Affected region display associated with a medical device

• US 9,901,406 B2
• Filed: 10/01/2015
• Issued: 02/27/2018
• Est. Priority Date: 10/02/2014
• Status: Active Grant

• Current Assignee: Inneroptic Technology, Inc.
• Original Assignee: Inneroptic Technology, Inc.
• Inventors: State, Andrei, Kohli, Luv, Razzaque, Sharif, Heaney, Brian
• Primary Examiner(s): Hajnik, Daniel
• Application Number:
  US14/872,930
• Publication Number:
  US 20160117857A1
• Time in Patent Office: 880 Days
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• 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 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: G06T 19/00 Manipulating 3D models or images for computer graphics
• CPC Class Codes: G06T 2210/41 Medical

Abstract

A system and method for providing image guidance for placement of one or more medical devices at a target location. The system can be used to determine one or more affected regions corresponding to the operation of one or more medical devices and display at least a portion of the one or more affected regions. The affected regions can correspond to predicted affected regions and/or dynamic affected regions and can be based at least in part on a variance parameter of the medical device.

Claims

1. A method, comprising:

receiving position and orientation data corresponding to a medical device;

determining position and orientation of a virtual 3D rendering of the medical device with respect to a point-of-view location based at least in part on the position and orientation data corresponding to the medical device;

receiving ablation parameters corresponding to the medical device, the ablation parameters comprising at least an ablation variance parameter corresponding to an amount of variance in a volume that is ablated during ablation;

determining a first predicted ablation volume based at least in part on the ablation variance parameter of the ablation parameters;

determining a second predicted ablation volume based at least in part on the ablation variance parameter, wherein the second predicted ablation volume is larger than the first predicted ablation volume;

determining a dynamic ablation volume based at least in part on real-time ablation data;

determining position and orientation of the first predicted ablation volume, the second predicted ablation volume, and the dynamic ablation volume with respect to the point-of-view location based at least in part on the position and orientation data of the medical device; and

causing one or more displays to concurrently display;

a perspective view of at least a portion of the virtual 3D rendering of the medical device in a virtual 3D space based at least in part on the determined position and orientation of the medical device,

a perspective view of a virtual 3D rendering of at least a portion of the first predicted ablation volume in the virtual 3D space based at least in part on the determined position and orientation of the first predicted ablation volume,

a perspective view of a virtual 3D rendering of at least a portion of the second predicted ablation volume in the virtual 3D space based at least in part on the determined position and orientation of the second predicted ablation volume, and

a perspective view of a virtual 3D rendering of at least a portion of the dynamic ablation volume in the virtual 3D space based at least in part on the determined position and orientation of the dynamic ablation volume.

2. A method, comprising:

receiving emplacement data corresponding to a first medical device;

receiving emplacement data corresponding to a second medical device;

determining emplacement of a virtual medical device corresponding to the first medical device with respect to a point-of-view location based at least in part on the emplacement data corresponding to the first medical device;

determining emplacement of an image slice with respect to the point-of-view location based at least in part on the emplacement data corresponding to the second medical device;

receiving operating parameters corresponding to the first medical device, the operating parameters comprising at least a variance parameter;

determining a first affected region based at least in part on the variance parameter of the operating parameters;

determining a first surface display region based at least in part on at least a portion of the first affected region that is co-located with at least a portion of the image slice;

determining a second affected region based at least in part on the variance parameter, wherein the second affected region is greater than the first affected region;

determining a second surface display region based at least in part on at least a portion of the second affected region that is co-located with at least a portion of the image slice;

determining emplacement of the first surface display region and the second surface display region with respect to the point-of-view location based at least in part on the emplacement data corresponding to the first medical device; and

causing one or more displays to concurrently display;

a perspective view of at least a portion of the virtual medical device based at least in part on the determined emplacement of the virtual medical device,

a perspective view of the first surface display region based at least in part on the determined emplacement of the first surface display region,

a perspective view of the second surface display region based at least in part on the determined emplacement of the second surface display region, and

a perspective view of the image slice based at least in part on the determined emplacement of the image slice.

3. The method of claim 2, wherein the point-of-view location comprises at least one of a location of a user, an expected location of user, or a fixed location relative to the one or more displays.

4. The method of claim 2, wherein the first affected region is a first dynamic affected region and the second affected region is a second dynamic affected region.

5. The method of claim 2, wherein the variance parameter corresponds to an error range.

6. The method of claim 2, wherein the variance parameter includes a first threshold and a second threshold, the second threshold being greater than the first threshold, wherein the first threshold is used to determine the first affected region and the second threshold is used to determine the second affected region.

7. The method of claim 2, wherein the at least a portion of the first affected region comprises at least one of a surface of the first affected region, an outline of the first affected region, alternating horizontal bands of differing opacity, alternating vertical bands of differing opacity, alternating tiles of different opacity, a portion of the first affected region located between an image slice and the point-of-view location, at least a portion of the first affected region that is co-located with at least a portion of an image slice, or at least a portion of the first affected region that is co-located with at least a portion of the virtual medical device.

8. The method of claim 2, wherein the at least a portion of the second affected region corresponds to at least a portion of the second affected region that is unique to the second affected region with respect to the first affected region.

9. The method of claim 2, further comprising:

determining a third affected region based at least in part on real-time operating data and the emplacement data corresponding to the first medical device;

determining a third surface display region based at least in part on the third affected region and the determined emplacement of the image slice; and

causing the one or more displays to concurrently display a perspective view of at least a portion of the third surface display region.

