MRI surgical systems for real-time visualizations using MRI image data and predefined data of surgical tools
First Claim
1. An MRI-guided surgical system, comprising:
- at least one MRI-compatible surgical tool;
a circuit adapted to communicate with an MRI scanner, wherein the circuit electronically recognizes predefined physical characteristics of the at least one tool to automatically segment MR image data provided by the MRI scanner whereby the at least one tool constitutes a point of interface with the system; and
at least one display in communication with the circuit,wherein the circuit is configured to provide a User Interface that defines workflow progression for an MRI-guided surgical procedure and allows a user to select steps in the workflow, wherein the circuit is configured to generate multi-dimensional visualizations using predefined data of the at least one tool and data from MRI images of the patient in substantially real time during the surgical procedure, andwherein the at least one surgical tool comprises a flexible patch with a grid, and wherein the circuit is configured with a patch segmentation module that is able to locate the patch in an MR volume and generate a visualization presented on the display which shows the patch as an overlay on a patient with defined grid coordinates for a surgical entry site.
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Abstract
MRI-Surgical systems include: (a) at least one MRI-compatible surgical tool; (b) a circuit adapted to communicate with an MRI scanner; and (c) at least one display in communication with the circuit. The circuit electronically recognizes predefined physical characteristics of the at least one tool to automatically segment MR image data provided by the MRI scanner whereby the at least one tool constitutes a point of interface with the system. The circuit is configured to provide a User Interface that defines workflow progression for an MRI-guided surgical procedure and allows a user to select steps in the workflow, and wherein the circuit is configured to generate multi-dimensional visualizations using the predefined data of the at least one tool and data from MRI images of the patient in substantially real time during the surgical procedure.
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Citations
43 Claims
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1. An MRI-guided surgical system, comprising:
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at least one MRI-compatible surgical tool; a circuit adapted to communicate with an MRI scanner, wherein the circuit electronically recognizes predefined physical characteristics of the at least one tool to automatically segment MR image data provided by the MRI scanner whereby the at least one tool constitutes a point of interface with the system; and at least one display in communication with the circuit, wherein the circuit is configured to provide a User Interface that defines workflow progression for an MRI-guided surgical procedure and allows a user to select steps in the workflow, wherein the circuit is configured to generate multi-dimensional visualizations using predefined data of the at least one tool and data from MRI images of the patient in substantially real time during the surgical procedure, and wherein the at least one surgical tool comprises a flexible patch with a grid, and wherein the circuit is configured with a patch segmentation module that is able to locate the patch in an MR volume and generate a visualization presented on the display which shows the patch as an overlay on a patient with defined grid coordinates for a surgical entry site. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An MRI-guided surgical system, comprising:
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at least one MRI-compatible surgical tool; a circuit adapted to communicate with an MRI scanner, wherein the circuit electronically recognizes predefined physical characteristics of the at least one tool to automatically segment MR image data provided by the MRI scanner whereby the at least one tool constitutes a point of interface with the system; and at least one display in communication with the circuit, wherein the circuit is configured to provide a User Interface that defines workflow progression for an MRI-guided surgical procedure and allows a user to select steps in the workflow, wherein the circuit is configured to generate multi-dimensional visualizations using predefined data of the at least one tool and data from MRI images of the patient in substantially real time during the surgical procedure, and wherein the User Interface is configured to accept input of an identifier associated with the at least one tool and to block use of the system if the identifier of the at least one tool indicates that it is not an authorized tool or that the at least one tool has a version that is not compatible with the system.
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12. An MRI-guided surgical system, comprising:
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at least one MRI-compatible surgical tool; a circuit adapted to communicate with an MRI scanner, wherein the circuit electronically recognizes predefined physical characteristics of the at least one tool to automatically segment MR image data provided by the MRI scanner whereby the at least one tool constitutes a point of interface with the system; and at least one display in communication with the circuit, wherein the circuit is configured to provide a User Interface that defines workflow progression for an MRI-guided surgical procedure and allows a user to select steps in the workflow, wherein the circuit is configured to generate multi-dimensional visualizations using predefined data of the at least one tool and data from MRI images of the patient in substantially real time during the surgical procedure, and wherein the at least one tool is an imaging probe with an intrabody antenna that is configured to collect small field, high-resolution image data, and wherein the circuit is configured to electronically apply a correction to reduce intensity distortion associated with image data collected from the imaging probe.
