Systems, methods, apparatuses, and computer-readable media for image guided surgery

• US 8,585,598 B2
• Filed: 12/21/2011
• Issued: 11/19/2013
• Est. Priority Date: 02/17/2009
• Status: Active Grant

• Current Assignee: Inneroptic Technology, Inc.
• Original Assignee: Inneroptic Technology, Inc.
• Inventors: Razzaque, Sharif, Martinie, John, Iannitti, David, State, Andrei, Heaney, Brian, Siperstein, Allan, Keller, Kurtis
• Primary Examiner(s): Luong, Peter
• Application Number:
  US13/333,745
• Publication Number:
  US 20120101370A1
• Time in Patent Office: 699 Days
• Field of Search: 600/411, 600/424, 600/427, 600/439
• US Class Current: 600/439
• CPC Class Codes: A61B 18/02 by cooling, e.g. cryogenic techniques devices for cooling specific reflex points of the body within cell-life limits A61H39/06
• CPC Class Codes: A61B 18/082 Probes or electrodes therefor
• CPC Class Codes: A61B 18/1442 Probes having pivoting end effectors, e.g. forceps
• CPC Class Codes: A61B 18/1477 Needle-like probes
• CPC Class Codes: A61B 18/18 by applying electromagnetic radiation, e.g. microwaves radiation therapy A61N5/00
• CPC Class Codes: A61B 18/1815 using microwaves
• CPC Class Codes: A61B 18/20 using laser
• CPC Class Codes: A61B 2018/00577 Ablation
• CPC Class Codes: A61B 2018/1425 Needle
• CPC Class Codes: A61B 2018/1869 with an instrument interstitially inserted into the body, e.g. needles
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/104 Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/207 Divots for calibration
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/368 changing the image on a display according to the operator's position
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 2090/502 Headgear, e.g. helmet, spectacles
• CPC Class Codes: A61B 34/10 : Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/20 : Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 : User interfaces for surgical systems
• CPC Class Codes: A61B 8/4245 : involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
• CPC Class Codes: A61B 90/37 : Surgical systems with images on a monitor during operation
• CPC Class Codes: B33Y 80/00 : Products made by additive manufacturing

Abstract

Presented herein are methods, systems, devices, and computer-readable media for image guided surgery. The systems herein allow a physician to use multiple instruments for a surgery and simultaneously provide image-guidance data for those instruments. Various embodiments disclosed herein provide information to physicians about procedures they are performing, the devices (such as ablation needles, ultrasound wands or probes, scalpels, cauterizers, etc.) they are using during the procedure, the relative emplacements or poses of these devices, prediction information for those devices, and other information. Some embodiments provide useful information about 3D data sets. Additionally, some embodiments provide for quickly calibratable surgical instruments or attachments for surgical instruments.

Claims

1. A method for image guided surgery, comprising:

determining, with a computer system, device type information for a first medical device;

determining, with the computer system, real-time emplacement information for the first medical device;

determining, with the computer system, real-time emplacement information for a second medical device;

determining the real-time relative emplacements of the first and second medical devices with the computer system;

determining a 2D image plane based at least on the real-time emplacement information for the second medical device;

determining, with the computer system, at least based on the device type of the first medical device, real-time prediction information for the first medical device, wherein the prediction information comprises a plurality of graphical indicators of the real-time relative emplacement of a plurality of portions of the first medical device with respect to the image plane, wherein each graphical indicator indicates whether a corresponding portion of the first medical device is in a proximal or distal position with respect to the image plane;

receiving, in real-time, a 2D image corresponding to at least a portion of the determined 2D image plane from the second medical device;

determining a perspective view of the 2D image within a virtual 3D space in response to real-time relative emplacement information for the second medical device with respect to a position of a user;

generating image guidance information, with the computer system, based at least on the real-time relative emplacements of the first and second medical devices and the real-time prediction information for the first medical device;

causing one or more displays to display a graphical rendering of the image guidance information; and

causing the one or more displays to display in real time the perspective view of the 2D image within the virtual 3D space based at least on the relative emplacement information for the second medical device with respect to the position of the user.

2. The method of claim 1, wherein the first medical device comprises an ablation needle and the prediction information comprises an estimated ablation volume for the ablation needle wherein the method further comprises causing the one or more displays to display in real-time a perspective view of the ablation volume in the virtual 3D space based at least on real-time relative emplacement information for the first medical device with respect to the position of the user.

3. The method of claim 1, wherein the first medical device comprises a needle and the prediction information comprises a drive projection for the needle, wherein the method further comprises causing the one or more displays to display in real-time a perspective view of the drive projection for the needle in the virtual 3D space based at least on real-time relative emplacement information for the first medical device with respect to the position of the user.

4. The method of claim 1, wherein the first medical device comprises an ablation needle, the second medical device comprises a medical imager and the prediction information comprises an intersection of the ablation needle'"'"'s axis and the image plane.

5. The method of claim 4, wherein the method further comprises:

receiving an indication of a point of interest; and

marking, in an underlying 3D model, the intersection of the ablation needle'"'"'s axis and the image plane as the point of interest.

6. The method of claim 5, wherein the image guidance information comprises the point of interest and displaying the graphical rendering of the image guidance information comprises representing the point of interest in the one or more displays.

7. The method of claim 1, wherein each graphical indicator comprises a projective line between a distinct portion of the image plane and a distinct portion of the first medical device and indicates a distance between the distinct portion of the image plane and the distinct portion of the first medical device.

