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Publication Number
US-11684428-B2
Publication Date
2023-06-27
Expiration Date
Abstract
A system for determining the position and orientation of a medical device relative to an image space during image-guided medical procedures. The system comprises a flexible pad mounted on the subject such that a part covers the region of interest. The pad incorporates detectable registration members. Prior to the procedure, the device is coupled to the pad, which is then rigidized, so that there is no movement of the registration members relative to each other and relative to the device. The fixed relationship between the device and the registration members is determined from initial images, for example using detectable markers attached to the device, enabling the pose of the device relative to the image space of images of the region of interest to be determined later, even if the device is remote from the region of interest. This minimizes exposure of the subject and medical staff to radiation.
Core Innovation
The invention determines the real-time position and orientation of an automated medical device relative to an image space during an image-guided procedure. A mounting apparatus is configured for mounting on a body of a subject and for coupling the automated medical device thereto, and includes at least one registration member positioned either on or inside the mounting apparatus.
The mounting apparatus and the automated medical device are coupled such that during the image-guided procedure there is substantially no relative movement between the at least one registration member and the automated medical device. The method obtains one or more initial images of the mounting apparatus and the automated medical device coupled thereto, detects the at least one registration member, and calculates the position and orientation of the at least one registration member relative to the image space in the initial images.
During the image-guided procedure, the method obtains one or more real-time images of a region of interest, where the real-time images include at least two portions of the at least one registration member. The at least two portions are detected in the real-time images and their real-time position and orientation relative to the image space are determined. The real-time position and orientation of the automated medical device relative to the image space are then determined based on the determined real-time position and orientation of the at least two portions and a predetermined relationship between the automated medical device and the at least one registration member.
Claims Coverage
The document contains three independent claims (a method, a second method, and a system), covering real-time determination of position and orientation using registration members and a predetermined relationship derived from imaging. Across the independent claims, the core inventive features are imaging-based registration member detection, real-time estimation using at least two portions, and establishing a predetermined relationship between the automated medical device and the registration member.
Initial and real-time imaging registration for pose determination
obtaining one or more initial images of the mounting apparatus and the automated medical device coupled thereto; detecting the at least one registration member in the one or more initial images; calculating the position and orientation of the at least one registration member relative to the image space in the one or more initial images; calculating the position and orientation of the automated medical device relative to the image space in the one or more initial images; determining the position and orientation of the at least one registration member relative to the automated medical device based on the calculated positions and orientations
Real-time pose update using at least two portions of the registration member
obtaining one or more real-time images of a region of interest, the one or more real-time images including at least two portions of the at least one registration member; detecting the at least two portions of the at least one registration member in the one or more real-time images; determining the real-time position and orientation of the at least two portions of the at least one registration member relative to the image space in the one or more real-time images; and determining the real-time position and orientation of the automated medical device relative to the image space in the one or more real-time images based on the real-time position and orientation of the at least two portions
Substantially no relative movement between registration member and device during image-guided procedure
at least one registration member positioned either on or inside the mounting apparatus, such that during the image-guided procedure, there is substantially no relative movement between the at least one registration member and the automated medical device coupled to the mounting apparatus
System for real-time registration-member detection and device pose based on predetermined relationship
detect at least a portion of the at least one registration member in one or more real-time images obtained from an imaging system; determine the real-time position and orientation of the at least a portion of the at least one registration member relative to the image space; and determine the real-time position and orientation of the automated medical device relative to the image space based on the determined real-time position and orientation of the at least a portion of the at least one registration member relative to the image space and a predetermined relationship between the automated medical device and the at least one registration member
Overall, the claims cover determining real-time device pose relative to an image space by detecting registration members in initial images to establish a predetermined device-to-registration relationship and then using real-time images containing at least two portions of the registration member to update the device’s real-time position and orientation. In the system claim, the same concept is implemented by a processor configured to detect registration-member portions and compute device pose from a predetermined relationship while the registration member and device are maintained with substantially no relative movement.
Stated Advantages
Reduces radiation exposure by minimizing scan volume while maintaining accurate real-time device pose for steering to a target.
Documented Applications
Image-guided procedures using an automated medical device with real-time position and orientation determination relative to an image space, including steering to a target.
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