System and methods for planning and performing three-dimensional holographic interventional procedures with three-dimensional tomographic and live imaging
Inventors
Martin, III, Charles • Yanof, Jeffrey H. • West, Karl • Fahim, Mina S. • Black, John
Assignees
Publication Number
US-11701183-B2
Publication Date
2023-07-18
Expiration Date
2040-12-10
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Abstract
A method and a system for image-guided intervention such as a percutaneous treatment or diagnosis of a patient may include at least one of a pre-registration method and a re-registration method. The pre-registration method is configured to permit for an efficient virtual representation of a planned trajectory to target tissue during the intervention, for example, as a holographic light ray shown through an augmented reality system. In turn, this allows the operator to align a physical instrument such as a medical probe for the intervention. The re-registration method is configured to adjust for inaccuracy in the virtual representation generated by the pre-registration method, as determined by live imaging of the patient during the intervention. The re-registration method may employ the use of intersectional contour lines to define the target tissue as viewed through the augmented reality system, which permits for an unobstructed view of the target tissue for the intervention.
Core Innovation
The invention relates to systems and methods for image-guided intervention using holographic augmented reality, particularly for minimally invasive surgical procedures. It introduces pre-registration and re-registration methods to enable efficient, accurate three-dimensional (3D) holographic guidance and navigation of interventional instruments relative to patient anatomy during such procedures.
The pre-registration method permits a virtual representation of a planned instrument trajectory based on 3D tomographic imaging data to be shown through an augmented reality system, such as a head-mounted device. This enables the operator to align physical surgical instruments with the holographic guidance with minimal workflow steps. The pre-registration transformation aligns coordinate systems of the imaging apparatus and the augmented reality system to streamline subsequent image-guided interventions without repeated registration steps.
The re-registration method addresses inaccuracies caused by patient movement or physiological changes during intervention by adjusting the holographic representation based on live imaging data, such as ultrasound or fluoroscopy. It employs intersectional contour techniques to identify congruency between pre-operative 3D images and intraoperative 2D live images, allowing the operator to effectively visualize target tissues without obstructions and improve accuracy and safety of instrument placement.
Claims Coverage
The patent includes multiple independent claims covering methods and systems for pre-registration, re-registration, and intersectional contour generation in holographic augmented reality-guided image-guided interventions.
Pre-registration of coordinate systems using optical image targets
A method comprising installation of an augmented reality system at a first image acquisition apparatus, placement of a first optical image target on the imager, acquisition of target coordinates with the augmented reality system, and determination and storage of a pre-registration transformation of the first image acquisition apparatus coordinate system into the augmented reality system coordinate system to enable transformation of holographic image datasets.
Efficient workflow with pre-registration transformation application
Application of the stored pre-registration transformation to transform holographic image datasets and surgical interventional plans from the first image acquisition apparatus coordinate system to the augmented reality system coordinate system during image-guided interventions, generating holographic light rays to show instrument trajectories to the operator.
Re-registration using real-time holographic image datasets
A method involving acquisition of a real-time holographic image dataset during the intervention, comparison of this dataset with the first holographic image dataset or the patient, and adjustment—manually or automatically—of the first holographic image dataset to align with the real-time dataset, thereby providing and storing a re-registration transformation to compensate for inaccuracies.
Intersectional contour generation for improved visualization and alignment
A method of acquiring first and second holographic image datasets, overlaying them, determining intersectional contours defined by the intersection points of the 3D first dataset and the 2D second dataset, and removing non-intersectional portions from the operator's view so only the intersectional contour overlays the second dataset, aiding operator visualization during re-registration.
The claims collectively cover a system and method for integrating augmented reality systems with medical imaging apparatuses through pre-registration processes, use of real-time imaging for re-registration to improve accuracy during interventions, and utilization of intersectional contours to enhance visualization and guidance accuracy during image-guided procedures.
Stated Advantages
Reduces workflow steps for the operator by enabling pre-registration during installation, eliminating the need for repeated registrations during each procedure.
Improves accuracy and safety of probe or instrument placement during minimally invasive surgical procedures through intra-procedural re-registration based on live imaging.
Provides unobstructed and enhanced visualization of target tissue by employing intersectional contour techniques that selectively display relevant holographic data.
Facilitates operator alignment of physical instruments to virtual planned trajectories via holographic light rays, improving spatial understanding and procedural efficiency.
Documented Applications
Percutaneous medical procedures such as minimally invasive surgical treatments or diagnoses requiring accurate 3D positioning of instruments relative to target tissue.
Image-guided interventions employing computed tomography (CT), C-arm angiography fluoroscopy (cone beam CT), and ultrasound imaging systems.
Use of holographic augmented reality systems, including head-mounted devices like Microsoft HoloLens®, for planning and navigation in medical procedures.
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