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-12059216-B2
Publication Date
2024-08-13
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 provides a system and methods for performing image-guided interventions, particularly percutaneous treatments or diagnoses, using holographic augmented reality technology. The system includes a pre-registration method that enables an efficient virtual representation of a planned trajectory to target tissue as a holographic light ray via an augmented reality system. This allows the operator to align a physical interventional instrument such as a medical probe with increased efficiency. The system also includes a re-registration method that adjusts for inaccuracies in the initial virtual representation by comparing it with live imaging during the intervention, using intersectional contour lines to define the target tissue unobstructedly through the augmented reality system.
The problem addressed is that current image-guided medical procedures often rely on two-dimensional displays for inherently three-dimensional tasks, resulting in challenges for accurate spatial understanding and instrument navigation. Prior holographic guidance systems require improvements in accuracy and workflow efficiency to be widely adopted. There is a continuing need for a holographic system that enables pre-registration to reduce operator steps, improve workflow, and support live intra-procedural re-registration of holograms derived from 3D tomographic data with real-time imaging to improve safety and accuracy in minimally invasive surgical procedures.
Claims Coverage
The patent claims cover inventive features related to pre-registration and re-registration methods and systems for augmented reality-guided image interventions involving holographic datasets, imaging apparatus, and live image alignment.
Pre-registration transformation of coordinate systems using optical image targets
The method includes placing an optical image target at a predetermined location on an imager, acquiring its coordinates with an augmented reality system, determining a pre-registration transformation mapping the image acquisition apparatus coordinate system to the augmented reality system coordinate system, and storing this transformation for repeated use.
Application of pre-registration transformation to holographic image datasets
Following pre-registration, the pre-registration transformation is applied to transform the first holographic image dataset from the image acquisition apparatus coordinate system to the augmented reality system coordinate system to enable accurate holographic guidance during the intervention.
Generation of surgical interventional plan and holographic light ray guidance
Creating a surgical plan including delineation of target tissue in the holographic dataset, transmitting this plan to the augmented reality system, transforming the plan to augmented reality coordinates using the pre-registration transformation, and generating a holographic light ray to guide an operator's instrument trajectory.
Compensation for patient table movement and positioning
Techniques to determine and register the patient table's position relative to the augmented reality system using additional image targets or sensors to maintain accurate spatial registration despite table translations.
Re-registration involving live imaging comparison and alignment
Acquiring real-time holographic image datasets with either the first or a second imaging apparatus, comparing these with the patient or initial holographic datasets, and adjusting the initial dataset alignment either manually or automatically to provide a re-registration transformation stored for use during intervention.
Use of intersectional contours for improved alignment and visualization
Determining the intersectional contour by overlaying first 3D holographic image datasets with second live 2D planar sector holographic datasets, removing portions outside the intersectional contour from view, and adjusting display threshold to avoid obstructing patient view, enhancing alignment and guiding interventions.
The claims collectively cover novel methods and systems for establishing and adjusting spatial registrations between imaging apparatus coordinate systems and augmented reality system coordinate systems using optical targets, transformation applications to holographic datasets, live imaging-based re-registration, and intersectional contour techniques for enhanced visualization and accuracy during image-guided interventions.
Stated Advantages
Pre-registration reduces the number of steps required by the operator and improves workflow efficiency, facilitating increased adoption of the holographic guidance system.
The re-registration method improves accuracy and safety of probe placement during minimally invasive procedures by adjusting for patient motion and inaccuracies using live imaging.
The intersectional contour technique allows unobstructed views of target tissue by showing only the intersectional contours overlaid on live imaging, enhancing operator visualization and guidance.
Documented Applications
Medical image-guided interventions, particularly percutaneous minimally invasive surgical procedures requiring accurate 3D positioning of interventional devices such as thermal probes.
Percutaneous biopsy, tissue ablation, cryotherapy, brachytherapy, endovascular, drainage, orthopedic, pain management, vertebroplasty, pedicle/screw placement, SI-Joint fixation, and related interventional procedures.
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