System and method for a tracked procedure

Patent metadata

Field	Value
Publication number	US-11464580-B2
Application number	US-201916725847-A
Country	US
Kind code	B2
Filing date	Dec 23, 2019
Priority date	Apr 27, 2018
Publication date	Oct 11, 2022
Grant date	Oct 11, 2022

Abstract

Disclosed is a navigation system. The navigation system may be used to at least assist in a procedure. The system may assist in delineating objects and/or determining physical boundaries of image elements. The system may assist in planning and/or a workflow of the procedure.

First claim

What is claimed is:

1. A surgical navigation system configured for operation in a procedure, comprising:
a memory system having stored thereon:
(i) a neural network configured for analyzing an image data,
(ii) a trained model for use with the neural network that is trained to segment at least one object in the image data,
(iii) wherein the image data includes an acquired image of a subject;

a processor system configured to:
access the memory system to execute the neural network and the trained model to segment the image data;
output a three-dimensional (3D) image data of the segmentation;
based on the output 3D image data automatically output a workflow procedure portion for a surgical procedure;

wherein the neural network includes at least one of a limited number of parameters or selected weights on parameters to increase a probability of correct segmentation;
wherein the processor system is configured to further automatically determine an instrument projection of an instrument and display on a display device a projection icon relative to object.

2. The system of claim 1 , wherein the displayed projection icon is from a tracked distal tip of the instrument;
wherein the instrument projection is automatically determined and displayed based on the output 3D image data segmentation from the tracked distal tip of the instrument.

3. The system of claim 1 , wherein the image data is acquired with at least one of a x-ray cone-beam imager, a magnetic resonance imaging (MRI) system, or a computed tomography system.

4. The system of claim 1 wherein the object is a vertebrae and the segmentation delineates the at least one of the vertebrae in the image data.

5. The system of claim 4 , wherein the processor system is further configured to determine and output a size of the vertebrae in the image data.

6. The system of claim 1 , further comprising:
the display device to display;
wherein the processor is configured to display the output 3D image data segmentation;
wherein the displayed output 3D image data segmentation includes at least one mask displayed as a graphical representation overlayed on an image generated from the image data.

7. The system of claim 4 , wherein the processor is further configured to execute instructions to automatically calculate at least one characteristic of appropriate tools for a surgery based on the at least one vertebrae in the output 3D image data segmentation.

8. The system of claim 7 , wherein the at least one characteristic includes a physical dimension.

9. The system of claim 7 , wherein the processor system is configured to further automatically determine at least one implant and a displayed implant icon relating the automatically determined implant.

10. The system of claim 9 , wherein the implant is a screw.

11. The system of claim 10 , wherein the processor system is further configured to save a tracked position of the screw and a size of the screw.

12. The system of claim 4 , wherein the processor system is further configured to identify the vertebrae based upon the instrument projection.

13. The system of claim 4 , wherein the processor system is further configured to automatically calculate and output at least one characteristic of an appropriate implant based on the output 3D image data segmentation;
wherein the output 3D image data segmentation includes at least one of a size of an anatomical portion present in the output 3D image data segmentation.

14. The system of claim 13 , wherein the size includes at least one of a length or a width of a pedicle screw.

15. A surgical navigation system configured for operation in a procedure, comprising:
a tracking system configured to track at least a patient tracking device and an instrument tracking device;
a memory system having stored thereon:
(i) an image data of an object;
(ii) a three-dimensional (3D) image data of a segmentation of the object;

a display device to display at least one of the image data of the object or the 3D image data of the segmentation of the object;
a processor system configured to:
determine a position of an instrument based on tracking the instrument tracking device;
register the image data to a patient space;
display on the display device an icon representing at least a projection of a trajectory from the instrument; and
based on the output 3D image data of the segmentation automatically output a workflow procedure portion for a surgical procedure.

16. The system of claim 15 , wherein the object is a vertebrae and the output 3D image data of the segmentation includes an image configured to be displayed with the display device.

17. The system of claim 16 , wherein the output 3D image data of the segmentation is determined automatically by a neural network having been trained to delineate the vertebrae.

18. The system of claim 15 , wherein the processor system is further configured to automatically determine a length of the projection based on a determined trajectory and a determined size of the vertebrae in the output 3D image data of the segmentation.

19. A method of performing a surgical procedure with a surgical navigation system, comprising:
accessing a trained model from a memory system;
accessing an image data of a subject;
analyzing the accessed image data with a neural network configured for analyzing an image data with the trained model;
outputting a three-dimensional (3D) image data of a segmentation based on the analysis of the image data with the neural network;
automatically outputting a workflow procedure portion for a surgical procedure based on the output 3D image data of the segmentation;
automatically determining an appropriate implant; and
displaying the automatically determined implant with a display device relative to an image of the subject based on the output 3D image data of the segmentation;
wherein the automatically determined implant is based on the output 3D image data of the segmentation;
wherein the neural network includes at least one of a limited number of parameters or selected weights on parameters to increase a probability of correct segmentation.

20. The system of claim 19 , wherein the output 3D image data of the segmentation is determined automatically by a neural network having been trained to delineate at least a first vertebra.

Assignees

• Medtronic Navigation Inc

Inventors

• Kemp Justin
• Paitel Yvan
• Wald Andrew
• Begin Trent
• Mahendra Nikhil

Classifications

• A61B34/30

  Surgical robots · CPC title

• G16H20/40

  relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture · CPC title

• A61B2034/2055

  Optical tracking systems · CPC title

• G16H30/40 Primary

  for processing medical images, e.g. editing · CPC title

• A61B34/20 Primary

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title