Methods, systems, and computer readable media for image guided ablation
First Claim
1. A system for image guided ablation, the system comprising:
- an ultrasound transducer configured to produce a real-time 2D ultrasound image slice of a target volume and surrounding tissue;
an ablation probe configured to ablate the target volume;
a display configured to display an image to guide positioning of the ablation probe during ablation of the target volume;
at least one tracker configured to track orientations of the ablation probe, the ultrasound transducer, and a user'"'"'s head during the ablation of the target volume, wherein the at least one tracker is distinct from the display; and
a rendering and display module configured to;
receive a 3D pre-ablation-treatment image of the target volume;
receive the real-time 2D ultrasound image slice from the ultrasound transducer;
receive data regarding the tracked orientation of the ablation probe, the ultrasound transducer, and the user'"'"'s head produced by the at least one tracker;
determine a perspective view of the 3D pre-ablation-treatment image in a virtual 3D space based at least in part on the tracked orientation of the user'"'"'s head;
determine a perspective view of the real-time 2D ultrasound image slice in the virtual 3D space based at least in part on the tracked orientations of the ultrasound transducer and the user'"'"'s head;
determine a perspective view of a virtual 3D ablation probe in the virtual 3D space based at least in part on the tracked orientations of the ablation probe and the user'"'"'s head, wherein the virtual 3D ablation probe corresponds to the ablation probe;
determine a perspective view of a virtual 3D ultrasound transducer in the virtual 3D space based at least in part on the tracked orientations of the ultrasound transducer and the user'"'"'s head, wherein the virtual 3D ultrasound transducer corresponds to the ultrasound transducer;
cause the display to simultaneously and continuously display the perspective view of the 3D pre-ablation-treatment image, the perspective view of the real-time 2D ultrasound image slice, the perspective view of the virtual 3D ablation probe, and the perspective view of the virtual 3D ultrasound transducer in the virtual 3D space based at least in part on a location of the ultrasound transducer and the ablation probe;
subtract from the perspective view of the 3D pre-ablation-treatment image a volume affected by a pass of the ablation probe over a portion of the target volume, wherein the volume affected by the pass of the ablation probe over the portion of the target volume is determined based on a tracked position of the ablation probe at a time of the pass of the ablation probe over the portion of the target volume, a geometry of the ablation probe, and a power setting of the ablation probe at the time of the pass of the ablation probe over the portion of the target volume; and
cause the display to display, for a momentary position of the probe, relative amounts of healthy and tumor tissue that would be affected by an ablation pass.
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Accused Products
Abstract
The subject matter described herein includes methods, systems, and computer readable media for image guided ablation. One system for image guided ablation includes an ultrasound transducer for producing a real-time ultrasound image of a target volume and of surrounding tissue. The system further includes an ablation probe for ablating the target volume. The system further includes a display for displaying an image to guide positioning of the ablation probe during ablation of the target volume. The system further includes at least one tracker for tracking position and orientation of the ablation probe during the ablation of the target volume. The system further includes a rendering and display module for receiving a pre-ablation image of the target volume and for displaying a combined image on the display, where the combined image includes a motion tracked, rendered image of the ablation probe and an equally motion tracked real-time ultrasound image registered with the pre-ablation image.
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Citations
21 Claims
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1. A system for image guided ablation, the system comprising:
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an ultrasound transducer configured to produce a real-time 2D ultrasound image slice of a target volume and surrounding tissue; an ablation probe configured to ablate the target volume; a display configured to display an image to guide positioning of the ablation probe during ablation of the target volume; at least one tracker configured to track orientations of the ablation probe, the ultrasound transducer, and a user'"'"'s head during the ablation of the target volume, wherein the at least one tracker is distinct from the display; and a rendering and display module configured to; receive a 3D pre-ablation-treatment image of the target volume; receive the real-time 2D ultrasound image slice from the ultrasound transducer; receive data regarding the tracked orientation of the ablation probe, the ultrasound transducer, and the user'"'"'s head produced by the at least one tracker; determine a perspective view of the 3D pre-ablation-treatment image in a virtual 3D space based at least in part on the tracked orientation of the user'"'"'s head; determine a perspective view of the real-time 2D ultrasound image slice in the virtual 3D space based at least in part on the tracked orientations of the ultrasound transducer and the user'"'"'s head; determine a perspective view of a virtual 3D ablation probe in the virtual 3D space based at least in part on the tracked orientations of the ablation probe and the user'"'"'s head, wherein the virtual 3D ablation probe corresponds to the ablation probe; determine a perspective view of a virtual 3D ultrasound transducer in the virtual 3D space based at least in part on the tracked orientations of the ultrasound transducer and the user'"'"'s head, wherein the virtual 3D ultrasound transducer corresponds to the ultrasound transducer; cause the display to simultaneously and continuously display the perspective view of the 3D pre-ablation-treatment image, the perspective view of the real-time 2D ultrasound image slice, the perspective view of the virtual 3D ablation probe, and the perspective view of the virtual 3D ultrasound transducer in the virtual 3D space based at least in part on a location of the ultrasound transducer and the ablation probe; subtract from the perspective view of the 3D pre-ablation-treatment image a volume affected by a pass of the ablation probe over a portion of the target volume, wherein the volume affected by the pass of the ablation probe over the portion of the target volume is determined based on a tracked position of the ablation probe at a time of the pass of the ablation probe over the portion of the target volume, a geometry of the ablation probe, and a power setting of the ablation probe at the time of the pass of the ablation probe over the portion of the target volume; and cause the display to display, for a momentary position of the probe, relative amounts of healthy and tumor tissue that would be affected by an ablation pass. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 20, 21)
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10. A method for producing an image suitable for image guided ablation, the method comprising:
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receiving a real-time 2D ultrasound image slice of a target volume and surrounding tissue from an ultrasound transducer; receiving a 3D pre-ablation image of the target volume; tracking, using at least one tracker, orientations of an ablation probe, the ultrasound transducer, and a user'"'"'s head during ablation of the target volume; determining a perspective view of the 3D pre-ablation-treatment image in a virtual 3D space based at least in part on the tracked orientation of the user'"'"'s head; determining a perspective view of the real-time 2D ultrasound image slice in the virtual 3D space based at least in part on the tracked orientations of the ultrasound transducer and the user'"'"'s head; determining a perspective view of a virtual 3D ablation probe in the virtual 3D space based at least in part on the tracked orientations of the ablation probe and the user'"'"'s head, wherein the virtual 3D ablation probe corresponds to the ablation probe; determining a perspective view of a virtual 3D ultrasound transducer in the virtual 3D space based at least in part on the tracked orientations of the ultrasound transducer and the user'"'"'s head, wherein the virtual 3D ultrasound transducer corresponds to the ultrasound transducer; causing a display to simultaneously and continuously display the perspective view of the 3D pre-ablation-treatment image, the perspective view of the real-time 2D ultrasound image slice, the perspective view of the virtual 3D ablation probe, and the perspective view of the virtual 3D ultrasound transducer in the virtual 3D space based at least in part on a location of the ultrasound transducer and the ablation probe, wherein the display is distinct from the at least one tracker; subtracting from the perspective view of the 3D pre-ablation image a volume affected by a pass of the ablation probe over a portion of the target volume, wherein the volume affected by the pass of the ablation probe over the portion of the target volume is determined based on a tracked position of the ablation probe at a time of the pass of the ablation probe over the portion of the target volume, a geometry of the ablation probe, and a power setting of the ablation probe at the time of the pass of the ablation probe over the portion of the target volume; and causing the display to display, for a momentary position of the probe, relative amounts of healthy and tumor tissue that would be affected by an ablation pass. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A non-transitory computer readable medium having stored thereon executable instructions that when executed by a processor of a computer perform steps, the steps comprising:
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receiving a real-time 2D ultrasound image slice of a target volume and surrounding tissue from an ultrasound transducer; receiving a 3D pre-ablation image of the target volume; tracking, using at least one tracker, orientations of an ablation probe, the ultrasound transducer, and a user'"'"'s head during ablation of the target volume; determining a perspective view of the 3D pre-ablation-treatment image in a virtual 3D space based at least in part on the tracked orientation of the user'"'"'s head; determining a perspective view of the real-time 2D ultrasound image slice in the virtual 3D space based at least in part on the tracked orientations of the ultrasound transducer and the user'"'"'s head; determining a perspective view of a virtual 3D ablation probe in the virtual 3D space based at least in part on the tracked orientations of the ablation probe and the user'"'"'s head, wherein the virtual 3D ablation probe corresponds to the ablation probe; determining a perspective view of a virtual 3D ultrasound transducer in the virtual 3D space based at least in part on the tracked orientations of the ultrasound transducer and the user'"'"'s head, wherein the virtual 3D ultrasound transducer corresponds to the ultrasound transducer; causing a display to simultaneously and continuously display the perspective view of the 3D pre-ablation-treatment image, the perspective view of the real-time 2D ultrasound image slice, the perspective view of the virtual 3D ablation probe, and the perspective view of the virtual 3D ultrasound transducer in the virtual 3D space based at least in part on a location of the ultrasound transducer and the ablation probe; subtracting from the perspective view of the 3D pre-ablation image a volume affected by a pass of the ablation probe over a portion of the target volume, wherein the volume affected by the pass of the ablation probe over the portion of the target volume is determined based on a tracked position of the ablation probe at a time of the pass of the ablation probe over the portion of the target volume, a geometry of the ablation probe, and a power setting of the ablation probe at the time of the pass of the ablation probe over the portion of the target volume; and causing the display to display, for a momentary position of the probe, relative amounts of healthy and tumor tissue that would be affected by an ablation pass.
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Specification