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13. An MRI-guided surgical system, comprising:
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at least one MRI-compatible surgical tool; a circuit adapted to communicate with an MRI scanner, wherein the circuit electronically recognizes predefined physical characteristics of the at least one tool to automatically segment MR image data provided by the MRI scanner whereby the at least one tool constitutes a point of interface with the system; and at least one display in communication with the circuit, wherein the circuit is configured to provide a User Interface that defines workflow progression for an MRI-guided surgical procedure and allows a user to select steps in the workflow, wherein the circuit is configured to generate multi-dimensional visualizations using predefined data of the at least one tool and data from MRI images of the patient in substantially real time during the surgical procedure, and wherein the at least one surgical tool comprises a trajectory guide with fiducial markers in a fixed geometric relationship, the trajectory guide configured to define a trajectory path for a subsurface brain target in the patient, the trajectory guide having a base that affixes to a patient'"'"'s skull, the base having an opening that aligns with a hole in the patient'"'"'s skull, and wherein the circuit is configured to segment MR image data to locate the fiducial markers of the trajectory guide and identify an orientation of the trajectory guide. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. An MRI-guided surgical system, comprising:
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at least one MRI-compatible surgical tool; a circuit adapted to communicate with an MRI scanner, wherein the circuit electronically recognizes predefined physical characteristics of the at least one tool to automatically segment MR image data provided by the MRI scanner whereby the at least one tool constitutes a point of interface with the system; and at least one display in communication with the circuit, wherein the circuit is configured to provide a User Interface that defines workflow progression for an MRI-guided surgical procedure and allows a user to select steps in the workflow, wherein the circuit is configured to generate multi-dimensional visualizations using predefined data of the at least one tool and data from MRI images of the patient in substantially real time during the surgical procedure, and wherein the circuit has or is configured to receive data regarding a bore size of the MRI Scanner, and wherein the circuit is configured to monitor for a physical limitation or interference of a surgical tool based on;
(a) pre-defined physical characteristics of the surgical tool;
(b) MRI scanner bore size; and
(c) patient size, and wherein the circuit is configured to generate an audible warning or a visual warning or an audible and visual warning when the surgical tool will be blocked by physical interference with a wall defining at least a portion of the bore size of the MRI scanner.
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24. An MRI-guided surgical system, comprising:
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at least one MRI-compatible surgical tool; a circuit adapted to communicate with an MRI scanner, wherein the circuit electronically recognizes predefined physical characteristics of the at least one tool to automatically segment MR image data provided by the MRI scanner whereby the at least one tool constitutes a point of interface with the system; and a clinician workstation with at least one display in communication with the circuit, wherein the circuit is configured to provide a User Interface for the display that defines workflow progression for an MRI-guided surgical procedure and allows a user to select steps in the workflow, wherein the circuit is configured to generate multi-dimensional visualizations using predefined data of the at least one tool and data from MRI images of the patient in substantially real time during the surgical procedure, and wherein the at least one tool comprises a trajectory guide with a frame that attaches to a patient, wherein the circuit is configured to segment MRI image data of the patient in substantially real-time to locate at least one frame marker and register the trajectory guide in position on the patient, and wherein the circuit is configured to calculate an insertion depth of a probe associated with the trajectory guide to reach a selected intrabody target using the predefined physical characteristics of the trajectory guide.
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25. A MRI-guided interventional deep brain system, comprising:
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an MRI Scanner; a clinician workstation with a circuit and a display, the workstation in communication with the MRI Scanner; a flexible patch with a grid thereon configured to releasably attach to a patient'"'"'s head; and a trajectory guide attachable to a skull of a patient, the trajectory guide having a base with an aperture configured to reside over a hole formed in the patient'"'"'s skull, the base aperture providing a mechanical center of rotation for a pivot axis associated with the trajectory guide, the trajectory guide having a plurality of spaced apart fiducial markers; wherein the circuit comprises physical data regarding the patch and is configured to interrogate patient imaging data provided by the MRI Scanner and segment the image data to define a hole location that intersects the patch with a desired intrabrain trajectory, and wherein the circuit comprises tool-specific data of the trajectory guide and is configured to interrogate patient imaging data provided by the MRI Scanner and interactively generate visualizations of a brain of the patient and the trajectory guide to the display. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43)
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Specification