Methods and systems for display of patient data in computer-assisted surgery

Patent metadata

Field	Value
Publication number	US-12167940-B2
Application number	US-202318348130-A
Country	US
Kind code	B2
Filing date	Jul 6, 2023
Priority date	Sep 9, 2016
Publication date	Dec 17, 2024
Grant date	Dec 17, 2024

Abstract

Methods and systems for performing computer-assisted image-guided surgery, including robotically-assisted surgery. A method of displaying image data includes displaying image data of a patient on a handheld display device, tracking the handheld display device using a motion tracking system, and modifying the image data displayed in response to changes in the position and orientation of the handheld display device. Further embodiments include a sterile case for a handheld display device, display devices on a robotic arm, and methods and systems for performing image-guided surgery using multiple reference marker devices fixed to a patient.

First claim

The invention claimed is:

1. A method for performing image-guided surgery using multiple reference marker devices fixed to a patient, the method comprising:
obtaining image data of a patient using an imaging device;
associating a first portion of the image data with a first reference marker device fixed to a first location on the patient;
associating a second portion of the image data with a second reference marker device fixed to a second location on the patient;
displaying at least a portion of the image data of the patient on a display screen of a movable display device;
tracking movement of the movable display device with respect to at least one of the first reference marker device fixed to the first location on the patient and the second reference marker device fixed to the second location on the patient; and
modifying the image data displayed on the display screen of the movable display device in response to relative movement occurring between the movable display device and one or more of the first reference marker device fixed to the first location on the patient and the second reference marker device fixed to the second location on the patient.

2. The method of claim 1 , wherein modifying the image data includes selecting between display of one or more first patient images of the first portion of the image data and one or more second patient images of the second portion of the image data based on a proximity of the movable display device to the first and second locations.

3. The method of claim 1 , further comprising:
detecting a relative movement between the first and second reference marker devices; and
notifying a user when the relative movement is greater than a threshold value.

4. The method of claim 1 , further comprising determining whether a reference marker device has moved relative to the patient.

5. The method of claim 4 , wherein the first reference marker device and the second reference marker device are visible in the image data.

6. The method of claim 4 , further comprising performing a registration correction in response to determining that a reference marker device has moved relative to the patient.

7. The method of claim 6 , wherein the registration correction is performed without re-scanning the patient to obtain additional patient images.

8. The method of claim 1 , wherein the image data comprises a portion of a three-dimensional dataset of anatomy of the patient; and
further comprising displaying a second image of the patient obtained by a camera on the movable display device on the display screen, wherein the portion of a three-dimensional dataset of anatomy of the patient is displayed overlaying the second image.

9. The method of claim 8 , wherein the second image comprises a real-time video image of the patient.

10. The method of claim 8 , wherein the portion of the three-dimensional dataset comprises a three-dimensional volume rendering of a portion anatomy of the patient visible in the second image.

11. The method of claim 10 , further comprising:
performing a calibration process to match the three-dimensional volume rendering to a view of the patient in the second image; and
updating the three-dimensional volume rendering based on movement of the camera relative to the patient.

12. The method of claim 11 , further comprising adjusting a transparency of the three-dimensional volume rendering relative to the second image on the movable display device in response to a user input.

13. The method of claim 8 , wherein the three-dimensional dataset comprises at least one of an x-ray computed tomography (CT) reconstruction and a magnetic resonance (MR) image data.

14. The method of claim 13 , wherein displaying image data on the display screen of the movable display device comprises:
determining at least one of a first position and a first orientation of the movable display device with respect to one of the first and second reference marker devices; and
displaying a first portion of the three-dimensional dataset of anatomy of the patient on the display screen based on the determined a least one of the first position and the first orientation of the movable display device.

15. The method of claim 14 , wherein displaying the first portion of the three-dimensional dataset comprises displaying at least one two-dimensional slice of the three-dimensional dataset of anatomy of the patient in at least one first plane defined by the first position and/or the first orientation of the movable display device with respect to the patient; and
wherein modifying at least a portion of the image data displayed on the display screen comprises displaying the at least one two-dimensional slice of the three-dimensional dataset of anatomy of the patient in at least one second plane defined by a detected second position and/or orientation of the movable display device with respect to the patient.

16. The method of claim 15 , wherein the at least one two-dimensional slice comprises at least one of an axial, sagittal and coronal slice of anatomy of the patient; and
wherein the at least one two-dimensional slice comprises a coronal slice in a plane offset from the movable display device by a predetermined distance.

17. The method of claim 14 , wherein displaying the first portion of the three-dimensional dataset comprises displaying a three-dimensional rendering of anatomy of the patient in a first view based on the first position and/or the first orientation of the movable display device with respect to the patient; and
wherein modifying at least a portion of the image data displayed on the display screen comprises displaying the three-dimensional rendering of anatomy of the patient in a second view based on a detected second position and/or orientation of the movable display device with respect to the patient.

18. The method of claim 1 , wherein the movable display device is further defined as a handheld display device; and
further comprising positioning the handheld display device closer to the first reference marker device than to the second reference marker device.

19. The method of claim 18 , wherein the handheld display device comprises at least one of a tablet computer, a smartphone, and a pendant controller.

20. The method of claim 1 , further comprising displaying the image data of the patient on a second display screen.

Assignees

• Mobius Imaging Llc

Inventors

• Gregerson Eugene A
• Coppen Scott
• Furlong Todd
• Daley Edward
• Stanton Russell
• Harris Adeline
• Sebring Paul

Classifications

• A61B90/37 Primary

  Surgical systems with images on a monitor during operation · CPC title

• G06T2207/30012

  Spine; Backbone · CPC title

• G06T19/006

  Mixed reality (object pose determination, tracking or camera calibration for mixed reality G06T7/00) · CPC title

• G06T15/20

  Perspective computation · CPC title

• G06T15/08

  Volume rendering · CPC title