Systems and methods for displaying guidance data based on updated deformable imaging data

• US 8,340,379 B2
• Filed: 03/06/2009
• Issued: 12/25/2012
• Est. Priority Date: 03/07/2008
• Status: Active Grant

• Current Assignee: Inneroptic Technology, Inc.
• Original Assignee: Inneroptic Technology, Inc.
• Inventors: Razzaque, Sharif, State, Andrei
• Primary Examiner(s): Legasse, Jr., Francis M
• Application Number:
  US12/399,899
• Publication Number:
  US 20090226069A1
• Time in Patent Office: 1,390 Days
• Field of Search: 382/128, 382/131, 382/132, 606/41, 606/28, 623/902, 623/903, 623/904, 623/905, 623/906, 623/907, 623/22.15, 600/424, 600/426, 600/407
• US Class Current: 382/128
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/367 creating a 3D dataset from 2D images using position information
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: G06T 7/0012 Biomedical image inspection
• CPC Class Codes: G06V 10/245 by locating a pattern; Special marks for positioning
• CPC Class Codes: G06V 2201/03 Recognition of patterns in medical or anatomical images

Abstract

Presented herein are methods, systems, and computer-readable medium for presenting imaging data related to an anatomical site. These include obtaining a first set of imaging data related to the anatomical site and tracking units at the anatomical site and, thereafter, optionally, obtaining a second set of imaging data related to the anatomical site. A deformed version of the first set of imaging data is then determined based on the relative arrangements of one or more of the tracking units at the time when the first set of imaging data is obtained and when the second set of imaging data is obtained. Then the relative emplacements of the second set of imaging data set and of the deformed version of the first set of imaging data set are determined and used, along with the second set of imaging data set and the deformed version of the first set of imaging data, as a basis for displaying image guidance data.

Claims

1. A method of presenting imaging data related to an anatomical site, comprising:

obtaining a first set of imaging data related to an anatomical site at a first time;

obtaining information on one or more tracking units at the anatomical site at the first time;

obtaining tracking information for a movable imaging device controlled by a user at a second time, after the first time;

obtaining information on the one or more tracking units at the anatomical site at the second time;

determining desired emplacement information for an image of the first set of imaging data based on the tracking information;

determining a deformed version of the first set of imaging data based on a first location of the one or more tracking units at the first time and a second location of the one or more tracking units at the second time that is different from the first location; and

determining image guidance data for display based on the first set of imaging data, the deformed version of the first set of imaging data and the desired emplacement information.

2. The method of claim 1, wherein the method further comprises:

obtaining at a third time, before the second time, a second set of imaging data; and

wherein;

determining image guidance data for display comprises determining image guidance data for display based on the first set of imaging data, the deformed version of the first set of imaging the second set of imaging data, and the desired emplacement information.

3. The method of claim 1, wherein determining image guidance data for display comprises approximating a bi-plane fluoroscopy.

4. The method of claim 1, wherein obtaining a first set of imaging data related to the anatomical site comprises obtaining an arrangement of tracking units at the anatomical site.

5. The method of claim 1, further comprising receiving information about a feature within the first set of imaging data, wherein determining image guidance data for display comprises displaying the feature within the first data set.

6. The method of claim 1, wherein the movable imaging device is a movable ultrasound device.

7. The method of claim 1, wherein determining a deformed version of the first set of imaging data comprises performing a linear interpolation on a model of the first set of imaging data.

8. The method of claim 1, wherein determining a deformed version of the first set of imaging data comprises performing a bi-cubic interpolation on a model of the first set of imaging data.

9. The method of claim 1, wherein determining the deformed version of the first set of imaging data comprises performing a deformation on a volumetric model of the first set of imaging data based on the arrangements of the tracking units at the first time and at the second time.

10. The method of claim 2, wherein the second set of imaging data is associated with the movable imaging device and the emplacement of the second set of imaging data is determined using the emplacement of the movable imaging device.

11. The method of claim 2, wherein the second set of imaging data is associated with movable imaging device and the emplacement of the second set of imaging data is determined using the emplacement of a second movable device, wherein the movable imaging device is distinct from the second movable device.

12. The method of claim 4, wherein obtaining an arrangement of the tracking units comprises determining the location and orientation of the tracking units.

13. The method of claim 4, wherein obtaining the first set of imaging data comprises obtaining a volumetric model of obtained imaging data including the emplacement of the tracking units, wherein the method further comprises determining a deformed version of the first set of imaging data by performing a deformation of the volumetric model.

14. The method of claim 4, wherein automatically obtaining the first set of imaging data comprises obtaining a finite element model of obtained imaging data including the emplacement of the tracking units;

wherein the method further comprises determining a deformed version of the first set of imaging data by performing a deformation of the finite element model.

15. The method of claim 11, wherein the movable imaging device is a movable 3D ultrasound device and the second movable device is a display indication device.

16. A system for presenting imaging data related to an anatomical site, comprising:

an image guidance system in communication with one or more tracking units at an anatomical site, the image guidance system configured to;

obtain a first set of imaging data related to the anatomical site at a first time;

obtain location information of the one or more tracking units at the first time;

obtain tracking information for a movable imaging device controlled by a user at a second time, after the first time;

obtain location information of the one or more tracking units at the second time;

determine desired emplacement information for an image of the first set of imaging data based on the tracking information; and

determine a deformed version of the first set of imaging data based on a first location of the one or more tracking units at the first time and a second location of the one or more tracking units at the second time that is different from the first location; and

determine image guidance data for display based on the first set of imaging data, the deformed version of the first set of the first set of imaging data, and the desired emplacement information.

17. A computer-readable medium that executes the steps for presenting imaging data related to an anatomical site, comprising:

obtaining a first set of imaging data related to an anatomical site at a first time;

obtaining information on tracking units at the anatomical site at the first;

obtaining tracking information for a movable imaging device controlled by a user at a second time, after the first time;

obtaining information on the tracking units at the anatomical site at the second time;

determining desired emplacement information for an image of the first set of imaging data based on the tracking information;

determining a deformed version of the first set of imaging data based on a first location of the tracking units at the first time and a second location of the tracking units at the second time that is different from the first location; and

determining image guidance data for display based on the first set of imaging data, the deformed version of the first set of imaging data, and the desired emplacement information.