Three dimensional medical imaging and interactions

Patent metadata

Field	Value
Publication number	US-12144690-B2
Application number	US-202117162565-A
Country	US
Kind code	B2
Filing date	Jan 29, 2021
Priority date	Jan 30, 2020
Publication date	Nov 19, 2024
Grant date	Nov 19, 2024

Abstract

A medical image viewer can render to a display, a three-dimensional view of patient anatomy, a multi planar reconstruction (MPR) view of the patient anatomy, and an intra-operational view. Some of the views can be synchronized to show a common focal point of the anatomy. Other embodiments are described and claimed.

First claim

What is claimed is:

1. A surgical robotic system comprising:
a left handheld user interface device (UID) and right handheld UID;
an autostereoscopic three dimensional display; and
a processor, configured to
receive a plurality of pre-operation images of a patient;
perform reconstruction upon the plurality of pre-operation images to generate a three dimensional image of the patient;
render the three dimensional image of the patient stereoscopically, resulting in a stereoscopic data stream;
drive the autostereoscopic three dimensional display with the stereoscopic data stream to produce one or more views of the three dimensional image of the patient on the autostereoscopic three dimensional display; and
adjust a view of the three dimensional image of the patient that includes translocating the three dimensional image of the patient within the view in response to a simultaneous activation and translocation of at least one of the left handheld UID and the right handheld UID in a direction.

2. The surgical robotic system of claim 1 , wherein the processor is further configured to control movement of a plurality of surgical robotic arms in response to additional input from the left handheld UID or the right handheld UID, to perform surgery upon the patient.

3. The surgical robotic system of claim 1 , wherein each of UIDs has a bulb that is activated upon being squeezed and deactivated upon being released, and the processor is further configured to monitor whether the bulb is activated or deactivated.

4. The surgical robotic system of claim 1 , wherein the autostereoscopic three dimensional display simultaneously produces an endoscope view based on images received from an endoscope.

5. The surgical robotic system of claim 1 , wherein adjusting the view of the three dimensional image of the patient includes selecting a plane with respect to the three dimensional image and scrolling through cross-sectional slices of the three dimensional image of the patient, the cross-sectional slices being parallel to the selected plane.

6. The surgical robotic system of claim 1 , wherein adjusting the view of the three dimensional image of the patient includes a) decreasing a size of the three dimensional image of the patient on the autostereoscopic three dimensional display in response to a simultaneous activation and decrease of a distance between the left handheld UID and the right handheld UID, or b) increasing the size of the three dimensional image of the patient on the autostereoscopic three dimensional display in response to a simultaneous activation and increase of the distance between the left handheld UID and the right handheld UID.

7. The surgical robotic system of claim 1 , wherein adjusting the view of the three dimensional image of the patient includes rotating the three dimensional image of the patient on the autostereoscopic three dimensional display in response to a simultaneous activation and rotation of only one of the left handheld UID or the right handheld UID.

8. The surgical robotic system of claim 1 , wherein the processor is further configured to render a selectable menu on the autostereoscopic three dimensional display in response a brief activation period of one of the left handheld UID or the right handheld UID.

9. The surgical robotic system of claim 1 , wherein the autostereoscopic three dimensional display includes one or more layers, at least partially positioned over a display surface of the autostereoscopic three dimensional display to facilitate a user's visualization of the three dimensional image on the display surface, the one or more layers including at least one of polarizing filters, a pattern retarder, or dynamic shutters.

10. The surgical robotic system of claim 9 , wherein the user is to use glasses or other wearable components to view the three dimensional image of the patient on the autostereoscopic three dimensional display.

11. The surgical robotic system of claim 1 , wherein the processor is further configure to detect and track a head position of a user relative to a display surface of the autostereoscopic three dimensional display based on data received from an infrared camera; and
modify operation of the autostereoscopic three dimensional display based on a detected gaze of the user, and
automatically adjust a spatial relationship between the user and the display surface based on the head position of the user to affect the user's visualization of the three dimensional image on the autostereoscopic three dimensional display.

12. The surgical robotic system of claim 1 , wherein
the three dimensional image is rendered to a first portion of the autostereoscopic three dimensional display,
a multi planar reconstruction (MPR) view is rendered to a second portion of the autostereoscopic three dimensional display,
an intra-operative image is rendered to a third portion of the autostereoscopic three dimensional display, and
the three dimensional image and the MPR view are synchronized to show a common focal point of anatomy of the patient.

13. A method, performed by a computing device of a surgical robotic system, comprising:
receiving a plurality of pre-operation images of a patient;
performing a reconstruction upon the plurality of pre-operation images to generate a three dimensional image of the patient;
rendering the three dimensional image of the patient stereoscopically, resulting in a stereoscopic data stream;
driving an autostereoscopic three dimensional display with the stereoscopic data stream to produce one or more views of the three dimensional image of the patient on the autostereoscopic three dimensional display; and
adjusting a view of the three dimensional image of the patient that includes translocating the three dimensional image of the patient within the view in response to a simultaneous activation and translocation of a left handheld user interface device (UID) or a right handheld UID in a direction.

14. The method of claim 13 further comprising controlling movement of a plurality of surgical robotic arms in response to additional input from the left handheld UID or the right handheld UID, to perform surgery upon the patient.

15. The method of claim 13 , wherein each of UIDs has a bulb that is activated upon being squeezed and deactivated upon being released, and the method further comprises monitoring whether the bulb is activated or deactivated.

16. The method of claim 13 , wherein the autostereoscopic three dimensional display simultaneously produces an endoscope view based on images received from an endoscope.

17. The method of claim 13 , wherein adjusting the view of the three dimensional image of the patient comprises selecting a plane with respect to the three dimensional image and scrolling through cross-sectional slices of the three dimensional image of the patient, the cross-sectional slices being parallel to the selected plane.

18. The method of claim 13 , wherein adjusting the view of the three dimensional image of the patient comprises a) decreasing a size of the three dimensional image of the patient on the autostereoscopic three dimensional display in response to a simultaneous activation and decrease of a distance between the left handheld UID and the right handheld UID, or b) increasing the size of the three dimensional image of the patient on the autostereoscopic three dimensional display in response to a simultaneous activation and increase of the distance between the left handheld UID and the right handheld UID.

19. The method of claim 13 , wherein adjusting the

Assignees

• Verb Surgical Inc

Inventors

• Fuerst Bernhard A
• Barthel Alexander
• Johnson Eric M
• Kojcev Risto

Classifications

• A61B1/000095

  for image enhancement · CPC title

• H04N2213/008

  Aspects relating to glasses for viewing stereoscopic images · CPC title

• G06F3/0488

  using a touch-screen or digitiser, e.g. input of commands through traced gestures · CPC title

• G06F3/0485

  Scrolling or panning · CPC title

• G06F3/04845

  for image manipulation, e.g. dragging, rotation, expansion or change of colour · CPC title