Method and apparatus for calibration, tracking and volume construction data for use in image-guided procedures
First Claim
1. Apparatus that collects and processes physical space data while performing an image-guided procedure on an anatomical area of interest, the apparatus comprising:
- (a) a calibration probe that collects physical space data by probing a plurality of physical points, the physical space data providing three-dimensional (3D) coordinates for each of the physical points;
(b) a tracked ultrasonic probe that outputs one of two-dimensional (2D) ultrasonic image data, three-dimensional (3D) ultrasonic image data and four-dimensional (4D) ultrasonic image data;
(c) a tracking device that tracks the ultrasonic probe in space; and
(d) an image data processor comprising a computer-readable medium holding computer-executable instructions including;
(i) based on the physical space data collected by the calibration probe, determining registrations used to indicate position in both image space and physical space;
(ii) using the registrations to map into image space, image data describing the physical space of the tracked ultrasonic probe used to perform the image-guided procedure and the anatomical area of interest; and
(iii) constructing a 3D volume based on the ultrasonic image data on a periodic basis.
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Accused Products
Abstract
An apparatus that collects and processes physical space data while performing an image-guided procedure on an anatomical area of interest includes a calibration probe that collects physical space data by probing a plurality of physical points, a tracked ultrasonic probe, a tracking device that tracks the ultrasonic probe in space and an image data processor. The physical space data provides three-dimensional coordinates for each of the physical points. The image data processor includes a computer-readable medium holding computer-executable instructions. The executable instructions include determining registrations used to indicate position in both image space and physical space based on the physical space data collected by the calibration probe; using the registrations to map into image space, image data describing the physical space of the tracked ultrasonic probe used to perform the image-guided procedure and the anatomical area of interest; and constructing a three-dimensional volume based on the ultrasonic image data on a periodic basis.
175 Citations
21 Claims
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1. Apparatus that collects and processes physical space data while performing an image-guided procedure on an anatomical area of interest, the apparatus comprising:
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(a) a calibration probe that collects physical space data by probing a plurality of physical points, the physical space data providing three-dimensional (3D) coordinates for each of the physical points;
(b) a tracked ultrasonic probe that outputs one of two-dimensional (2D) ultrasonic image data, three-dimensional (3D) ultrasonic image data and four-dimensional (4D) ultrasonic image data;
(c) a tracking device that tracks the ultrasonic probe in space; and
(d) an image data processor comprising a computer-readable medium holding computer-executable instructions including;
(i) based on the physical space data collected by the calibration probe, determining registrations used to indicate position in both image space and physical space;
(ii) using the registrations to map into image space, image data describing the physical space of the tracked ultrasonic probe used to perform the image-guided procedure and the anatomical area of interest; and
(iii) constructing a 3D volume based on the ultrasonic image data on a periodic basis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A method of collecting and processing physical space data while performing an image-guided procedure on an anatomical area of interest, the method comprising:
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(a) collecting physical space data by probing a plurality of physical points using a calibration probe, the physical space data providing three-dimensional (3D) coordinates for each of the physical points;
(b) tracking an ultrasonic probe that outputs one of two-dimensional (2D) ultrasonic image data, three-dimensional (3D) ultrasonic image data and four-dimensional (4D) ultrasonic image data using a tracking device that tracks the ultrasonic probe in space; and
(c) in an image data processor comprising a computer-readable medium holding computer-executable instructions;
(i) based on the physical space data collected by the calibration probe, determining registrations used to indicate position in both image space and physical space;
(ii) using the registrations to map into image space, image data describing the physical space of the tracked ultrasonic probe used to perform the image-guided procedure and the anatomical area of interest; and
(iii) constructing a 3D volume based on the ultrasonic image data on a periodic basis.
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21. An article of manufacture for collecting and processing physical space data while performing an image-guided procedure on an anatomical area of interest, the article of manufacture comprising a computer-readable medium holding computer-executable instructions for performing a method comprising:
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(a) collecting physical space data from a calibration probe that is used to probe a plurality of physical points, the physical space data providing three-dimensional (3D) coordinates for each of the physical points;
(b) receiving tracking data about an ultrasonic probe that outputs one of two-dimensional (2D) ultrasonic image data, three-dimensional (3D) ultrasonic image data and four-dimensional (4D) ultrasonic image data from a tracking device that tracks the ultrasonic probe in space;
(c) based on the physical space data collected by the calibration probe, determining registrations used to indicate position in both image space and physical space;
(d) using the registrations to map into image space, image data describing the physical space of the tracked ultrasonic probe used to perform the image-guided procedure and the anatomical area of interest; and
(e) constructing a 3D volume based on the ultrasonic image data on a periodic basis.
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Specification