Multiple medical device guidance

• US 8,670,816 B2
• Filed: 01/29/2013
• Issued: 03/11/2014
• Est. Priority Date: 01/30/2012
• Status: Active Grant

• Current Assignee: Inneroptic Technology, Inc.
• Original Assignee: Inneroptic Technology, Inc.
• Inventors: Green, Caroline, Heaney, Brian, Razzaque, Sharif, State, Andrei
• Primary Examiner(s): Luong, Peter
• Application Number:
  US13/753,274
• Publication Number:
  US 20130197357A1
• Time in Patent Office: 406 Days
• Field of Search: 600/407, 600/424, 600/427, 600/437, 600/439
• US Class Current: 600/424
• CPC Class Codes: A61B 1/04 combined with photographic or television appliances
• CPC Class Codes: A61B 1/303 for the vagina, i.e. vaginoscopes
• CPC Class Codes: A61B 1/3132 for laparoscopy
• CPC Class Codes: A61B 17/221 Gripping devices in the form of loops or baskets for gripping calculi or similar types of obstructions surgical snare instruments A61B17/32056
• CPC Class Codes: A61B 17/320016 Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes A61B10/0233, A61B17/29, A61B17/3207 take precedence
• CPC Class Codes: A61B 17/3403 Needle locating or guiding means guides for suture needles A61B17/0482; guiding or tracking by nuclear magnetic resonance G01R33/285
• CPC Class Codes: A61B 18/14 Probes or electrodes therefor
• CPC Class Codes: A61B 18/1815 using microwaves
• CPC Class Codes: A61B 18/20 using laser
• CPC Class Codes: A61B 2018/00559 Female reproductive organs
• CPC Class Codes: A61B 2018/00577 Ablation
• CPC Class Codes: A61B 2018/1425 Needle
• CPC Class Codes: A61B 2018/143 multiple needles
• CPC Class Codes: A61B 2018/1861 with an instrument inserted into a body lumen or cavity, e.g. a catheter
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2090/378 using ultrasound
• 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 5/0066 Optical coherence imaging
• CPC Class Codes: A61B 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 5/062 : using magnetic field
• CPC Class Codes: A61B 5/24 : Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
• CPC Class Codes: A61B 5/6848 : Needles
• CPC Class Codes: A61B 5/72 : Signal processing specially adapted for physiological signals or for diagnostic purposes character recognition, recognising digital ink, document-oriented image-based pattern recognition G06V30/00; recognition or understanding of postal images G06V30/424
• CPC Class Codes: A61B 5/742 : using visual displays A61B5/339 takes precedence
• CPC Class Codes: A61B 5/7425 : Displaying combinations of multiple images regardless of image source, e.g. displaying a reference anatomical image with a live image geometric transforms for image registration G06T3/14; enhancement using image fusion G06T5/50; algorithms for registration of images G06T7/30
• CPC Class Codes: A61B 5/743 : Displaying an image simultaneously with additional graphical information, e.g. symbols, charts, function plots
• CPC Class Codes: A61B 5/7475 : User input or interface means, e.g. keyboard, pointing device, joystick
• CPC Class Codes: A61B 6/032 : Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/037 : Emission tomography
• CPC Class Codes: A61B 6/12 : Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/463 : characterised by displaying multiple images or images and diagnostic data on one display
• CPC Class Codes: A61B 6/466 : adapted to display 3D data
• CPC Class Codes: A61B 6/468 : allowing annotation or message recording
• CPC Class Codes: A61B 6/5223 : generating planar views from image data, e.g. extracting a coronal view from a 3D image
• CPC Class Codes: A61B 8/0841 : for locating instruments
• 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 8/4483 : characterised by features of the ultrasound transducer
• CPC Class Codes: A61B 8/466 : adapted to display 3D data 3D imaging and stereoscopic displays in devices for short-range imaging with acoustic waves G01S15/8993 and G01S7/52068, respectively; 3D image rendering G06T15/00; manipulating 3D models for computer graphics G06T19/00
• CPC Class Codes: A61B 8/468 : allowing annotation or message recording
• CPC Class Codes: A61B 8/483 : involving the acquisition of a 3D volume of data
• CPC Class Codes: A61B 8/523 : for generating planar views from image data in a user selectable plane not corresponding to the acquisition plane
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras

Abstract

A system and method for providing image guidance for placement of one or more medical devices at a target location. The system receives emplacement information of medical devices within a predetermined area. The system calculates a viewing angle in a virtual 3D space of a plurality of virtual medical devices corresponding to the plurality of medical devices. The system also causes a display device to display the plurality of virtual medical devices based at least on the calculated viewing angle.

