orientations of a plurality of feature points of a subject in a real space;

a storage portion configured to store reference image data having anatomical positional information on at least one organ of a human body; and

a guide image creation portion configured;

to define a mapping for converting at least one of the position and the orientation of the medical instrument in the real space into at least one of a position and an orientation in the reference image data based on information on;

at least one of positions and orientations of the plurality of feature points of the subject in the real space, and

at least one of positions and orientations of a plurality of reference image feature points which correspond to the plurality of feature points in the reference image data, and

to create a guide image indicating a position of the medical instrument or an observation position by the medical instrument based on the mapping and the reference image data,

to correct the position of the medical instrument or the observation position by the medical instrument which the guide image indicates, based on information on;

at least one of positions and orientations of a plurality of in-vivo feature points in a body of the subject in the real space, and

at least one of positions and orientations of one or more correction feature points which anatomically correspond to the in-vivo feature points in the reference image data, and

to change anatomical positions of the in-vivo feature points to be used in the correction depending on an anatomical region for which the medical instrument is used.

2. The medical guiding system according to claim 1, wherein

the in-vivo feature points are two, and

the correction corrects the calculated position of the medical instrument or the calculated observation position by the medical instrument by correcting a scale size of the mapping based on comparison of a distance between the two in-vivo feature points and a distance between two correction feature points.

3. The medical guiding system according to claim 2, wherein the correction moves the position of the medical instrument or the observation position by the medical instrument which the guide image indicates, such that one of the in-vivo feature points coincides with one of the reference image feature points which corresponds to the one of the in-vivo feature points, and correct the calculated position of the medical instrument or the observation position by the medical instrument.

4. The medical guiding system according to claim 3, wherein presence or absence of execution of the correction of the scale size of the mapping is switched depending on the anatomical region for which the medical instrument is used.

5. The medical guiding system according to claim 1, wherein the correction moves the position of the medical instrument or the observation position by the medical instrument which the guide image indicates, such that one of the in-vivo feature points coincides with one of the reference image feature points which corresponds to the one of the in-vivo feature points, and correct the calculated position of the medical instrument or the observation position by the medical instrument.