Surgical navigation using a three-dimensional user interface

• US 7,983,733 B2
• Filed: 10/26/2004
• Issued: 07/19/2011
• Est. Priority Date: 10/26/2004
• Status: Expired due to Fees

• Current Assignee: Stereotaxis, Inc.
• Original Assignee: Stereotaxis, Inc.
• Inventors: Viswanathan, Raju R.
• Primary Examiner(s): Casler; Brian
• Assistant Examiner(s): LAMPRECHT, JOEL
• Application Number:
  US10/975,029
• Publication Number:
  US 20060100505A1
• Time in Patent Office: 2,457 Days
• Field of Search: 600/411, 600/423, 600/424, 600/427, 600/429, 600/410, 600/415, 600/417, 604/164.01, 604/96.01, 604/20, 604151-155, 604/164, 604/96
• US Class Current: 600/417
• 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 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• 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 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

A system for controlling a medical device in a patient. A display system displays an image of a volume of the patient in a virtual three-dimensional space. A stylus is controllable to actuate a virtual element in the virtual space. A navigation system controls the medical device in the patient volume based on a position of the actuated virtual element. This inherently three-dimensional interface allows a physician to actuate the medical device more intuitively than possible using a two-dimensional interface.

Claims

1. A system for controlling a medical device in a patient comprising:

a display system that displays an image of at least part of a volume of the patient in a virtual three-dimensional space, wherein the medical device is registered to coordinates of the virtual three-dimensional space such that a virtual reference device is provided in the virtual three-dimensional space;

a stylus registered with the virtual three-dimensional space such that a virtual element is provided in the virtual three-dimensional space, where the stylus is controllable to actuate the virtual element in the virtual three-dimensional space, and wherein the stylus is registered to the virtual reference so that the virtual reference can be manipulated in the virtual three-dimensional space by the stylus; and

a navigation system that controls the medical device in the patient volume based on a position of the actuated virtual element.

2. The system of claim 1 further comprising a device localization system that obtains a position of the medical device and provides the device position to the navigation system;

wherein the navigation system uses the device position to control the medical device.

3. The system of claim 1 wherein the stylus is controllable to actuate the virtual element to define a path in the virtual space, and wherein the navigation system navigates the medical device in the subject in accordance with the path.

4. The system of claim 1 wherein the stylus is controllable to actuate the virtual element to define a target location in the virtual space, and the navigation system navigates the medical device in the patient to the defined target location.

5. The system of claim 1 wherein:

the display system displays the medical device as a reference in the virtual space;

the stylus is controllable to actuate the virtual element to actuate the reference; and

the navigation system controls the medical device based on the actuated reference.

6. The system of claim 1 wherein the stylus provides haptic feedback to the user.

7. A system for controlling a medical device in an operating volume in a subject, the system comprising:

a device localization system that determines a position of the medical device in the operating volume in the subject, wherein the medical device is registered to coordinates of a virtual three-dimensional space such that a virtual reference device is provided in the virtual three-dimensional space;

a navigation system that controls the position of the device in the operating volume in the patient based at least in part upon the position determined by the device localization system;

a stylus controllable in a real space, wherein the stylus is registered with the virtual three-dimensional space such that a virtual three-dimensional element is provided in the virtual three-dimensional space; and

a display system that displays the medical device as a virtual three-dimensional reference and the stylus as a virtual three-dimensional element relative to an image of at least part of the patient volume, and communicates a position of the virtual element to the navigation system, wherein the stylus is also registered to the virtual three-dimensional reference so that the virtual reference may be manipulated in the virtual three-dimensional space by the stylus;

wherein the navigation system uses the virtual element position as an input to control the medical device.

