System and method of providing real-time dynamic imagery of a medical procedure site using multiple modalities

• US 8,482,606 B2
• Filed: 04/14/2010
• Issued: 07/09/2013
• Est. Priority Date: 08/02/2006
• Status: Active Grant

• Current Assignee: Inneroptic Technology, Inc.
• Original Assignee: Inneroptic Technology, Inc.
• Inventors: Razzaque, Sharif, Keller, Kurtis, State, Andrei, Green, Caroline, Ackerman, Jeremy
• Primary Examiner(s): DIEP, NHON THANH
• Application Number:
  US12/760,274
• Publication Number:
  US 20100198045A1
• Time in Patent Office: 1,182 Days
• Field of Search: None
• US Class Current: 348/77
• CPC Class Codes: A61B 1/0005 combining images e.g. side-by-side, superimposed or tiled
• CPC Class Codes: A61B 1/042 characterised by a proximal camera, e.g. a CCD camera
• CPC Class Codes: A61B 1/313 for introducing through surgical openings, e.g. laparoscopes
• CPC Class Codes: A61B 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/463 characterised by displaying multiple images or images and diagnostic data on one display composite display in devices for short-range imaging with acoustic waves G01S7/52074
• CPC Class Codes: A61B 8/5238 for combining image data of patient, e.g. merging several images from different acquisition modes into one image for image registration algorithms G06T7/30
• CPC Class Codes: G06T 3/16 Spatio-temporal transformations, e.g. video cubism
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

A system and method of providing composite real-time dynamic imagery of a medical procedure site from multiple modalities which continuously and immediately depicts the current state and condition of the medical procedure site synchronously with respect to each modality and without undue latency is disclosed. The composite real-time dynamic imagery may be provided by spatially registering multiple real-time dynamic video streams from the multiple modalities to each other. Spatially registering the multiple real-time dynamic video streams to each other may provide a continuous and immediate depiction of the medical procedure site with an unobstructed and detailed view of a region of interest at the medical procedure site at multiple depths. As such, a surgeon, or other medical practitioner, may view a single, accurate, and current composite real-time dynamic imagery of a region of interest at the medical procedure site as he/she performs a medical procedure, and thereby, may properly and effectively implement the medical procedure.

Claims

1. A method of medical procedure image guidance, comprising the steps of:

determining, at a computer system, first real-time, dynamic medical imaging data based on a first spatial state of a first medical device;

determining, at the computer system, second real-time, dynamic medical imaging data based on a second spatial state of a second medical device, wherein the second medical device is separate from and distinct from the first medical device;

spatially registering the first real-time, dynamic medical imaging data and the second real-time, dynamic medical imaging data; and

producing at the computer system, combined dynamic, real-time image guidance data based on the first real-time, dynamic medical imaging data and the second real-time, dynamic medical imaging data; and

relative spatial states of the first real-time, dynamic medical imaging data and the second real-time, dynamic medical imaging data.

2. The method of claim 1, wherein the first medical device is usable in a procedure selected from the group consisting of laparoscopy, hysteroscopy, thoroscopy, arthoscopy, colonoscopy, bronchoscopy, cycstoscopy, proctosigmoidoscopy, esophagogastroduodenoscopy, and colposcopy.

3. The method of claim 1, wherein the first medical device is usable in a procedure selected from the group consisting of ultrasonography, magnetic resonance imaging, x-ray imaging, computed tomography, and optical wavefront imaging.

4. The method of claim 1, the wherein first real-time, dynamic medical imaging data comprises video.

5. The method of claim 1, wherein the first medical device comprises a two-dimensional modality.

6. The method of claim 1, wherein, the first medical device comprises a three-dimensional modality.

7. The method of claim 1, wherein the second medical device comprises a two-dimensional modality.

8. The method of claim 1, wherein the second medical device comprises a three-dimensional modality.

9. The system of claim 1, wherein the second device comprises an ablation needle.

10. A system for medical procedure image guidance, comprising:

an image guidance system, wherein the image guidance system is configured to;

receive first real-time, dynamic medical imaging data related to a first medical device;

receive second real-time, dynamic medical imaging data related to a second medical device;

spatially register the first real-time, dynamic medical imaging data and the second real-time, dynamic medical imaging data, wherein the first real-time, dynamic medical imaging data and the second real-time, dynamic medical imaging data relate to a region of interest on a patient; and

generate a composite real-time dynamic image of the region of interest based at least in part on the first real-time, dynamic medical imaging data and the second real-time, dynamic medical imaging data and the spatial registration of the first real-time, dynamic medical imaging data and the second real-time, dynamic medical imaging data.

11. The system of claim 10, wherein the image guidance system is configured to spatially register using information other than anatomical characteristics.

12. The system of claim 10, wherein the image guidance system is configured to spatially register using information other than a reference coordinate system.

13. The method of claim 10, wherein the image guidance system is configured to spatially register using information other than the position of a subject of a medical procedure.

14. The system of claim 10, wherein the first real-time, dynamic medical imaging data is associated with a first spatial state, and the second real-time, dynamic medical imaging data is associated with a second spatial state.

15. The system of claim 14, wherein the image guidance system is configured to spatially register using the first spatial state and the second spatial state.

16. The system of claim 10, wherein the first medical device comprises a plurality of first modalities.

17. The system of claim 10, wherein the second medical device comprises a plurality of second modalities.

18. The system of claim 10, wherein the first medical device is usable in a procedure selected from the group consisting of ultrasonography, magnetic resonance imaging, x-ray imaging, computed tomography, and optical wavefront imaging.

19. The system of claim 10, wherein the first medical device is usable in a procedure selected from the group consisting of laparoscopy, hysteroscopy, thoroscopy, arthoscopy, colonoscopy, bronchoscopy, cycstoscopy, proctosigmoidoscopy, esophagogastroduodenoscopy, and colposcopy.

20. A computer-readable non-transitory storage medium comprising instructions, said instructions operable to execute on a computer system, said instructions when executing on said computer system performing a method comprising:

determining first real-time, dynamic medical imaging data based on a first spatial state of a first medical device;

determining second real-time, dynamic medical imaging data based on a second spatial state of a second medical device, wherein the second medical device is separate from and distinct from the first medical device;

spatially registering the first real-time, dynamic medical imaging data and the second real-time, dynamic medical imaging data; and

producing combined dynamic, real-time image guidance data based on the first real-time, dynamic medical imaging data and the second real-time, dynamic medical imaging data; and

relative spatial states of the first real-time, dynamic medical imaging data and the second real-time, dynamic medical imaging data.