Visualization of distances to walls of anatomical cavities

• US 11,653,853 B2
• Filed: 11/29/2016
• Issued: 05/23/2023
• Est. Priority Date: 11/29/2016
• Status: Active Grant

• Current Assignee: Biosense Webster Incorporated (Johnson & Johnson)
• Original Assignee: Biosense Webster Incorporated (Johnson & Johnson)
• Inventors: Gliner, Vadim, Altmann, Andres Claudio, Mayer, Ram Bernard
• Primary Examiner(s): Mohammed, Shahdeep
• Application Number:
  US15/364,156
• Publication Number:
  US 20180146884A1
• Time in Patent Office: 2,366 Days
• Field of Search: None
• CPC Class Codes: A61B 2017/246 for cleaning of the nose
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2046 Tracking techniques
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/367 creating a 3D dataset from 2D images using position information
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/3762 using computed tomography systems [CT]
• CPC Class Codes: A61B 2562/0223 Magnetic field sensors
• 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 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 5/066 Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
• CPC Class Codes: A61B 6/025 Tomosynthesis
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/466 adapted to display 3D data
• CPC Class Codes: A61B 6/547 involving tracking of position of the device or parts of the device
• CPC Class Codes: A61B 8/469 for selection of a region of interest
• CPC Class Codes: A61B 90/37 : Surgical systems with images on a monitor during operation
• CPC Class Codes: G01N 2223/419 : computed tomograph
• CPC Class Codes: G01N 23/046 : using tomography, e.g. computed tomography [CT]
• CPC Class Codes: G06F 2111/10 : Numerical modelling
• CPC Class Codes: G06T 11/003 : Reconstruction from projections, e.g. tomography
• CPC Class Codes: G06T 15/00 : 3D [Three Dimensional] image rendering
• CPC Class Codes: G06T 17/00 : Three dimensional [3D] modelling, e.g. data description of 3D objects
• CPC Class Codes: G06T 19/00 : Manipulating 3D models or images for computer graphics
• CPC Class Codes: G06T 2219/00 : Indexing scheme for manipulating 3D models or images for computer graphics
• CPC Class Codes: G06T 2219/008 : Cut plane or projection plane definition

Abstract

Described embodiments include a system that includes a display and a processor. The processor is configured to modify an image that includes a representation of a wall of an anatomical cavity, by overlaying an icon that represents an intrabody tool on a portion of the image that corresponds to a location of the intrabody tool within the anatomical cavity, and overlaying a marker on a portion of the representation of the wall that corresponds to a location at which the intrabody tool would meet the wall, were the intrabody tool to continue moving toward the wall in a direction in which the intrabody tool is pointing. The processor is further configured to display the modified image on the display. Other embodiments are also described.

Claims

1. A system, comprising:

a display; and

a processor, configured;

to receive a set of tracking data indicating a position of an intrabody tool from a tracking system, and

to modify an image that includes a representation of a wall of an anatomical cavity, by;

overlaying an icon that represents the intrabody tool on a portion of the image that corresponds to a location of the intrabody tool within the anatomical cavity,

determining a position on the wall that a distal tip of the intrabody tool is pointed at based on the set of tracking data,

overlaying a marker on the modified image at the position, and

updating the icon and the marker as the set of tracking data changes, and to display the modified image on the display.

2. The system according to claim 1, wherein the processor is configured to:

identify the position on the wall that the distal tip of the intrabody tool is pointed at by projecting a virtual ray from the distal tip of the intrabody tool, and

further modify the image by overlaying a representation of the virtual ray on the image that begins at the icon and terminates at the marker.

3. The system according to claim 1, wherein at least a portion of the image is rendered in three dimensions.

4. The system according to claim 1, wherein the anatomical cavity is a sinus.

5. The system according to claim 1, wherein the anatomical cavity is a nasal cavity.

6. A method, comprising:

using a processor, modifying an image that includes a representation of a wall of an anatomical cavity, by;

receiving a set of tracking data indicating a position of an intrabody tool from a tracking system,

overlaying an icon that represents the intrabody tool on a portion of the image that corresponds to a location of the intrabody tool within the anatomical cavity,

determining a position on the wall that a distal tip of the intrabody tool is pointed at based on the set of tracking data, and

overlaying a marker on the modified image at the position;

updating the icon and the marker as the set of tracking data changes, and

displaying the modified image.

7. The method according to claim 6, further comprising identifying the position on the wall that the distal tip of the intrabody tool is pointed at by projecting a virtual ray from the distal tip of the intrabody tool.

8. The method according to claim 6, wherein at least a portion of the image is rendered in three dimensions.

9. The method according to claim 6, wherein the anatomical cavity is a sinus.

10. The method according to claim 6, wherein the anatomical cavity is a nasal cavity.

11. The method according to claim 6, wherein the image is a computed tomography (CT) image.

12. The method according to claim 6, wherein the image is a magnetic resonance imaging (MM) image.

13. A system comprising:

a display;

a magnetic tracking system operable to generate magnetic fields and produce a set of tracking data indicating a location of an intrabody tool;

a processor configured to;

receive an image slice of a patient anatomy,

identify one or more anatomical cavities within the image slice,

overlay a wall onto each of the one or more anatomical cavities to produce a modified image,

overlay an icon on the modified image that represents a distal tip of the intrabody tool based on the set of tracking data,

determine a position on the wall that the distal tip is pointed at based on the set of tracking data,

overlay a marker on the modified image at the position, and

display the modified image via the display.

14. The system of claim 13, wherein the processor is configured to:

receive the image slice of the patient anatomy based on the set of tracking data, and

receive a new image slice of the patient anatomy based on a change in the set of tracking data.

15. The system of claim 13, wherein the processor is configured to produce the modified image in real-time, after receiving the image slice based on the set of tracking data, and prior to displaying the modified image via the display.

16. The system of claim 13, wherein the processor is configured to, when overlaying the wall onto each of the one or more anatomical cavities:

receive a three dimensional view of the patient anatomy,

identify a three dimensional view of the anatomical cavities within the three dimensional view of the patient anatomy, wherein the three dimensional view of the anatomical cavities comprises three-dimensional walls of the anatomical cavities, and

overlay the three-dimensional view of the anatomical cavities onto the image slice.

17. The system of claim 13, wherein the modified image comprises a hybrid image.

18. The system of claim 17, wherein a set of original portions of the hybrid image are associated with a two-dimensional grayscale rendering, and the wall of each of the one or more anatomical cavities is associated with a three-dimensional color rendering.