10. The method of claim 2, further comprising:

determining a third surface display region based at least in part on at least one of a portion of the first affected region that is co-located with at least a portion of the virtual medical device or at least a portion of a trajectory of the virtual medical device;

determining a fourth surface display region based at least in part on at least one of a portion of the second affected region that is co-located with at least a portion of the virtual medical device or at least a portion of the trajectory of the virtual medical device; and

causing the one or more displays to concurrently display;

a perspective view of the third surface display region, and

a perspective view of the fourth surface display region.

11. The method of claim 10, further comprising:

determining a dynamic surface display region based at least in part on real-time operating data and the determined emplacement of the virtual medical device; and

causing the one or more displays to concurrently display a perspective view of at least a portion of the dynamic surface display region.

12. The method of claim 2, wherein the first affected region is a first predicted affected region and the second affected region is a second predicted affected region.

13. A method, comprising:

receiving emplacement data corresponding to a medical device;

determining emplacement of a virtual medical device corresponding to the medical device with respect to a point-of-view location based at least in part on the emplacement data corresponding to the medical device;

receiving operating parameters corresponding to the medical device, the operating parameters comprising at least a variance parameter;

determining a first affected volume based at least in part on the variance parameter of the operating parameters;

determining a second affected volume based at least in part on the variance parameter, wherein the second affected volume is greater than the first affected volume;

determining a third affected volume based at least in part on the variance parameter, wherein the third affected volume is greater than the first affected volume and less than the second affected volume;

determining emplacement of the first affected volume, the second affected volume, and the third affected volume with respect to the point-of-view location based at least in part on the emplacement data corresponding to the medical device; and

causing one or more displays to concurrently display;

a perspective view of at least a portion of the virtual medical device based at least in part on the determined emplacement of the virtual medical device,

a perspective view of at least a portion of the first affected volume based at least in part on the determined emplacement of the first affected volume,

a perspective view of at least a portion of the second affected volume based at least in part on the determined emplacement of the second affected volume, and

a perspective view of at least a portion of the third affected volume based at least in part on the determined emplacement of the third affected volume.

14. The method of claim 13, wherein the first affected volume is a first predicted affected volume, the second affected volume is a second predicted affected volume, and the third affected volume is a third predicted affected volume.

15. A system, comprising:

one or more processors communicatively coupled with one or more displays, and a non-transitory computer-readable storage medium storing computer-executable instructions that when executed by the one or more processors cause the one or more processors to;

receive emplacement data corresponding to a first medical device;

receive emplacement data corresponding to a second medical device;

determine emplacement of a virtual medical device corresponding to the first medical device with respect to a point-of-view location based at least in part on the emplacement data corresponding to the first medical device;

determine emplacement of an image slice with respect to the point-of-view location based at least in part on the emplacement data corresponding to the second medical device;

receive operating parameters corresponding to the first medical device, the operating parameters comprising at least a variance parameter;

determine a first affected region based at least in part on the variance parameter of the operating parameters;

determine a first surface display region based at least in part on at least a portion of the first affected region that is co-located with at least a portion of the image slice;

determine a second affected region based at least in part on the variance parameter, wherein the second affected region is greater than the first affected region;

determine a second surface display region based at least in part on at least a portion of the second affected region that is co-located with at least a portion of the image slice; and

determine emplacement of the first affected region and the second affected region with respect to the point-of-view location based at least in part on the emplacement data corresponding to the first medical device; and

cause one or more displays to concurrently display;

a perspective view of at least a portion of the virtual medical device based at least in part on the determined emplacement of the virtual medical device,

a perspective view of at least a portion of the first surface display region based at least in part on the determined emplacement of the first affected region,

a perspective view of at least a portion of the second surface display region based at least in part on the determined emplacement of the second affected region, and

a perspective view of the image slice based at least in part on the determined emplacement of the image slice.

16. The system of claim 15, wherein the first affected region is a first dynamic affected region and the second affected region is a second dynamic affected region.

17. The system of claim 15, wherein the computer-executable instructions when executed further cause the one or more processors to:

determine a third affected region based at least in part on the variance parameter, wherein the third affected region is greater than the first affected region and less than the second affected region;

determine emplacement of the third affected region with respect to the point-of-view location based at least in part on the emplacement data corresponding to the first medical device; and

cause one or more displays to concurrently display a perspective view of at least a portion of the third affected region based at least in part on the determined emplacement of the third affected region.

18. The system of claim 15, wherein the computer-executable instructions when executed further cause the one or more processors to:

determine a dynamic affected region based at least in part on real-time operating data and the emplacement data corresponding to the first medical device;

determine a dynamic surface display region based at least in part on the dynamic affected region and the determined emplacement of the image slice; and

cause the one or more displays to concurrently display a perspective view of at least a portion of the dynamic surface display region.

19. The system of claim 15, wherein the computer-executable instructions when executed further cause the one or more processors to:

determine a third surface display region based at least in part on at least one of a portion of the first affected region that is co-located with at least a portion of the virtual medical device or at least a portion of a trajectory of the virtual medical device;

determine a fourth surface display region based at least in part on at least one of a portion of the second affected region that is co-located with at least a portion of the virtual medical device or at least a portion of the trajectory of the virtual medical device; and

cause the one or more displays to concurrently display;

a perspective view of the third surface display region, and

a perspective view of the fourth surface display region.

20. The system of claim 15, wherein the first affected region is a first predicted affected region and the second affected region is a second predicted affected region.