Systems, methods, apparatuses, and computer-readable media for image management in image-guided medical procedures

• US 9,364,294 B2
• Filed: 01/28/2014
• Issued: 06/14/2016
• Est. Priority Date: 02/17/2009
• Status: Active Grant

• Current Assignee: Inneroptic Technology, Inc.
• Original Assignee: Inneroptic Technology, Inc.
• Inventors: Razzaque, Sharif, State, Andrei, Green, Caroline, Heaney, Brian
• Primary Examiner(s): Luong, Peter
• Application Number:
  US14/166,179
• Publication Number:
  US 20140142426A1
• Time in Patent Office: 868 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 18/02 by cooling, e.g. cryogenic techniques devices for cooling specific reflex points of the body within cell-life limits A61H39/06
• CPC Class Codes: A61B 18/082 Probes or electrodes therefor
• CPC Class Codes: A61B 18/1442 Probes having pivoting end effectors, e.g. forceps
• CPC Class Codes: A61B 18/1477 Needle-like probes
• CPC Class Codes: A61B 18/18 by applying electromagnetic radiation, e.g. microwaves radiation therapy A61N5/00
• CPC Class Codes: A61B 18/20 using laser
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2018/1425 Needle
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/104 Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/207 Divots for calibration
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/252 indicating steps of a surgical procedure
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 2090/502 Headgear, e.g. helmet, spectacles
• 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 34/25 : User interfaces for surgical systems
• CPC Class Codes: A61B 8/4245 : involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
• CPC Class Codes: G06T 19/003 : Navigation within 3D models or images
• CPC Class Codes: G06T 2210/41 : Medical

Abstract

Presented herein are methods, systems, devices, and computer-readable media for image management in image-guided medical procedures. Some embodiments herein allow a physician to use multiple instruments for a surgery and simultaneously provide image-guidance data for those instruments. Various embodiments disclosed herein provide information to physicians about procedures they are performing, the devices (such as ablation needles, ultrasound transducers or probes, scalpels, cauterizers, etc.) they are using during the procedure, the relative emplacements or poses of these devices, prediction information for those devices, and other information. Some embodiments provide useful information about 3D data sets and allow the operator to control the presentation of regions of interest. Additionally, some embodiments provide for quick calibration of surgical instruments or attachments for surgical instruments.

Claims

1. A method, comprising:

determining, using one or more processors, real-time pose information of a medical device;

determining an imaging plane based at least in part on the real-time pose information of the medical device;

obtaining image data from a set of 3D visualizable medical data based at least in part on the pose information of the medical device, wherein the image data corresponds to medical data from the set of 3D visualizable medical data that intersects with the determined imaging plane;

causing one or more displays to display a perspective view of the image data in a virtual 3D space at a first focus setting based at least in part on real-time relative pose information of the medical device with respect to an expected position of a user; and

causing the one or more displays to display at one or more second focus settings a perspective view of medical data from the set of 3D visualizable medical data that intersects with at least a portion of one or more imaging planes that are parallel to the determined imaging plane, wherein the one or more second focus settings vary in proportion to a distance between the one or more imaging planes and the determined imaging plane.

2. The method of claim 1, wherein the set of 3D visualizable medical data comprises preoperative imaging data.

3. The method of claim 1, wherein the set of 3D visualizable medical data comprises annotations of imaging data.

4. The method of claim 1, wherein the set of 3D visualizable medical data is a first set of 3D visualizable medical data and the image data is first image data, the method further comprising:

determining pose information of a second set of 3D visualizable medical data relative to the real-time pose information of the medical device;

obtaining second image data from the second set of 3D visualizable medical data based at least in part on the real-time pose information of the medical device; and

causing the one or more displays to display a perspective view of the second image data in the virtual 3D space.

5. The method of claim 1, wherein the imaging plane is a first imaging plane, the medical device is a first medical device, and the image data is first image data, the method further comprising:

determining real-time pose information of a second medical device;

determining a second imaging plane based at least in part on the real-time pose information of the second medical device;

obtaining second image data from the set of 3D visualizable medical data, wherein the second image data corresponds to the medical data from the from the set of 3D visualizable medical data that intersects with at least a portion of the second determined imaging plane; and

causing the one or more displays to display a perspective view of the second image data in the virtual 3D space.

6. The method of claim 5, further comprising determining a single volume based at least on the second image data of the 3D visualizable medical data.

7. The method of claim 1, further comprising:

generating a volume of image guidance data based at least on the image data of the 3D visualizable medical data; and

displaying, on the one or more displays, a perspective view of the generated volume of image guidance data in the virtual 3D space based at least on the determined perspective view of the determined imaging plane.

