Medical device guidance

• US 10,314,559 B2
• Filed: 03/14/2014
• Issued: 06/11/2019
• Est. Priority Date: 03/14/2013
• Status: Active Grant

• Current Assignee: Inneroptic Technology, Inc.
• Original Assignee: Inneroptic Technology, Inc.
• Inventors: Razzaque, Sharif, State, Andrei, Heaney, Brian
• Primary Examiner(s): Hong, Thomas J
• Assistant Examiner(s): Sakamoto, Colin T.
• Application Number:
  US14/212,933
• Publication Number:
  US 20140343404A1
• Time in Patent Office: 1,915 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 2090/368 changing the image on a display according to the operator's position
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/502 Headgear, e.g. helmet, spectacles
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 8/0841 for locating instruments
• 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

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 display portions of a display object, such as a rendered medical image, at different transparency levels. The system can also be used to resolve co-located display objects, such as a co-located image guidance cue and rendered medical image. The system can further be used to adjust a point-of-view location for one or more medical display objects within a virtual 3D space.

Claims

1. A method for displaying portions of at least one medical image at different transparency levels based on a relative location and proximity to a determined virtual medical device, the method comprising:

receiving, from a tracking system, first emplacement information with an emplacement of a first medical device;

determining, with one or more processors, a pose of a first virtual medical device based at least in part on the received first emplacement information;

receiving, from the tracking system, second emplacement information associated with an emplacement of a second medical device;

receiving, from the second medical device, at least one medical image corresponding to an imaged area, wherein the imaged area corresponds to an area that is captured by the second medical device when the second medical device acquires the at least one medical image;

determining, with the one or more processors, a pose of the imaged area based at least in part on the received second emplacement information;

determining whether a portion of the first virtual medical device satisfies a location threshold with respect to a particular location of the imaged area based at least in part on the determined pose of the first virtual medical device and the determined pose of the imaged area;

based at least in part on a determination that the portion of the first virtual medical device does not satisfy the location threshold, causing one or more displays to display a portion of the at least one medical image corresponding to the particular location of the imaged area at a first transparency level;

determining whether the portion of the first virtual medical device satisfies a proximity threshold with respect to the particular location of the imaged area based at least in part on the determined pose of the first virtual medical device and the determined pose of the imaged area; and

based at least in part on a determination that the portion of the first virtual medical device satisfies the location threshold and the proximity threshold, causing the one or more displays to display the portion of the at least one medical image corresponding to the particular location at a second transparency level.

2. The method of claim 1, further comprising mapping the imaged area to a rendered image area on the one or more displays.

3. The method of claim 1, further comprising mapping the at least one medical image to a rendered image area on the one or more displays.

4. The method of claim 3, further comprising mapping the portion of the at least one medical image corresponding to the particular location to a corresponding particular display location in the rendered image area.

5. The method of claim 4, further comprising causing the one or more displays to display at the particular display location the portion of the at least one medical image at the first transparency level.

6. The method of claim 4, further comprising causing the one or more displays to display at the particular display location the portion of the at least one medical image at the second transparency level.

7. The method of claim 1, wherein the determination that the portion of the first virtual medical device satisfies the location threshold comprises determining that the portion of the first virtual medical device is level with the particular location of the imaged area.

8. The method of claim 1, wherein the determination that the portion of the first virtual medical device satisfies the location threshold comprises determining that x- and y-coordinates of the portion of the first virtual medical device match x- and y-coordinates of the particular location mapped to the one or more displays.

9. The method of claim 1, wherein the determination that the portion of the first virtual medical device satisfies the location threshold comprises determining that y- and z-coordinates of the portion of the first virtual medical device match y- and z-coordinates of the particular location.

10. The method of claim 1, wherein the determination that the portion of the first virtual medical device satisfies the location threshold comprises determining that the portion of the first virtual medical device and the particular location are co-located on a 2D plane defined by the one or more displays.

11. The method of claim 1, wherein the determination that the portion of the first virtual medical device satisfies the location threshold comprises determining that the portion of the first virtual medical device is mapped to a pixel, on the one or more displays, that the particular location is mapped to.

12. The method of claim 1, wherein the determination that the portion of the first virtual medical device satisfies the location threshold comprises determining that the portion of the first virtual medical device and the particular location overlap when mapped to the one or more displays.

13. The method of claim 1, wherein the determination that the portion of the first virtual medical device satisfies the proximity threshold comprises determining that the portion of the first virtual medical device is not proximal to a point-of-view location with respect to the particular location.

