Dynamic registration of anatomy using augmented reality
Inventors
Black, John • Miller, Greg A. • Fahim, Mina S. • Raudins, Glenn
Assignees
Publication Number
US-12277667-B2
Publication Date
2025-04-15
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 is a system and method for dynamic registration of anatomy using augmented reality that can adjust for internal body movements. It includes an augmented reality environment fused with anatomical data represented as at least one augmented representation. The system allows a practitioner to confirm positional accuracy and adjust augmented representations of active registrations, providing tools for translational, rotational, and deformation refinements. It can also employ closed loop feedback to notify clinicians about optimal therapy or procedure timing based on augmented feedback.
The problem addressed is the challenge that the anatomy of a patient is not static during surgeries due to internal movements such as breathing and heartbeat causing rhythmic shifts. These internal, nonlinear movements can displace surgical locations, impairing the use of augmented reality during procedures. Conventional imaging modalities like CT scans require extensive image processing, are costly, expose patients to radiation, and do not readily support dynamic anatomical adjustments during movement cycles. Thus, there is a need for a system and method that dynamically registers anatomy using augmented reality while compensating for various body movements.
Claims Coverage
The patent includes two independent claims covering a system and a method for dynamic registration of anatomy using augmented reality, with inventive features related to imaging, measuring anatomical movement, generating and updating augmented representations, and rendering in augmented reality environments.
System for dynamic registration of anatomy using augmented reality
A system comprising an augmented reality system configured to display an augmented representation of an anatomical feature in an augmented reality environment; an imaging system configured to image the anatomical feature and generate anatomical imaging data; a measuring system configured to measure anatomical movement including data collected over a movement cycle; and a computer system configured to receive imaging and movement data, generate, associate, correlate, selectively update (including animating transitions), and render the augmented representation based on the anatomical imaging and movement data.
Animating structural changes of the augmented representation
The structure of the augmented representation is animated to expand, contract, deform, or reform according to the anatomical movement data.
Imaging system composition and usage
An imaging system that may include ultrasound, CT, electromagnetic, CBCT, blood gas exchange, mechanically controlled ventilation, spirometry, ECG, MRI, electromechanical wave propagation, TEE systems, and combinations thereof, configured to image prior to or during surgical procedures.
Measuring system composition and usage
A measuring system that may include similar modalities as the imaging system, configured to measure anatomical movement and generate movement data during surgical procedures.
Post-processing of augmented representations
The computer system is configured to smooth the augmented representation to eliminate jagged edges.
Updating augmented representation for anatomical movement
The computer system updates the augmented representation by updating position to compensate for anatomical movement and updating structure to show structural changes based on movement data.
Selective updating of augmented representation
Selective updating of the augmented representation based on anatomical movement data at predetermined intervals or in response to user input.
Anatomical movement data comprising multiple cycles and averaging
The anatomical movement data includes multiple movement cycles and may include an average movement of these cycles.
Method for dynamic registration using augmented reality
A method comprising providing the system, imaging an anatomical feature, generating anatomical imaging data, measuring anatomical movement over a movement cycle, generating movement data, receiving data by a computer system, generating and associating an augmented representation, correlating with movement data, selectively updating including animating transitions, and rendering in augmented reality.
Specific method features involving ultrasound probe and spirometry
Capturing 2D images by moving an ultrasound probe over the anatomical feature and pausing at set intervals; using spirometry to generate flow volume loops with reference points correlating augmented representation position with lung volume during respiration.
Method using ECG data
Using an ECG system to generate an electrical cycle with components correlating to segments of the augmented representation.
Post-processing step in the method
Applying post-processing to smooth jagged edges of the augmented representation.
The claims comprehensively cover a system and method where anatomical imaging and movement data are integrated to generate dynamic augmented representations that compensate for anatomical movements in real time. The inventive features include specific system arrangements, animation of structural changes, use of various imaging and measuring systems, post-processing of representations, and user-configurable updating mechanisms.
Stated Advantages
Improves adoption of surgical mixed reality guidance and navigation by removing the need for costly CT scanning devices.
Reduces procedure time by decreasing image transfer and processing steps required to produce an anatomical volume for augmented reality viewing.
Eliminates or reduces harmful radiation exposure to patients and caregivers by avoiding CT scans.
Enhances imaging capabilities for non-static anatomical structures, allowing dynamic compensation for internal movement.
Documented Applications
Pre-procedural planning, procedural guidance, and training in medical procedures using augmented reality to represent anatomical features.
Image-guided surgeries, including robotic and minimally invasive surgeries where patient anatomy moves due to respiratory or cardiac cycles and physiological processes.
Clinical scenarios involving dynamic anatomy such as cancerous lesions in the liver affected by respiratory motion.
Structural heart repair, replacement procedures, and electrophysiology ablation procedures where cardiac cycle gating improves guidance.
Orthopedic deformity and spinal procedures involving soft tissue biomechanical force measurement and modeling.
Ultrasound imaging applications including real-time 2D and 3D imaging and ultrasound color Doppler to visualize blood flow dynamics.
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