8. The method of claim 7, wherein the medical device is an ablation needle and the generated volume of image guidance data comprises an ablation volume.

9. A system, comprising:

a computing device comprising one or more processors, the computing device configured to;

determine real-time pose information of a medical device;

determine an imaging plane based at least in part on the real-time pose information of the medical device;

obtain image data from a set of 3D visualizable medical data based at least in part on the pose information of the medical device, wherein the image data corresponds to medical data from the set of 3D visualizable medical data that intersects with the determined imaging plane;

cause one or more displays to display a perspective view of the image data in a virtual 3D space at a first focus setting based at least in part on real-time relative pose information of the medical device with respect to an expected position of a user; and

cause the one or more displays to display at one or more second focus settings a perspective view of medical data from the set of 3D visualizable medical data that intersects with at least a portion of one or more imaging planes that are parallel to the determined imaging plane, wherein the one or more second focus settings vary in proportion to a distance between the one or more imaging planes and the determined imaging plane.

10. The system of claim 9, wherein the set of 3D visualizable medical data comprises preoperative imaging data.

11. The system of claim 9, wherein the set of 3D visualizable medical data comprises annotations of imaging data.

12. The system of claim 9, wherein the set of 3D visualizable medical data is a first set of 3D visualizable medical data and the image data is first image data, the system further comprising:

determine pose information of a second set of 3D visualizable medical data relative to the real-time pose information of the medical device;

obtain second image data from the second set of 3D visualizable medical data based at least in part on the real-time pose information of the medical device; and

cause the one or more displays to display a perspective view of the second image data in the virtual 3D space.

13. The system of claim 9, wherein the imaging plane is a first imaging plane, the medical device is a first medical device, and the image data is first image data, the system further comprising:

determine real-time pose information of a second medical device;

determine a second imaging plane based at least in part on the real-time pose information of the second medical device;

obtain second image data from the set of 3D visualizable medical data, wherein the second image data corresponds to the medical data from the from the set of 3D visualizable medical data that intersects with at least a portion of the second determined imaging plane; and

cause the one or more displays to display a perspective view of the second image data in the virtual 3D space.

14. The system of claim 13, further comprising determining a single volume based at least on the second image data of the 3D visualizable medical data.

15. The system of claim 9, further comprising:

generate a volume of image guidance data based at least on the image data of the 3D visualizable medical data; and

display, on the one or more displays, a perspective view of the generated volume of image guidance data in the virtual 3D space based at least on the determined perspective view of the determined imaging plane.

16. The system of claim 15, wherein the medical device is an ablation needle and the generated volume of image guidance data comprises an ablation volume.

17. A non-transitory computer-readable medium comprising computer-executable instructions, said computer-executable instructions, when executed, cause one or more processors to:

determine real-time pose information of a medical device;

determine an imaging plane based at least in part on the real-time pose information of the medical device;

obtain image data from a set of 3D visualizable medical data based at least in part on the pose information of the medical device, wherein the image data corresponds to medical data from the set of 3D visualizable medical data that intersects with the determined imaging plane;

cause one or more displays to display a perspective view of the image data in a virtual 3D space at a first focus setting based at least in part on real-time relative pose information of the medical device with respect to an expected position of a user; and

cause the one or more displays to display at one or more second focus settings a perspective view of medical data from the set of 3D visualizable medical data that intersects with at least a portion of one or more imaging planes that are parallel to the determined imaging plane, wherein the one or more second focus settings vary in proportion to a distance between the one or more imaging planes and the determined imaging plane.

18. The non-transitory computer-readable medium of claim 17, wherein the set of 3D visualizable medical data comprises annotations of imaging data.

19. The non-transitory computer-readable medium of claim 17, wherein the set of 3D visualizable medical data is a first set of 3D visualizable medical data and the image data is first image data, and wherein said instructions, when executed, further cause one or more processors to:

determine pose information of a second set of 3D visualizable medical data relative to the real-time pose information of the medical device;

obtain second image data from the second set of 3D visualizable medical data based at least in part on the real-time pose information of the medical device; and

cause the one or more displays to display a perspective view of the second image data in the virtual 3D space.

20. The non-transitory computer-readable medium of claim 17, wherein the imaging plane is a first imaging plane, the medical device is a first medical device, and the image data is first image data, and wherein said instructions, when executed, further cause one or more processors to:

determine real-time pose information of a second medical device;

determine a second imaging plane based at least in part on the real-time pose information of the second medical device;

obtain second image data from the set of 3D visualizable medical data, wherein the second image data corresponds to the medical data from the from the set of 3D visualizable medical data that intersects with at least a portion of the second determined imaging plane; and

cause the one or more displays to display a perspective view of the second image data in the virtual 3D space.