Method for augmented reality instrument placement using an image based navigation system

Patent metadata

Field	Value
Publication number	US-9681925-B2
Application number	US-10764005-A
Country	US
Kind code	B2
Filing date	Apr 15, 2005
Priority date	Apr 21, 2004
Publication date	Jun 20, 2017
Grant date	Jun 20, 2017

Abstract

A system and method for instrument placement using an image based navigation system is disclosed. A target of interest is identified in a medical image of a patient. An image plane is displayed that goes through a center of the target. The image plane has a configurable orientation. The image plane is used to select a path for an instrument from a position on the patient's skin to the center of the target. A trajectory plane is viewed from a tip of the instrument to the center of the target. The trajectory plane reflects an orientation of the instrument. A particular trajectory plane is selected that is representative of a desired orientation of the instrument. An image of the particular trajectory plane is frozen. The instrument can then be inserted using a virtual guide and is navigated toward the target.

First claim

We claim:

1. A method for instrument placement using an image based navigation system comprising the steps of:
displaying, in a three dimensional image, an image plane that goes through a center of a target of interest, the image plane having a configurable orientation;
receiving user input configuring an orientation of an instrument; displaying, in the three dimensional image, a trajectory plane from the tip of the instrument to the center of the target, the trajectory plane reflecting a current orientation of the instrument and intersecting the image plane at the center of the target of interest, wherein the image plane is orthogonal to a direction of instrument insertions;
displaying in the trajectory plane, the target of interest and potential obstacles in a path for the instrument from a position on a patient's skin to the center of the target;
displaying in the trajectory plane a virtual extended path of the instrument from a point that a tip of the instrument is in contact with the patient's skin to the center of the target, the virtual extended path based on the current orientation of the instrument;
receiving input selecting a particular trajectory plane representative of a desired orientation of the instrument; and
freezing an image of the particular trajectory plane.

2. The method of claim 1 wherein the image based navigation system is an augmented reality system.

3. The method of claim 2 wherein the navigation system includes a head mounted display.

4. The method of claim 1 further comprising the steps of:
displaying a virtual guide; and
displaying a distance between the instrument tip and the image plane.

5. The method of claim 4 wherein when the distance reaches zero, the instrument has reached the center of the target.

6. The method of claim 4 wherein if the distance becomes negative, the instrument has gone beyond the center of the target.

7. The method of claim 1 wherein the step of receiving user input configuring the orientation of the instrument further comprises the step of tracking the instrument.

8. The method of claim 7 wherein an optical tracking system is used to track the instrument.

9. The method of claim 1 wherein the navigation system is a three dimensional imaging system.

10. The method of claim 1 wherein the instrument is a needle.

11. An imaging system for instrument navigation comprising:
at least one camera for capturing images of an instrument and a patient;
a display for displaying the images; and
a processor for performing the following steps:
receiving the images;
displaying, in a three dimensional image, an image plane that goes through a center of a target of interest, the image plane having a configurable orientation;
receiving user input configuring an orientation of an instrument;
displaying, in the three dimensional image, a trajectory plane from the tip of the instrument to the center of the target, the trajectory plane reflecting a current orientation of the instrument and intersecting the image plane at the center of the target of interest, wherein the image plane is orthogonal to a direction of instrument insertion;
displaying in the trajectory plane, the target of interest and potential obstacles in a path for the instrument from a position on a patient's skin to the center of the target;
displaying in the trajectory plane a virtual extended path of the instrument from a point that a tip of the instrument is in contact with the patient's skin to the center of the target, the virtual extended path based on the current orientation of the instrument;
receiving input selecting a particular trajectory plane representative of a desired orientation of the instrument; and
freezing an image of the particular trajectory plane.

12. The system of claim 11 wherein the imaging system is an augmented reality imaging system.

13. The system of claim 12 wherein the system further comprises a head mounted display.

14. The system of claim 11 wherein the processor further performs the steps of:
displaying a virtual guide to assist navigation of the instrument; and
computing a distance between the instrument tip and the image plane.

15. The system of claim 14 wherein when the distance reaches zero, the instrument has reached the center of the target.

16. The system of claim 14 wherein if the distance becomes negative, the instrument has gone beyond the center of the target.

17. The system of claim 11 wherein the step of receiving user input configuring the orientation of the instrument further comprises the step of tracking the instrument.

18. The system of claim 11 wherein the system further comprises an optical tracking system for tracking the instrument.

19. The system of claim 11 wherein the imaging system is a three dimensional imaging system.

20. The system of claim 11 wherein the instrument is a needle.

Assignees

• Azar Fred S
• Khamene Ali
• Sauer Frank
• Vogt Sebastian
• Siemens Medical Solutions Usa Inc

Inventors

• Azar Fred S
• Khamene Ali
• Sauer Frank
• Vogt Sebastian

Classifications

• A61B2090/365

  augmented reality, i.e. correlating a live optical image with another image · CPC title

• A61B34/20

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

• A61B34/10

  Computer-aided planning, simulation or modelling of surgical operations · CPC title

• A61B2034/107

  Visualisation of planned trajectories or target regions · CPC title

• A61B90/11

  with guides for needles or instruments, e.g. arcuate slides or ball joints · CPC title