Dynamic registration of anatomy using augmented reality
Inventors
Black, John • Miller, Greg A. • Fahim, Mina S. • Raudins, Glenn
Assignees
Publication Number
US-11967036-B2
Publication Date
2024-04-23
Expiration Date
2041-05-14
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Abstract
A system for dynamic registration of autonomy using augmented reality can include an augmented reality system, an imaging system, a measuring system, and a computer system. The augmented reality system can be configured to display an augmented representation. The imaging system can be configured to image an anatomical feature of the patient and can generate anatomical imaging data. The measuring system can be configured to measure an anatomical movement of the patient and can generate an anatomical movement data. The computer system can be configured to receive the anatomical imaging and positional data and the anatomical movement data, generate the augmented representation based on the anatomical imaging data, associate the augmented representation with the anatomical movement data, render the augmented representation on the augmented reality system, and selectively update the augmented representation based on the anatomical movement data.
Core Innovation
The invention disclosed is a system and method for dynamic registration of anatomy using augmented reality that adjusts for internal body movements. The system includes an augmented reality environment fused with anatomical data to create augmented representations, which a practitioner can use to confirm and adjust positional gating of anatomical structures. The computer system provides tools to refine these representations and employs closed loop feedback to assist clinicians in timing therapeutic deliveries or surgical steps based on augmented feedback.
The system comprises an augmented reality system, an imaging system to image anatomical features and generate anatomical imaging data, a measuring system to measure anatomical movement and generate anatomical movement data, and a computer system that receives and correlates these data sets. The computer system generates, associates, renders, and selectively updates augmented representations based on the anatomical movement data, offering real-time compensation for physiological movements such as respiration and cardiac cycles.
The problem addressed arises from the dynamic and non-static nature of human anatomy during surgeries, such as rhythmic internal movements from breathing or heartbeats that cause displacement of surgical targets. Traditional image-guided surgeries and augmented reality methods are impaired by these movements due to the non-linear and complex shifts in anatomy, which complicate accurate representation and guidance during procedures. Additionally, standard imaging methods like CT involve radiation exposure, high cost, and lengthy processing steps, limiting availability and increasing risk.
Claims Coverage
The patent includes one independent system claim and one independent method claim covering inventive features related to dynamic registration of anatomy using augmented reality.
System for dynamic registration of anatomy using augmented reality
A system comprising an augmented reality system displaying augmented representations of anatomical features, an imaging system generating anatomical imaging data, and a measuring system generating anatomical movement data of internal soft tissue movement over movement cycles prior to surgery. A computer system communicates with these components to receive data, generate and associate augmented representations with anatomical features, correlate them with movement data, selectively update these representations based on movement data, and render them in the augmented reality environment.
Imaging and measuring system configurations
The imaging system can include various imaging devices such as ultrasound, CT, electromagnetic, CBCT, spirometry, ECG, MRI, TEE systems, among others, operable before or during surgery. Similarly, the measuring system incorporates devices from a comparable group and is configured to generate anatomical movement data during procedures.
Enhanced augmented representation processing and updating
The computer system smooths jagged edges of the augmented representations, updates position to compensate for anatomical movement, updates structural changes showing deformation, animates transitions between states of the representation, and selectively updates visually at predetermined intervals or in response to user input.
Method for dynamic registration of anatomy using augmented reality
A method comprising providing the described system, imaging an anatomical feature, generating imaging data, measuring anatomical movement prior to surgery over movement cycles, generating movement data, receiving both data types, generating an augmented representation, associating it with the anatomical feature, correlating with movement data, selectively updating the representation based on movement data, and rendering in an augmented reality environment.
Specific operational enhancements to the method
Including capturing 2D images via moving and pausing an ultrasound probe over the anatomical feature, incorporating spirometry systems to use flow volume loops correlating augmented representation position to lung air volumes, integrating ECG systems correlating ECG electrical cycle components to segments of the augmented representation, and applying post-processing such as smoothing jagged edges.
The claims collectively cover a comprehensive system and method for dynamically registering and updating anatomical augmented reality representations based on real-time anatomical imaging and internal soft tissue movement data, ensuring accurate visualization during surgical procedures despite physiological motion.
Stated Advantages
Improves adoption of surgical mixed reality guidance by eliminating the need for costly CT scans.
Reduces procedure time by minimizing image transfer and processing steps to generate anatomical volumes for augmented reality.
Reduces harmful radiation exposure to patients and caregivers by avoiding reliance on CT imaging.
Improves imaging capabilities of non-static anatomical structures through dynamic registration that accounts for internal movement.
Documented Applications
Pre-procedural planning, procedural guidance, and training in medical settings.
Image-guided surgery, robotic surgery, and minimally invasive surgery incorporating dynamic compensation for respiratory and cardiac related internal anatomical movement.
Dynamic visualization in surgeries involving tumors, cysts, blood vessels, heart structures, muscle, bone, and nerve tissue.
Orthopedic deformity and spinal procedures using biomechanical forces measurement and modeling of joint and bone movements.
Use of augmented reality in combination with ultrasound imaging including color Doppler to visualize blood flow direction and velocity.
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