14. The method of claim 13, wherein the point-of-view location comprises at least one of a location of a user, an expected location of the user, or a fixed point relative to the one or more displays.

15. The method of claim 14, wherein the point-of-view location is different for each eye of the user.

16. The method of claim 1, wherein the first transparency level is more opaque than the second transparency level.

17. The method of claim 1, further comprising receiving the at least one medical image from the second medical device.

18. The method of claim 1, further comprising,

determining, with the one or more processors, whether the portion of the first virtual medical device satisfies the location threshold for each unique location within the imaged area;

determining, with the one or more processors, whether the portion of the first virtual medical device satisfies the proximity threshold for each unique location within the imaged area;

for each unique location in which the portion of the first virtual medical device does not satisfy the location threshold, causing the one or more displays to display a portion of the at least one medical image corresponding to the unique location of the imaged area at the first transparency level; and

for each unique location in which the portion of the first virtual medical device satisfies the location threshold and the proximity threshold, causing the one or more displays to display the portion of the at least one medical image corresponding to the unique location at the second transparency level.

19. The method of claim 1, further comprising calculating a perspective view in a virtual 3D space of the at least one medical image based at least in part on the second emplacement information associated with the emplacement of the second medical device with respect to a point-of-view location.

20. The method of claim 19, further comprising causing the one or more displays to display the perspective view of the at least one medical image in the virtual 3D space.

21. The method of claim 19, further comprising calculating a perspective view in the virtual 3D space of at least one of the first virtual medical device corresponding to the first medical device based at least in part on the received first emplacement information respect to the point-of-view location or a second virtual medical device corresponding to the second medical device based at least in part on the received second emplacement information with respect to the point-of-view location.

22. The method of claim 21, further comprising causing the one or more displays to display a perspective view of the at least one of the first virtual medical device or the second virtual medical device in the virtual 3D space.

23. A system for displaying portions of a medical image at different transparency levels based on a relative location and proximity to a determined virtual medical device, the system comprising:

a computer system in communication with one or more displays, the computer system comprising a computer processor and a non-transitory storage medium, wherein the computer system is configured to;

receive, from a tracking system, first emplacement information associated with an emplacement of a first medical device;

determine a pose of a first virtual medical device based at least in part on the received first emplacement information;

receive, from a second medical device, at least one medical image corresponding to an imaged area, wherein the imaged area corresponds to an area that is captured by the second medical device when the second medical device acquires the at least one medical image;

determine a pose of the imaged area based at least in part on second emplacement information associated with an emplacement of the second medical device, the second emplacement information received from the tracking system;

determine whether a portion of the first virtual medical device satisfies a location threshold based at least in part on the determined pose of the first virtual medical device and the determined pose of the imaged area;

determine whether the portion of the first virtual medical device satisfies a proximity threshold based at least in part on the determined pose of the first virtual medical device and the determined pose of the imaged area; and

based at least in part on a determination that the portion of the first virtual medical device satisfies the location threshold and the proximity threshold, cause the one or more displays to display a portion of the at least one medical image corresponding to a particular location of the imaged area at a first transparency level, wherein the computer system causes the one or more displays to display the portion of the at least one medical image corresponding to the particular location of the imaged area at a second transparency level based at least in part on a determination that the portion of the first virtual medical device does not satisfy the location threshold.

24. A method for displaying portions of a display object at different transparency levels based on a relative location and proximity to another display object, the method comprising:

receiving, with one or more processors, first emplacement information from a tracking system, the first emplacement information associated with an emplacement of a first object;

determining, with the one or more processors, a location of a first display object based at least in part on the first emplacement information;

determining, with the one or more processors, a location of a second display object based at least in part on second emplacement information received from the tracking system;

determining, with the one or more processors, whether at least a portion of the first display object satisfies a location threshold with respect to the second display object based at least in part on the determined location of the first display object and the determined location of the second display object;

based at least in part on a determination that the portion of the first display object does not satisfy the location threshold, causing one or more displays to display the portion of the second display object at a first transparency level;

determining, with the one or more processors, whether the portion of the first display object satisfies a proximity threshold with respect to the second display object based at least in part on the determined location of the first display object and the determined location of the second display object; and

based at least in part on a determination that the portion of the first display object satisfies the proximity threshold and the location threshold, causing the one or more displays to display the portion of the second display object at a second transparency level.