Interventional information brokering medical tracking interface

• US 9,430,614 B2
• Filed: 05/09/2013
• Issued: 08/30/2016
• Est. Priority Date: 05/09/2012
• Status: Active Grant

• Current Assignee: Koninklijke Philips N.V.
• Original Assignee: Koninklijke Philips N.V.
• Inventors: Dalal, Sandeep M., Liu, Xin, Hall, Christopher Stephen
• Primary Examiner(s): Neyzari, Ali
• Application Number:
  US14/397,872
• Publication Number:
  US 20150123769A1
• Time in Patent Office: 1,209 Days
• Field of Search: 340/8.1, 600/509, 600/117, 600/424, 600/407, 600/410, 600/429
• US Class Current: 1/1
• 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 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• 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 5/00 Measuring for diagnostic purposes radiation diagnosis A61B6/00; diagnosis by ultrasonic, sonic or infrasonic waves A61B8/00; Identification of persons
• 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: G11B 27/34 Indicating arrangements indicating means incorporated in magazine or cassette G11B23/046 and G11B23/0875; indicating measured values in general G01D
• CPC Class Codes: G16H 20/40 relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/63 for local operation
• CPC Class Codes: G16Z 99/00 Subject matter not provided for in other main groups of this subclass

Abstract

A method, system, and program product are provided for providing a medical tracking interface. The method comprises the steps of: receiving tracking data from at least one tracking tool in any one of a plurality of data formats; converting the tracking data to a uniform data format; and outputting the tracking data in the uniform data format to an IGI application.

Claims

1. A method for providing a medical tracking interface for communication between at least one interventional tracking tool and an image guided intervention (IGI) application, characterized in the medical tracking interface:

Receiving tracking data from at least one tracking tool in any one of a plurality of data formats;

converting the tracking data to a uniform data format; and

outputting the tracking data in the uniform data format to the IGI application.

2. The method of claim 1, wherein the uniform data format comprises one of:

Cartesian coordinates, orientations encoded with rotation axes and angles using quaternions, orientations encoded with rotations using Euler angles, and positions and orientations encoded using a transform matrix, and the positional tracking data comprises any one of;

Cartesian coordinates, orientations encoded with rotation axes and angles using quaternions, orientations encoded with rotations using Euler angles, and positions and orientations encoded using a transform matrix.

3. The method of claim 1, wherein the uniform data format comprises spatial alignment of each of the at least one tracking tools to a common world reference frame, and the method further comprises the steps of:

touching each tracking tool to a plurality of reference features at known locations in the common world reference frame;

measuring the reference feature locations in the data format of the tracking tool;

calculating a registration matrix from the reference feature measurements;

using the reference matrix to align the tracking tool data to world reference frame coordinates of the common world reference frame; and

outputting the tracking data in the world reference frame coordinates.

4. The method of claim 3, wherein an imaging data is associated with the data format of one of the at least one tracking tools, the method further comprising the step of:

sharing the imaging data associated with the data format from the one of the at least one tracking tools to tracked interventional tools associated with a data format for another one of the at least one tracking tools using the registration matrix to align the tracking data of the data format of one of the at least one tracking tools to the tracking data of the data format of the another one of the at least one tracking tools.

5. The method of claim 1, further comprising the steps of:

detecting errors in data for one of the at least one tracking tools; and

notifying a dependent tracking tool to determine and use new registration matrices.

6. The method of claim 1, wherein the uniform data format comprises a uniform temporal reference frame.

7. The method of claim 6, wherein the at least one tracking tool provides data at any one of a plurality of streaming rates, and the data stream is buffered and output at a uniform streaming rate.

8. The method of claim 7 wherein more than one tracking tool provides data at more than one streaming rate and the data streams are synchronized.

9. The method of claim 1, wherein the uniform data format comprises timestamps with a uniform time reference frame, the method further comprising the steps of:

measuring latency for each of the at least one tracking tools; and

converting a tracking device timestamp to an equivalent uniform interface timestamp using the measured latency.

10. The method of claim 1, wherein the uniform data format comprises timestamps with a uniform time reference frame, the method further comprising the steps of:

collecting physiological monitoring data; and

synchronizing the tracking data with the physiological monitoring data.

11. The method of claim 1, wherein the uniform data format comprises timestamps with a uniform time reference frame, further comprising the steps of:

touching at least one tracking tool to a reference feature that is identifiable in an imaging data stream;

detecting the touching in the imaging data stream via analysis of the imaging data stream and capturing a timestamp of the imaging stream;

synchronizing the imaging data stream timestamp with a corresponding timestamp from the uniform time reference frame.

12. A medical tracking interface, comprising:

a processor;

a memory operably connected to the processor; and

a program of instruction stored on the memory and executed by the processor to convert tracking data from an interventional tool in any of a plurality of data formats to a uniform data format and output the tracking data to an image guided intervention application in the uniform data format.

13. The medical tracking interface of claim 12, further comprising a multiplexer, wherein the multiplexer temporally aligns each of the at least one interventional tools to a medical tracking interface reference.

14. A computer program product comprising a non-transient computer readable storage device having encoded thereon a computer executable program of instruction, comprising:

program instructions for receiving data from at least one tracking tool in any one of a plurality of data formats;

program instructions for converting the data to a uniform data format; and

program instructions for outputting the data in the uniform data format to an image guided intervention application.