Claims

1. A method, comprising:

receiving emplacement information of a plurality of needles, the plurality of needles comprising at least a first needle and a second needle;

receiving emplacement information of a medical imaging device;

receiving at least one image from the medical imaging device;

calculating a first perspective view of the at least one image in a virtual 3D space based at least on the emplacement information of the medical imaging device with respect to a user;

calculating a second perspective view of a virtual medical imaging device corresponding to the medical imaging device in the virtual 3D space based at least on the emplacement information of the medical imaging device with respect to the user;

calculating a plurality of perspective views of a plurality of virtual needles corresponding to the plurality of needles in the virtual 3D space based at least on the emplacement information of the plurality of needles with respect to the user, the plurality of virtual needles comprising at least a first virtual needle corresponding to the first needle and a second virtual needle corresponding to the second needle;

determining a relative angular difference between a longitudinal axis of the first virtual needle and a longitudinal axis of the second virtual needle based at least on the emplacement information of the first needle and the second needle;

determining a foundational plane based at least on the emplacement information of the first needle, wherein the foundational plane is orthogonal to the longitudinal axis of the first virtual needle and intersects with the first virtual needle;

causing the display device to display the perspective view of the at least one image in the virtual 3D space;

causing the display device to display the perspective view of the virtual medical imaging device in the virtual 3D space;

causing the display device to display the plurality of perspective views of the plurality of virtual needles in the virtual 3D space;

causing the display device to display in the virtual 3D space a graphical indicator between at least a portion of the second virtual needle and a target axis that is different from and parallel to the longitudinal axis of the first virtual needle, wherein the graphical indicator indicates the relative angular difference between the longitudinal axis of the first virtual needle and the longitudinal axis of the second virtual needle; and

causing the display device to display in the virtual 3D space at least a portion of the foundational plane that is located between the first virtual needle and an intersection of the longitudinal axis of the second virtual needle and the foundational plane.

2. The method of claim 1, wherein the plurality of needles comprises a plurality of ablation needles.

3. The method of claim 1, wherein the medical imaging device comprises an ultrasound transducer and the at least one image comprises an ultrasound image.

4. The method of claim 1, further comprising:

calculating an intersection between an image plane of the at least one image and a calculated trajectory of at least one needle of the plurality of needles; and

causing the display device to display an indication of the intersection of the image plane and the calculated trajectory of the at least one needle.

5. The method of claim 1, wherein the foundational plane intersects at least a portion of at least one of an electrode and an emitter of the first virtual needle.

6. The method of claim 1, wherein the foundational plane intersects at least a portion of a tip of the first virtual needle.

7. The method of claim 1, further comprising causing the display device to display an indication of an intersection of the foundational plane and the longitudinal axis of the second virtual needle.

8. The method of claim 1, wherein the foundational plane is a first foundational plane and the first foundational plane intersects with the first virtual needle at a first location, the method further comprising causing the display device to display in the virtual 3D space at least a portion of a second foundational plane that is located between a second location of the first virtual needle and an intersection of the longitudinal axis of the second virtual needle and the second foundational plane, wherein the second foundational plane is orthogonal to a trajectory of the first virtual needle and intersects with the first virtual needle at the second location.

9. The method of claim 1, further comprising causing the display device to display a plurality of graphical indicators indicating a distance between a plurality of locations on the first virtual needle and a plurality of locations on the second virtual needle.

10. The method of claim 1, further comprising causing the display device to display a plurality of graphical indicators indicating a distance between the target axis and a plurality of portions of the second virtual needle.