8. A system for controlling a medical device in an operating volume in a subject, the system comprising:

a device localization system that determines the position of the medical device in the operating volume in the subject, wherein the medical device is registered to coordinates of a virtual three-dimensional space such that a virtual reference device is provided in the virtual three-dimensional space;

a navigation system that controls the medical device in the operating volume in the subject based on the determined position;

a stylus controllable in a real space outside the operating volume, wherein the stylus is registered with the virtual three-dimensional space such that a virtual three-dimensional element is provided in the virtual three-dimensional space, and the stylus is also registered to the virtual three-dimensional reference so that the virtual reference may be manipulated in the virtual three-dimensional space by the stylus, the navigation system changing the position of the medical device in the operating volume based upon changes in the position of the stylus in the real space.

9. The system of claim 8, where the stylus provides haptic feedback to the user.

10. A system for controlling a medical device in an operating volume in a subject, the system comprising:

a device localization system that determines the position of the device in the operating volume in the subject, wherein the medical device is registered to coordinates of a virtual three-dimensional space such that a virtual device is provided in the virtual three-dimensional space;

a navigation system that controls the medical device in the operating volume in the subject based on the determined position;

a real stylus registered with the virtual three-dimensional space such that a virtual stylus is provided in the virtual three-dimensional space, wherein the stylus is also registered to the virtual device so that the virtual device can be manipulated in the virtual three-dimensional space by the stylus, said stylus being controllable in a real space to cause the virtual stylus to move the virtual device in a virtual space; and

wherein the navigation system controls the position of the distal end of the medical device in response to the position of the virtual device.

11. The system of claim 10, where the stylus provides haptic feedback to the user.

12. The system of claim 11, wherein the navigation system comprises a source for applying a magnetic field to the operating volume, and the medical device comprises at least one magnetically responsive element that can be oriented by the magnetic field applied by the source.

13. A method of controlling a medical device in a patient comprising:

registering a stylus with the coordinates of a virtual three-dimensional space such that a virtual element may be provided in the virtual three-dimensional space, where the stylus is controllable to actuate the virtual element in the virtual three-dimensional space;

registering the stylus with a representation of the medical device so that the representation can be manipulated in the virtual three-dimensional space by the stylus;

moving the stylus in a real space to actuate the virtual element relative to the virtual three-dimensional space corresponding to a volume of the patient; and

observing, in the virtual three-dimensional space, the representation of the medical device actuated in the patient volume in accordance with the actuated virtual element.

14. A system for controlling a medical device within a patient, comprising:

a display that displays an image of at least part of a volume of a patient in a virtual three-dimensional space in which the medical device and a real stylus are registered such that a virtual device corresponding to the medical device and a virtual element corresponding to the real stylus is displayed in the virtual three-dimensional space, the real stylus also being registered to the virtual device so that the virtual device can be manipulated in the display of the virtual three-dimensional space by the real stylus wherein the display converts movement of the real stylus to virtual movement of the virtual element;

a navigation system that uses the virtual movement to control the medical device; and

an imaging system that provides at least one image of a patient volume to at least one of the navigation system and the display system;

wherein the virtual element is displayed in three virtual dimensions relative to the at least one image.

17. The method of claim 14, wherein displaying the virtual element further comprises displaying at least one image describing at least part of a volume of the patient in which the medical device is actuated.

15. A system for controlling a medical device within a patient, comprising:

a navigation system that uses actuation control variables to control the medical device;

a display that displays an image of at least part of a volume of a patient in a virtual three-dimensional space in which the medical device and a real stylus are registered such that a virtual device corresponding to the medical device and a virtual stylus corresponding to the real stylus is displayed in the virtual three-dimensional space, the real stylus also being registered to the virtual device so that the virtual device can be manipulated in the display of the virtual three-dimensional space by the real stylus;

an interface system that converts movement of the real stylus to virtual movement of the virtual stylus, and converts the virtual movement to actuation control variables of the navigation system; and

an imaging system that provides at least one image of a patient volume to at least one of the navigation system and the interface system.

