Imager focusing based on intraoperative data

• US 9,282,947 B2
• Filed: 11/18/2010
• Issued: 03/15/2016
• Est. Priority Date: 12/01/2009
• Status: Active Grant

• Current Assignee: Inneroptic Technology, Inc.
• Original Assignee: Inneroptic Technology, Inc.
• Inventors: Razzaque, Sharif, State, Andrei, Keller, Kurtis
• Primary Examiner(s): Lamprecht, Joel
• Application Number:
  US12/949,449
• Publication Number:
  US 20110130641A1
• Time in Patent Office: 1,944 Days
• US Class Current: 1/1
• 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 5/062 using magnetic field
• CPC Class Codes: A61B 5/067 using accelerometers or gyroscopes
• CPC Class Codes: A61B 8/0833 involving detecting or locating foreign bodies or organic structures
• CPC Class Codes: A61B 8/0841 for locating instruments
• 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 8/4254 using sensors mounted on the probe
• CPC Class Codes: A61B 8/5238 for combining image data of patient, e.g. merging several images from different acquisition modes into one image for image registration algorithms G06T7/30
• CPC Class Codes: G01S 15/8979 Combined Doppler and pulse-echo imaging systems
• CPC Class Codes: G01S 15/8988 Colour Doppler imaging
• CPC Class Codes: G01S 15/8993 Three dimensional imaging systems
• CPC Class Codes: G01S 7/52034 Data rate converters

Abstract

Various embodiments herein provide for imager focusing based on intraoperative data. Ideally, an imaging plane of an ultrasound transducer would be truly planar. That is not the case, though. Instead, ultrasound transducers image a volume that is closer to a rectangular volume, but that has focal depths or areas in the imaged volume that are “thinner” and provide a better resolution. In general, embodiments herein may include determining the pose of an imager, such as an ultrasound transducer, and the pose of a location of interest. Based on those poses, a focal adjustment may be determined in order to, for example, better focus the imager on the object of interest. Then data is generated and the focus of the imager is adjusted. Additionally, imaging data and/or the object of interest may be displayed. In other embodiments, estimated projections of medical devices are displayed to allow for better intraoperative planning.

Claims

1. A method for imager focusing based on intraoperative data, implemented on one or more computing devices, comprising:

determining, using the one or more computing devices, position and orientation of an imaging plane of a focusable imager used in a medical scene based at least in part on a detected position and orientation of a first tracking device coupled to the focusable imager;

determining, using the one or more computing devices, position and orientation of a medical device used in the medical scene based at least in part on a detected position and orientation of a second tracking device coupled to the medical device;

determining, using the one or more computing devices, an intersection of the imaging plane and a central axis of the medical device based at least in part on the determined position and orientation of the imaging plane and the determined position and orientation of the medical device;

determining, using the one or more computing devices, position and orientation of at least one object of interest in the medical scene based at least in part on the determined intersection of the imaging plane and the central axis of the medical device;

determining, using the one or more computing devices, a focal adjustment for the focusable imager based at least in part on the determined position and orientation of the at least one object of interest and a focal plane of the focusable imager; and

causing the focusable imager to adjust the focal plane based at least in part on the determined focal adjustment for the focusable imager.

2. The method of claim 1, further comprising displaying a 3D graphics representation of the object of interest.

3. The method of claim 1, wherein determining the position and orientation of the at least one object of interest comprises accessing stored position and orientation of an object whose position and orientation was previously indicated.

4. The method of claim 3, wherein accessing stored position and orientation of an already-known object of interest comprises accessing stored position and orientation of at least one of a highlight, marking, or annotation of the already-known object of interest.

5. The method of claim 1, wherein the medical device comprises a tracked ablation needle.

6. The method of claim 1, wherein determining the pose for the at least one object of interest comprises determining position and orientation of a body part of an operator.

7. The method of claim 1, wherein determining the focal adjustment based at least in part on the position and orientation of the at least one object of interest comprises determining a trajectory of the medical device onto an imaging plane associated with the imager.

8. The method of claim 1, wherein determining the focal adjustment based at least in part on the position and orientation of the at least one object of interest comprises determining a series of focal adjustments to be used over time based at least in part on the position and orientation of the at least one object of interest.

9. The method of claim 1, wherein determining the focal adjustment based at least in part on the position and orientation of the at least one object of interest comprises determining a depth of focus for the focusable imager based at least in part on the position and orientation of the at least one object of interest.

10. The method of claim 1, wherein determining the focal adjustment based at least in part on the position and orientation of the at least one object of interest comprises determining an angle for directing an imaging element of the focusable imager.

11. The method of claim 1, wherein the at least one object of interest comprises two or more objects of interest.

12. The method of claim 11, wherein determining the focal adjustment based at least in part on the position and orientation of the at least one object of interest comprises determining two or more focal adjustments based at least in part on the two or more objects of interest.

13. A non-transitory computer-readable medium comprising computer-executable instructions that when executed by one or more computing devices, cause the one or more computing devices to:

determine position and orientation of an imaging plane of a focusable imager used in a medical scene based at least in part on a detected position and orientation of a first tracking device coupled to the focusable imager;

determine position and orientation of a medical device used in the medical scene based at least in part on a detected position and orientation of a second tracking device coupled to the medical device;

determine an intersection of the imaging plane and a central axis of the medical device based at least in part on the determined position and orientation of the imaging plane and the determined position and orientation of the medical device;

determine position and orientation of at least one object of interest in the medical scene based at least in part on the determined intersection of the imaging plane and the central axis of the medical device;

determine a focal adjustment for the focusable imager based at least in part on the position and orientation of the at least one object of interest and the position and orientation of a focal plane of the focusable imager; and

cause the focusable imager to adjust the focal plane the focusable imager based at least in part on the determined focal adjustment for the focusable imager.

14. The non-transitory computer-readable medium of claim 13, the computer-executable instructions further cause the one or more computing devices to display a 3D graphics representation of the object of interest.

15. The non-transitory computer-readable medium of claim 13, wherein to determine the position and orientation of the at least one object of interest the computer-executable instructions cause the one or more computing devices to access stored position and orientation of an object whose pose was previously indicated.

16. A system comprising one or more computing devices, said one or more computing devices being configured to:

determine position and orientation of an imaging plane of a focusable imager used in a medical scene based at least in part on a detected position and orientation of a first tracking device coupled to the focusable imager;

determine position and orientation of a medical device used in the medical scene based at least in part on a detected position and orientation of a second tracking device coupled to the medical device;

determine an intersection of the imaging plane and a central axis of the medical device based at least in part on the determined position and orientation of the imaging plane and the determined position and orientation of the medical device;

determine position and orientation of at least one object of interest in the medical scene based at least in part on the determined intersection of the imaging plane and the central axis of the medical device;

determine a focal adjustment for the focusable imager based at least in part on the position and orientation of the at least one object of interest and the position and orientation of a focal plane of the focusable imager; and

cause the focusable imager to adjust the focal plane of the focusable imager based at least in part on the determined focal adjustment for the focusable imager.

17. The system of claim 16, wherein the at least one medical device comprises a tracked ablation needle.

18. The system of claim 16, wherein to determine the focal adjustment based at least in part on the position and orientation of the at least one object of interest, the one or more computing devices are configured to determine a series of focal adjustments to be used over time based at least in part on the position and orientation of the at least one object of interest.