Surgical navigation system

• US 9,439,622 B2
• Filed: 05/22/2012
• Issued: 09/13/2016
• Est. Priority Date: 05/22/2012
• Status: Active Grant

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Covidien LP (Medtronic Plc)
• Inventors: Case, Jason A., Frank, Kevin J.
• Primary Examiner(s): Park, Patricia
• Application Number:
  US13/477,291
• Publication Number:
  US 20130317351A1
• Time in Patent Office: 1,575 Days
• Field of Search: 600/424
• US Class Current: 1/1
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• 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 2034/104 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 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2063 Acoustic tracking systems, e.g. using ultrasound
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/252 indicating steps of a surgical procedure
• CPC Class Codes: A61B 2090/0463 against cooling or freezing
• CPC Class Codes: A61B 2090/0472 against ultrasound energy
• CPC Class Codes: A61B 2090/0481 against EM radiation, e.g. microwave
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3925 ultrasonic
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• 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 6/5211 : involving processing of medical diagnostic data
• CPC Class Codes: A61B 8/0841 : for locating instruments
• CPC Class Codes: A61B 8/4263 : using sensors not mounted on the probe, e.g. mounted on an external reference frame
• CPC Class Codes: A61B 8/5223 : for extracting a diagnostic or physiological parameter from medical diagnostic data for algorithms to analyse biomedical images G06T7/0012
• CPC Class Codes: A61B 8/565 : involving data transmission via a network
• CPC Class Codes: A61B 90/37 : Surgical systems with images on a monitor during operation
• CPC Class Codes: F04C 2270/041 : Controlled or regulated
• CPC Class Codes: G06T 2207/10072 : Tomographic images
• CPC Class Codes: G06T 2207/10081 : Computed x-ray tomography [CT]
• CPC Class Codes: G06T 2207/10136 : 3D ultrasound image
• CPC Class Codes: G06T 2207/30204 : Marker
• CPC Class Codes: G06T 2207/30208 : Marker matrix
• CPC Class Codes: G06T 2207/30244 : Camera pose
• CPC Class Codes: G06T 7/74 : involving reference images or patches
• CPC Class Codes: G16H 20/40 : relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture

Abstract

The present disclosure is directed to a surgical navigation system. The navigation system includes an ultrasound device configured to obtain an ultrasound image in a scan plane The ultrasound device has a fiducial pattern disposed thereon. A surgical device having an image capture device configured to capture a fiducial image of the fiducial pattern is also provided. The system also includes a controller configured to receive the ultrasound image and the fiducial image, wherein the controller determines a position of the surgical device in relation to the scan plane based on the fiducial image. A display is configured to display the ultrasound image and a virtual image of the surgical device based on the position of the surgical device in relation to the scan plane.

Claims

1. A navigation system, comprising:

an ultrasound device configured to obtain an ultrasound image in a scan plane having a target area disposed therein, the ultrasound device having a fiducial pattern disposed thereon, the fiducial pattern including a plurality of first unique identifiers disposed in a region and a plurality of second unique identifiers;

a surgical device having an image capture device configured to capture a fiducial image of the fiducial pattern;

a controller configured to;

receive the ultrasound image and the fiducial image, wherein the controller determines a position of the surgical device in relation to the scan plane based on the fiducial image;

identify the plurality of first unique identifiers and the plurality of second unique identifiers, wherein the plurality of first unique identifiers includes circles of a first color and the plurality of second unique identifiers includes circles of a second color and wherein identifying includes;

applying a first threshold to the fiducial image substantially in parallel with applying a second threshold to an inverted fiducial image;

performing a connected component analysis on the first and second thresholds; and

applying a geometric filter to results of the connected component analysis to identify the region having the plurality of first unique identifiers and to determine weighted centroids of the plurality of first unique identifiers and the plurality of second unique identifiers; and

correspond the fiducial image to a model image by;

selecting a plurality of the circles of the first color;

determining an amount of the circles of the first color disposed in a first portion of the region of the fiducial pattern;

determining whether the determined amount of the circles of the first color disposed in the first portion matches a predetermined amount of the circles of the first color; and

in response to a determination that the determined amount of the circles of the first color disposed in the first portion does not match the predetermined amount of the circles of the first color, determining an amount of the circles of the first color disposed in a second portion of the region of the fiducial pattern; and

a display configured to display the ultrasound image and a virtual image of the surgical device based on the position of the surgical device in relation to the scan plane.

2. The navigation system of claim 1, wherein the fiducial pattern is affixed to a known location on the ultrasound device.

3. The navigation system of claim 1, wherein the image capture device is affixed to a known location on the surgical device.

4. The navigation system of claim 1, wherein the region is of the second color.

5. The navigation system of claim 1 wherein the controller estimates a camera pose, and transforms the surgical device to model coordinates.

6. The navigation system of claim 1, wherein the selected plurality of the circles of the first color is selected based on roundness of the circles of the first color.

7. The navigation system of claim 1, wherein corresponding the fiducial image to the model image further includes:

sorting the selected plurality of the circles of the first color;

computing a planar homography matrix;

transforming the model image; and

identifying matching image fiducials.