11. A system comprising:

a computer system in communication with a display, the computer system comprising a computer processor and a non-transitory storage medium, wherein the computer system is configured to;

receive emplacement information of the plurality of needles, wherein the plurality of needles comprise at least a first needle and a second needle;

receive emplacement information of a medical imaging device;

receive at least one image from the medical imaging device;

calculate a first perspective view of the at least one image in a virtual 3D space based at least on the emplacement information of the medical imaging device with respect to a user;

calculate a second perspective view of a virtual medical imaging device corresponding to the medical imaging device in the virtual 3D space based at least on the emplacement information of the medical imaging device with respect to the user;

calculate a plurality of perspective views of a plurality of virtual needles corresponding to the plurality of needles in the virtual 3D space based at least on the emplacement information of the plurality of needles with respect to the user, the plurality of virtual needles comprising at least a first virtual needle corresponding to the first needle and a second virtual needle corresponding to the second needle;

determine a relative angular difference between a longitudinal axis of the first virtual needle and a longitudinal axis of the second virtual needle based at least on the emplacement information of the first needle and the second needle;

determine a foundational plane based at least the emplacement information of the first needle, wherein the foundational plane is orthogonal to the longitudinal axis of the first virtual needle and intersects with the first virtual needle;

cause the display to display the perspective view of the at least one image in the virtual 3D space;

cause the display to display the perspective view of the virtual medical imaging device in the virtual 3D space;

cause the display to display the plurality of perspective views of the plurality of virtual needles in the virtual 3D space;

cause the display to display in the virtual 3D space a graphical indicator between at least a portion of the second virtual needle and a target axis that is different from and parallel to the longitudinal axis of the first virtual needle, wherein the graphical indicator indicates the relative angular difference between the longitudinal axis of the first virtual needle and the longitudinal axis of the second virtual needle; and

cause the display to display in the virtual 3D space at least a portion of the foundational plane that is located between the first virtual needle and an intersection of the longitudinal axis of the second virtual needle and the foundational plane.

12. The system of claim 11, wherein the plurality of needles comprises a plurality of ablation needles.

13. The system of claim 11, wherein the computer system is further configured to:

calculate an ablation volume of each of the plurality of needles; and

cause the display to display the calculated ablation volume of each of the plurality of medical devices.

14. The system of claim 11, wherein the computer system is further configured to:

calculate a trajectory of each of the plurality of medical devices; and

cause the display to display the calculated trajectory of each of the plurality of medical devices.

15. The system of claim 11, wherein the computer system is further configured to indicate an orientation of a patient with respect to a viewing reference of the virtual 3D space.

16. The system of claim 15, wherein the computer system is further configured to indicate a location of the user with respect to the patient in the virtual 3D space.

17. The system of claim 11, wherein the medical imaging device comprises an ultrasound transducer and the at least one image comprises an ultrasound image.

18. The system of claim 11, wherein the computer system is further configured to:

calculate an intersection between an image plane of the at least one image and a calculated trajectory of at one least needle of the plurality of needles; and

cause the display to display an indication of the intersection of the image plane and the calculated trajectory of the at least one needle.

19. The system of claim 11, wherein the foundational plane intersects at least a portion of at least one of an electrode and an emitter of the first virtual needle.

20. The system of claim 11, wherein the foundational plane intersects at least a portion of a tip of the needle.

21. The system of claim 11, wherein the computer system is further configured to cause the display to display an indication of an intersection of the foundational plane and a longitudinal axis of the second virtual needle.

22. The system of claim 11, wherein the foundational plane is a first foundational plane and the first foundational plane intersects with the first virtual needle at a first location, and the computer system is further configured to cause the display to display in the virtual 3D space at least a portion of a second foundational plane that is located between a second location of the first virtual needle and an intersection of the longitudinal axis of the second virtual needle and the second foundational plane, wherein the second foundational plane is orthogonal to the longitudinal axis of the first virtual needle and intersects with the second location of the first virtual needle.

23. The system of claim 11, wherein the computer system is further configured to cause the display to display a plurality of graphical indicators indicating a distance between a plurality of portions of the first virtual needle and a plurality of portions of the second virtual needle.

24. The system of claim 11, wherein the computer system is further configured to cause the display to display a plurality of graphical indicators indicating a distance between a plurality of locations on the target axis and a plurality of portions of the second virtual needle.