Systems and methods for displaying guidance data based on updated deformable imaging data

• US 8,831,310 B2
• Filed: 12/21/2012
• Issued: 09/09/2014
• Est. Priority Date: 03/07/2008
• Status: Active Grant

• Current Assignee: Inneroptic Technology, Inc.
• Original Assignee: Inneroptic Technology, Inc.
• Inventors: Razzaque, Sharif, State, Andrei
• Primary Examiner(s): Legasse, Jr., Francis M
• Application Number:
  US13/723,705
• Publication Number:
  US 20130129175A1
• Time in Patent Office: 627 Days
• Field of Search: 600/424, 600/426, 600/407, 623/22.15, 623/902, 623/903, 623/904, 623/905, 623/906, 623/907, 382/128, 382/131, 382/132
• US Class Current: 382/128
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical 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 2090/367 creating a 3D dataset from 2D images using position information
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: G06T 7/0012 Biomedical image inspection
• CPC Class Codes: G06V 10/245 by locating a pattern; Special marks for positioning
• CPC Class Codes: G06V 2201/03 Recognition of patterns in medical or anatomical images

Abstract

Presented herein are methods, systems, and computer-readable medium for presenting imaging data related to an anatomical site. These include obtaining a first set of imaging data related to the anatomical site and tracking units at the anatomical site and, thereafter, optionally, obtaining a second set of imaging data related to the anatomical site. A deformed version of the first set of imaging data is then determined based on the relative arrangements of one or more of the tracking units at the time when the first set of imaging data is obtained and when the second set of imaging data is obtained. Then the relative emplacements of the second set of imaging data set and of the deformed version of the first set of imaging data set are determined and used, along with the second set of imaging data set and the deformed version of the first set of imaging data, as a basis for displaying image guidance data.

Claims

1. A method of presenting imaging data related to an anatomical site, comprising:

obtaining, at a first time, a first set of imaging data related to the anatomical site and tracking units at the anatomical site;

obtaining information about the tracking units at a second time after the first time;

determining a deformed version of the first set of imaging data based on a difference between relative arrangements of one or more of the tracking units at the first time and at the second time; and

determining image guidance data for display based on, the deformed version of the first set of imaging data.

2. The method of claim 1, wherein obtaining a first set of imaging data related to the anatomical site and tracking units comprises obtaining an arrangement of the tracking units.

3. The method of claim 1, wherein the method further comprises obtaining an arrangement of the tracking units at the first time and the second time;

and wherein;

determining a deformed version of the first set of imaging data comprises performing a deformation on a volumetric model of the first data set based on the arrangements of the tracking units at the first time and at the second time.

4. The method of claim 1, wherein:

obtaining the first set of imaging data comprises obtaining a volumetric model of obtained imaging data including the emplacement of the tracking units; and

determining the deformed version of the first set of imaging data comprises performing a deformation of the volumetric model.

5. The method of claim 1, wherein:

obtaining the first set of imaging data comprises obtaining a finite element model of obtained imaging data including the emplacement of the tracking units; and

determining the deformed version of the first set of imaging data comprises performing a deformation of the finite element model.

6. The method of claim 1, wherein the method further comprises receiving information about a feature within the first data set;

and wherein;

determining image guidance data for display comprises displaying the feature within the first data set.

7. The method of claim 1, wherein determining a deformed version of the first set of imaging data comprises:

performing a linear interpolation on a model of the first set of imaging data.

8. The method of claim 1, wherein determining a deformed version of the first set of imaging data comprises:

performing a bi-cubic interpolation on a model of the first set of imaging data.

9. The method of claim 1, further comprising:

obtaining a second set of imaging data related to the anatomical site at the second time; and

determining relative emplacements of the second set of imaging data set and the deformed version of the first set of imaging data set,

wherein the image guidance data is based at least on the second set of imaging data and the determined relative emplacements.

10. The method of claim 2, wherein obtaining an arrangement of the tracking units comprises determining the location and orientation of the tracking units.

11. The method of claim 9, wherein the second set of imaging data is associated with a movable device and the emplacement of the second set of imaging data is determined using the emplacement of the movable device.

12. The method of claim 11, wherein the movable device is a movable ultrasound device.

13. The method of claim 9, wherein the second set of imaging data is associated with a first movable device and the emplacement of the second set of imaging data is determined using the emplacement of a second movable device, wherein the first movable device is distinct from the second movable device.

14. A system comprising:

one or more computing devices in communication with tracking units at an anatomical site, wherein the one or more computing devices are configured to;

obtain a first set of imaging data related to the anatomical site and the tracking units at a first time;

obtain information about the tracking units at a second time after the first time;

determine a deformed version of the first set of imaging data based on a difference between relative arrangements of one or more of the tracking units at the first time and at the second time;

determine image guidance data for display based on the deformed version of the first set of imaging data.

15. The system of claim 14, wherein the one or more computing devices are further configured to obtain an arrangement of the tracking units at the first time and the second time;

and wherein;

determining a deformed version of the first set of imaging data comprises performing a deformation on a volumetric model of the first data set based on the arrangements of the tracking units at the first time and at the second time.

16. The system of claim 14, wherein:

obtaining the first set of imaging data comprises obtaining a volumetric model of obtained imaging data including the emplacement of the tracking units; and

determining the deformed version of the first set of imaging data comprises performing a deformation of the volumetric model.

17. The system of claim 14, wherein:

obtaining the first set of imaging data comprises obtaining a finite element model of obtained imaging data including the emplacement of the tracking units; and

determining the deformed version of the first set of imaging data comprises performing a deformation of the finite element model.

18. The system of claim 14, wherein the one or more computing devices are further configured to receive information about a feature within the first data set;

and wherein determining image guidance data for display comprises displaying the feature within the first data set.

19. The system of claim 14, wherein determining a deformed version of the first set of imaging data comprises performing at least one of a linear interpolation on a model of the first set of imaging data, and a bi-cubic interpolation on a model of the first set of imaging data.

20. A computer-readable, non-transitory storage medium having one or more computer-executable modules, the one or more computer-executable modules comprising:

a first module in communication with tracking units at an anatomical site, wherein the first module is configured to;

obtain, at a first time, a first set of imaging data related to the anatomical site and the tracking units;

obtain information about the tracking units at a second time after the first time;

determine a deformed version of the first set of imaging data based on a difference between relative arrangements of one or more of the tracking units at the first time and at the second time; and

determine image guidance data for display based on the deformed version of the first set of imaging data.