16. A method of displaying a medical device within a patient, comprising:

registering a stylus with the coordinates of a virtual three-dimensional space such that a virtual element may be provided in the virtual three-dimensional space, where the stylus is controllable to actuate the virtual element in the virtual three-dimensional space;

registering the stylus with a representation of the medical device so that the representation can be manipulated in the virtual three-dimensional space by the stylus;

receiving data describing movement of the stylus;

displaying the virtual element in three virtual dimensions in accordance with the stylus movement data;

providing data describing the virtual element to a navigation system that actuates the medical device in the patient based on the virtual element data and provides data describing actuation of the medical device; and

displaying the virtual element in accordance with the medical device actuation data.

18. A system for controlling a medical device within an operating region in a subject, comprising:

a navigation system that controls the orientation of the distal end of a medical device in response to actuation control variables;

a display that displays an image of at least part of a volume of a subject in a virtual three-dimensional space in which the medical device and a real stylus are registered such that a virtual device corresponding to the medical device and a virtual stylus corresponding to the real stylus is displayed in the virtual three-dimensional space, the real stylus also being registered to the virtual device so that the virtual device can be manipulated in the display of the virtual three-dimensional space by the real stylus;

an interface system that converts movement of the real stylus operated by a user to actuation control variables for the navigation system; and

wherein the display incorporates a representation of the virtual stylus together with three dimensional anatomical data that is registered to the navigation system, and where movements of the virtual stylus are matched with movements of the real stylus.

19. The system of claim 18, where the stylus provides haptic feedback to the user.

26. The method of claim 18, where the three dimensional anatomical data represents an anatomical surface.

27. The method of claim 26, where the three dimensional anatomical data is acquired intraoperatively.

20. A method for controlling a medical device within a patient, comprising:

orienting the distal end of a medical device using a navigation system, in response to actuation control variables to control the medical device;

registering a real stylus with the coordinates of a virtual three-dimensional space such that a virtual element may be provided in the virtual three-dimensional space, where the real stylus is controllable to actuate the virtual element in the virtual three-dimensional space;

registering the real stylus with the representation of the medical device so that the representation can be manipulated in the virtual three-dimensional space by the real stylus;

converting movement of the real stylus operated by a user to actuation control variables for the navigation system; and

displaying on a display a representation of a registered, localized device incorporated with three dimensional anatomical data that is registered to the navigation system, where movements of the real stylus are converted through said actuation control variables to movements of the medical device.

21. The method of claim 20, where the stylus provides haptic feedback to the user.

22. The method of claim 20, where the stylus controls the orientation of the medical device.

23. The method of claim 22, where the stylus provides haptic feedback to the user.

24. The method of claim 20, where the three dimensional anatomical data is acquired intraoperatively.

25. The method of claim 24, where the three dimensional anatomical data represents an anatomical surface.

28. A system for controlling a medical device within a patient, comprising:

a display that displays an image of a virtual three-dimensional space apart from the operating volume in the patent;

a medical device in the operating volume in the patient, wherein positional data associated with the medical device is registered to coordinates of the virtual three-dimensional space, such that a virtual reference device is provided within the virtual three-dimensional space;

a stylus controllable in a real space outside the operating volume of the patient, where the stylus is registered with the virtual three-dimensional space, such that a virtual stylus is provided within the virtual three-dimensional space that is actuated by movement of the stylus in real space, wherein the stylus is also registered with the virtual reference device so that the virtual reference device can be manipulated in the virtual three-dimensional space using the stylus;

wherein the display incorporates a representation of the virtual stylus and the virtual reference device together with three dimensional anatomical data that is registered to the navigation system, where movements of the virtual stylus are matched with movements of the real stylus;

an interface system that converts movement of the virtual stylus actuated by a user and/or movements of the virtual reference device to actuation control variables for a navigation system; and

a navigation system that controls the orientation of the distal end of a medical device in response to actuation control variables.

29. The system of claim 28 wherein the stylus is controllable to actuate the virtual stylus to define a path for the virtual reference device in the display of the virtual three-dimensional space, and wherein the navigation system navigates the medical device in the subject in accordance with the path.

30. The system of claim 28 wherein the stylus is controllable to actuate the virtual stylus to define a target location for the virtual reference device in the display of the virtual three-dimensional space, and the navigation system navigates the medical device in the patient to the defined target location.