Method and apparaus for volumetric image navigation

• US 20010016684A1
• Filed: 12/22/2000
• Published: 08/23/2001
• Est. Priority Date: 06/28/1996
• Status: Active Grant

• Current Assignee: CICAS IP LLC
• Original Assignee: Board of Trustees of the Leland Stanford Junior University (Stanford Management Co.)
• Inventors: Shahidi, Ramin
• Granted Patent: US 6,591,130 B2
• Time in Patent Office: Days
• US Class Current: 600/429
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• 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 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3782 transmitter or receiver in catheter or minimal invasive instrument
• 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 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: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 5/4504 Bones A61B5/4547 takes precedence
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

A surgical navigation system has a computer with a memory and display connected to a surgical instrument or pointer and position tracking system, so that the location and orientation of the pointer are tracked in real time and conveyed to the computer. The computer memory is loaded with data from an MRI, CT, or other volumetric scan of a patient, and this data is utilized to dynamically display 3-dimensional perspective images in real time of the patient'"'"'s anatomy from the viewpoint of the pointer. The images are segmented and displayed in color to highlight selected anatomical features and to allow the viewer to see beyond obscuring surfaces and structures. The displayed image tracks the movement of the instrument during surgical procedures. The instrument may include an imaging device such as an endoscope or ultrasound transducer, and the system displays also the image for this device from the same viewpoint, and enables the two images to be fused so that a combined image is displayed. The system is adapted for easy and convenient operating room use during surgical procedures.

Claims

1. A method for generating an image of a three-dimensional object, said method comprising the steps of:

acquiring volumetric first scan data for the object;

utilizing said first scan data to reconstruct first virtual image data representing structural information in said first scan data;

selecting a viewpoint for displaying an image of said object based on said first virtual image data;

manipulating said first virtual image data to generate a first three-dimensional perspective image of said object from said viewpoint; and

displaying said first three-dimensional perspective image.

2. The method recited in

claim 1

, wherein the step of utilizing said first scan data to reconstruct first virtual image data representing structural information in said first scan data includes the step of segmenting said first virtual image data to distinguish selected features of said object.

3. The method recited in

claim 1

, wherein the step of utilizing said first scan data to reconstruct first virtual image data representing structural information in said first scan data includes the step of registration of said first virtual image data in relation to said object to determine the location of features of said object represented in said first virtual image data.

4. The method recited in

claim 1

, further comprising, following the step of displaying said first three-dimensional perspective image, repeating any desired number of times the steps of:

selecting another viewpoint for displaying an image of said object based on said first virtual image data;

manipulating said first virtual image data to generate a first three-dimensional perspective image of said object from said other viewpoint; and

displaying said first three-dimensional perspective image.

5. The method recited in

claim 1

, further comprising the steps of:

acquiring volumetric second scan data for the object;

utilizing said second scan data to reconstruct second virtual image data representing structural information in said second scan data;

determining the viewpoint for displaying an image of said object based on said second virtual image data to coincide with said viewpoint selected for displaying an image of said object based on said virtual image data;

manipulating said second virtual image data to generate a second three-dimensional perspective image of said object from said viewpoint; and

displaying said second three-dimensional perspective image.

6. The method recited in

claim 5

, further comprising the step of fusing said second three-dimensional perspective image and said first three-dimensional perspective image to display a combined image.

7. The method recited in

claim 1

, further comprising the steps;

of;

acquiring second scan data for the object;

utilizing said second scan data to reconstruct second virtual image data representing structural information in said second scan data;

determining the viewpoint for displaying an image of said object based on said second virtual image data to coincide with said viewpoint selected for displaying an image of said object based on said virtual image data;

manipulating said second virtual image data to generate a second image of said object from said viewpoint; and

displaying said second image.

8. The method recited in

claim 7

, further comprising the step of fusing said second image and said first three-dimensional perspective image to display a combined image.

9. Apparatus for generating an image of a three-dimensional object, comprising:

a computer having a memory;

display means communicative with said computer;

input means communicative with said computer;

pointer means communicative with said computer, said pointer means;

being movable by the user; and

position tracking means communicative with said computer and said pointing means, such that said position tracking means detects the position and orientation of said pointer means continually and communicates said position and orientation to said computer;

wherein said computer memory contains volumetric first scan data for the object, and further contains a program which causes said computer to perform the steps of;

utilizing said first scan data to reconstruct first virtual image data representing structural information in said first scan data;

determining a viewpoint for displaying an image of said object based on said first virtual image data to be the position and orientation of said pointer means detected by said position tracking means;

manipulating said first virtual image data to generate a first three-dimensional perspective image of said object from said viewpoint; and

displaying said first three-dimensional perspective image.

10. Apparatus as recited in

claim 9

, wherein the step of utilizing said first scan data to reconstruct first virtual image data representing structural information in said first scan data includes the step of segmenting said first virtual image data to distinguish selected features of said object.

11. Apparatus as recited in

claim 9

, wherein the step of utilizing said first scan data to reconstruct first virtual image data representing structural information in said first scan data includes the step of registration of said first virtual image data in relation to said object to determine the location of features of said object represented in said first virtual image data.

12. Apparatus as recited in

claim 9

, wherein said program causes said computer, following the step of displaying said first three-dimensional perspective image, to perform and repeat any desired number of times the further steps of:

selecting another viewpoint for displaying an image of said object based on said first virtual image data;

manipulating said first virtual image data to generate a first three-dimensional perspective image of said object from said other viewpoint; and

displaying said first three-dimensional perspective image.

13. Apparatus as recited in

claim 9

, wherein said program causes said program performs the further steps of:

acquiring volumetric second scan data for the object;

utilizing said second scan data to reconstruct second virtual image data representing structural information in said second scan data;

determining the viewpoint for displaying an image of said object based on said second virtual image data to coincide with said viewpoint selected for displaying an image of said object based on said virtual image data;

manipulating said second virtual image data to generate a second three-dimensional perspective image of said object from said viewpoint; and

displaying said second three-dimensional perspective image.

14. Apparatus as recited in

claim 13

, wherein said program performs the further step of fusing said second three-dimensional perspective image and said first three-dimensional perspective image to display a combined image.

15. Apparatus as recited in

claim 9

, wherein said program performs the further steps of:

acquiring second scan data for the object;

utilizing said second scan data to reconstruct second virtual image data representing structural information in said second scan data;

determining the viewpoint for displaying an image of said object based on said second virtual image data to coincide with said viewpoint selected for displaying an image of said object based on said virtual image data;

manipulating said second virtual image-data to generate a second image of said object from said viewpoint; and

displaying said second image.

16. Apparatus as recited in

claim 15

, wherein said program performs the further step of fusing said second image and said first three-dimensional perspective image to display a combined image.