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-12329466-B2
Publication Date
2025-06-17
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 a holographic system and methods for image-guided intervention, specifically for pre-registration and re-registration techniques that enable efficient and accurate three-dimensional (3D) holographic guidance during procedures such as minimally invasive surgical (MIS) interventions. The system integrates an augmented reality (AR) system, such as a head-mounted display (HMD) like Microsoft HoloLens®, with a medical image acquisition apparatus, transforming coordinate systems to permit virtual representations of planned instrument trajectories and target tissues as holographic images during interventions.
The problem being addressed arises from the limitations of current image-guided interventions which rely on flat two-dimensional (2D) displays, making 3D positioning of interventional devices challenging especially with patient physiological motion. Although prior art uses 3D holographic image guidance, accurate spatial registration and efficient operator workflows remain issues. There is a need for a system that enables effective pre-registration to reduce registration steps during procedures and intra-procedural re-registration with live imaging to correct inaccuracies, thus improving safety and accuracy of probe placement in MIS procedures.
The disclosed methods solve these problems by employing a pre-registration technique that uses an optical image target placed at a known location on the imager to determine a transformation between the imaging apparatus coordinate system and the AR system coordinate system. This transformation is stored and reusable for multiple patients, reducing intra-procedural workload. The system also includes re-registration methods that use live imaging to adjust and align the holographic representations with real-time anatomical data, employing intersectional contour techniques to overlay target tissue boundaries for improved visual guidance without obstructing the operator's view.
Claims Coverage
The patent includes multiple independent claims covering methods and systems for pre-registration and re-registration in image-guided interventions using augmented reality systems integrated with image acquisition apparatuses.
Pre-registration transformation of coordinate systems
Providing an installation of an augmented reality system at a first image acquisition apparatus; placing a first optical image target at a predetermined location on the imager; acquiring coordinates from the image target with the AR system; determining and storing a pre-registration transformation from the image acquisition apparatus coordinate system into the AR system coordinate system based on the image target coordinates.
Application of pre-registration transformation during image-guided intervention
Applying the pre-registration transformation to transform a first holographic image dataset from the image acquisition apparatus coordinate system to the AR system coordinate system during intervention; placing a second image target on the patient; acquiring its coordinates; acquiring a first holographic image dataset of the patient; creating and transmitting a surgical interventional plan delineating target tissue; transforming the plan into AR system coordinates using the pre-registration; generating a holographic light ray showing the planned instrument trajectory.
Re-registration using real-time holographic imaging
Providing an installation of an AR system with an initial transformation stored (e.g., pre-registration); acquiring a real-time holographic image dataset during intervention; comparing the real-time dataset with the patient or the first holographic dataset; adjusting the first dataset to align with the real-time data to provide a re-registration transformation; storing the re-registration transformation.
Use of intersectional contours for enhanced visualization
Acquiring first (3D) and second (2D planar sector real-time) holographic image datasets; overlaying and comparing them; determining an intersectional contour defined by intersection points of the 3D and 2D datasets; removing portions not in the intersectional contour from operator view; displaying only the intersectional contour overlaid on the real-time image to facilitate unobstructed visualization.
The independent claims collectively cover methods and systems that enable efficient pre-registration of augmented reality systems to medical imaging devices, apply these transformations during interventions for accurate holographic guidance, further refine alignment with intra-procedural re-registration using live imaging, and enhance operator visualization through intersectional contour overlays.
Stated Advantages
Enables pre-registration that reduces the number of registration steps during procedures, improving operator workflow efficiency.
Facilitates effective and safe alignment of physical instruments with planned trajectories using holographic guidance.
Improves accuracy and safety of probe placement by enabling intra-procedural re-registration using live imaging data.
Employs intersectional contour techniques to provide unobstructed views of target tissue by overlaying only the relevant holographic contours, enhancing operator visualization.
Allows repeatable use of pre-registration transformations across multiple patients, reducing setup time.
Enables movement of bulky imaging apparatus (e.g., C-arm) away from the patient while maintaining holographic guides, facilitating procedural access.
Documented Applications
Image-guided intervention for patients, particularly minimally invasive surgical procedures such as percutaneous treatments or diagnoses.
Use with multi-detector row computerized tomography (MDCT) scanners and C-arm angiography fluoroscopy units for planning and navigation.
Employing augmented reality systems, including head-mounted displays, to provide holographic guidance during interventions.
Re-registration during the intervention using real-time imaging modalities such as ultrasound to adjust for patient motion and improve guidance accuracy.
Overlaying 3D holographic images with real-time 2D sector images for enhancing visualization and alignment during interventions.
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