8. The method of claim 1, wherein the plurality of graphical indicators indicate a relative angle of the first medical device with respect to the image plane.

9. The method of claim 1, wherein a size of the perspective view of the 2D image is proportional to the orientation of the second medical device with respect to the position of the user.

10. The method of claim 1, further comprising causing the one or more displays to display a copy of the image in a location that is different from the location of the perspective view of the 2D image.

11. The method of claim 1, wherein the 2D image plane is a first 2D image plane and the 2D image is a first 2D image, the method further comprising:

determining a second 2D image plane in response to a rotation of the medical imaging device about an axis;

receiving a second 2D image corresponding to at least a portion of the second 2D image plane from the second medical device following the rotation; and

causing the one or more displays to display a perspective view of the second 2D image in the virtual 3D space based at least on the relative emplacement information for the second medical device with respect to the position of the user following the rotation, wherein the perspective view of the second 2D image is rotated about the axis with respect to the perspective view of the first 2D image.

12. The method of claim 1, wherein the position of the user is an expected position of the user.

13. A system for image guided surgery, comprising:

a computer system, wherein the computer system is configured to;

determine device type information for a first medical device;

determine real-time emplacement information for the first medical device;

determine real-time emplacement information for a second medical device;

determine the real-time relative emplacements of the first and second medical devices;

determine a 2D image plane based at least on the real-time emplacement information for the second medical device;

determine at least based on the device type of the first medical device, real-time prediction information for the first medical device, wherein the prediction information comprises a plurality of graphical indicators of the real-time relative emplacement of a plurality of portions of the first medical device and the image plane, wherein each graphical indicator indicates whether a corresponding portion of the first medical device is in front of or behind the image plane;

receive, in real-time, a 2D image corresponding to at least a portion of the determined 2D image plane from the second medical device;

determine a perspective view of the 2D image within a virtual 3D space in response to real-time relative emplacement information for the second medical device with respect to a position of a user;

generate image guidance information based at least on the real-time relative emplacements of the first and second medical devices and the real-time prediction information for the first medical device;

cause one or more displays to display a graphical rendering of the image guidance information; and

cause the one or more displays to display in real time the perspective view of the 2D image within the virtual 3D space.

14. The system of claim 13, wherein the first medical device comprises an ablation needle and the prediction information comprises an estimated ablation volume for the ablation needle, wherein the computer system is further configured to cause the one or more displays to display in real-time a perspective view of the ablation volume in the virtual 3D space based at least on real-time relative emplacement information for the first medical device with respect to the position of the user.

15. The system of claim 13, wherein the first medical device comprises a needle and the prediction information comprises a drive projection for the needle, wherein the computer system is further configured to cause the one or more displays to display in real-time a perspective view of the drive projection for the needle in the virtual 3D space based at least on real-time relative emplacement information for the first medical device with respect to the position of the user.

16. The system of claim 13, wherein the first medical device comprises an ablation needle, the second medical device comprises a medical imager and the prediction information further comprises an intersection of the ablation needle'"'"'s axis and the image plane.

17. The system of claim 13, wherein each graphical indicator comprises a projective line between a distinct portion of the image plane and a distinct portion of the first medical device and indicates a distance between the distinct portion of the image plane and the distinct portion of the first medical device.

18. The system of claim 13, wherein the plurality of graphical indicators indicate a relative angle of the first medical device with respect to the image plane.

19. The system of claim 13, wherein a size of the perspective view of the 2D image is proportional to the orientation of the second medical device with respect to the position of the user.

20. The system of claim 13, wherein the computer system is further configured to cause the one or more displays to display a copy of the image in a location that is different from the location of the perspective view of the 2D image.

21. The system of claim 13, wherein the 2D image plane is a first 2D image plane and the 2D image is a first 2D image, and the computer system is further configured to:

determine a second 2D image plane in response to a rotation of the medical imaging device about an axis;

receive a second 2D image corresponding to at least a portion of the second 2D image plane from the second medical device following the rotation; and

cause the one or more displays to display a perspective view of the second 2D image in the virtual 3D space based at least on the relative emplacement information for the second medical device with respect to the position of the user following the rotation, wherein the perspective view of the second 2D image is rotated about the axis with respect to the perspective view of the first 2D image.

22. A non-transitory computer-readable medium comprising computer-executable instructions, said instructions, when executed cause one or more processors to:

determine device type information for a first medical device;

determine real-time emplacement information for the first medical device;

determine real-time emplacement information for a second medical device;

determine the real-time relative emplacements of the first and second medical devices;

determine a 2D image plane based at least on the real-time emplacement information for the second medical device;

determine at least based on the device type of the first medical device, real-time prediction information for the first medical device, wherein the prediction information comprises a plurality of graphical indicators of the real-time relative emplacement of a plurality of portions of the first medical device and the image plane, wherein each graphical indicator indicates whether a corresponding portion of the first medical device is in front of or behind the image plane;

receive, in real-time a 2D image corresponding to at least a portion of the determined 2D image plane from the second medical device;

determine a perspective view of the 2D image within a virtual 3D space in response to real-time relative emplacement information for the second medical device with respect to a position of a user;

generate image guidance information based at least on the real-time relative emplacements of the first and second medical devices and the real-time prediction information for the first medical device;

cause one or more displays to display a graphical rendering of the image guidance information; and

cause the one or more displays to display in real time the perspective view of the 2D image within the virtual 3D space.