Systems and methods for object positioning and image-guided surgery

Patent metadata

Field	Value
Publication number	US-12080001-B2
Application number	US-202017117150-A
Country	US
Kind code	B2
Filing date	Dec 10, 2020
Priority date	Apr 29, 2019
Publication date	Sep 3, 2024
Grant date	Sep 3, 2024

Abstract

A method for positioning an object positioned on a table is provided. The method may include: obtaining a plan image, the plan image illustrating a virtual surface of the object; obtaining, by one or more capture devices, a 3-dimensional (3D) image, the 3D image including a set of elements corresponding to the object; obtaining a registration result by registering the plan image and the 3D image; determining whether the object needs to be moved based on the registration result; and in response to a determination that the object needs to be moved, causing the object to move according to the registration result.

First claim

What is claimed is:

1. A method implemented on a computing device including a storage device and at least one processor for positioning an object positioned on a table, the method comprising:
obtaining a plan image, the plan image illustrating a virtual surface of the object and a virtual surface of the table;
determining a target position of the table based on the virtual surface of the table;
obtaining, by one or more capture devices, a 3-dimensional (3D) image, the 3D image including a first set of elements corresponding to the object and a second set of elements corresponding to the table;
generating an augmented reality image by projecting the virtual surface of the table onto the 3D image;
displaying the augmented reality image on a display device;
determining a current position of the table based on the 3D image; and
causing the table to move based on the current position and the target position of the table.

2. The method of claim 1 , wherein the display device is a head mounted display (HMD) or a panel display.

3. The method of claim 1 , wherein the obtaining the plan image comprises:
obtaining the plan image based on one or more tomography images of the object.

4. The method of claim 1 , wherein the 3D image is a synthetic 3D optical image generated based on at least two images of the object acquired by at least two capture devices.

5. The method of claim 1 , wherein at least one of the one or more capture devices is a depth camera.

6. The method of claim 1 , wherein at least one of the one or more capture devices is fixed above the object and the table, and the one or more capture devices are configured to capture the object and the table from one or more directions.

7. The method of claim 1 , wherein the plan image includes a plurality of elements, and each of the plurality of elements has a coordinate in a digital imaging and communications in medicine (DICOM) coordinate system or an international electrotechnical commission (IEC) coordinate system.

8. The method of claim 1 , wherein each element of the 3D image has a coordinate in a digital imaging and communications in medicine (DICOM) coordinate system or an international electrotechnical commission (IEC) coordinate system.

9. The method of claim 1 , wherein the causing the table to move comprises:
determining a first offset between the current position of the table and the target position of the table;
determining whether the table needs to be moved based on the first offset; and
in response to a determination that the table needs to be moved, causing the table to move to the target position of the table based on the first offset.

10. The method of claim 9 , wherein the causing the table to move comprises:
providing the first offset to an operator;
receiving, from the operator, one or more instructions for moving the table; and
causing the table to move to the target position of the table according to the one or more instructions.

11. The method of claim 1 , further comprising:
generating a second augmented reality image by projecting the virtual surface of the object onto the 3D image; and
displaying the second augmented reality image on the display device.

12. The method of claim 11 , further comprising:
receiving, from an operator, one or more instructions for moving the object; and
causing the object to move according to the one or more instructions.

13. The method of claim 1 , further comprising:
obtaining at least one medical image of the object;
determining one or more regions of interest in the at least one medical image;
generating a third augmented reality image by projecting at least one of the one or more regions of interest in the at least one medical image onto the 3D image; and
providing the third augmented reality image for guiding an operation of a medical instrument.

14. The method of claim 13 , wherein the at least one medical image includes a set of medical images of the object, the 3D image includes a dynamic 3D image, and the third augmented reality image includes a dynamic augmented reality image.

15. The method of claim 14 , wherein the generating the third augmented reality image by projecting the at least one of the one or more regions of interest in the at least one medical image onto the 3D image comprises:
obtaining a first waveform of a motion generated during a first time period;
acquiring a second waveform of the motion generated during a second time period;
determining a first reference phase in the first waveform and a second reference phase in the second waveform;
projecting the at least one of the one or more regions of interest in a first medical image of the set of medical images onto a first frame of the dynamic 3D image, the first medical image being generated at a first time point corresponding to the first reference phase, the first frame of the dynamic 3D image being generated at a second time point corresponding to the second reference phase.

16. The method of claim 15 , further comprising:
projecting the at least one of the one or more regions of interest in a second medical image of the set of medical images onto a second frame of the dynamic 3D image, the second medical image being generated at a third time point corresponding to a third phase, the second frame of the dynamic 3D image being generated at a fourth time point corresponding to a fourth phase, a phase difference between the first time point and the third time point is the same as a phase difference between the second time point and the fourth time point.

17. The method of claim 1 , wherein the causing the table to move based on the current position and the target position of the table comprises:
obtaining a registration result by registering the 3D image with the plan image;
determining a first offset between a first position of the object in the 3D image and a second position of the object in the plan image based on the registration result;
determining that the first offset is equal to a second offset between a third position of the table in the 3D image and a fourth position of the table in the plan image if a first relative distance between the object and the table in the plan image is deemed to be equal to a second relative distance between the object and the table in the 3D image; and
determining whether the table needs to be moved by comparing the second offset with a threshold.

18. The method of claim 17 , further comprises:
in response to determining that the first relative distance is not equal to the second relative distance,
determining the second offset based on the first offset between the first position of the object and the second position of the object, the first relative distance, and the second relative distance; and
causing the table to move based on the second offset.

19. A system for positioning an object positioned on a table, comprising:
at least one storage device including a set of instructions or programs; and
at least one processor configured to communicate with the at least one storage device, wherein when executing the set of instructions or programs, the at least one processor is configured to cause the system to perform operations including:
obtaining a plan image, the plan image illustrating a virtual surface of the object and a virtual surface of the table;
determining a target position of the table based on the virtual surface of the table;
obtaining, by one or more capture devices, a 3-dimensional (3D) image, the 3D image including a first set of elements corresponding

Assignees

• Shanghai United Imaging Healthcare Co Ltd

Inventors

• Ni Cheng
• Gong Fei
• Zhang Wei
• Wang Yifeng

Classifications

• A61B5/704

  Tables · CPC title

• A61N2005/1097

  Means for immobilizing the patient · CPC title

• A61N5/1069 Primary

  Target adjustment, e.g. moving the patient support · CPC title

• A61N5/10

  X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy (A61N5/01 takes precedence) · CPC title

• A61B6/0407

  Supports, e.g. tables or beds, for the body or parts of the body · CPC title