Method and system for surgical instrument guidance and tracking with position and orientation correction

A system for surgical procedure assistance, comprising:

• a tracking unit implemented by a processor and configured to receive information related to a pose of a surgical instrument at a first location with respect to a lesion from a sensor coupled with the surgical instrument;
• a positioning unit implemented by a processor and configured to:
• obtain a first image of an organ having the lesion prior to a surgical procedure,
• generate a visual environment having the lesion and the surgical instrument rendered therein based on the first image and the information received from the sensor, and
• obtain a second image of the organ when the surgical instrument is disposed at a second location with respect to the lesion during the surgical procedure, wherein the second image captures the lesion and the surgical instrument;
• and
• a compensation unit implemented by the processor and configured to:
• map the lesion in the first image to the second image,
• map the surgical instrument rendered in the visual environment to the second image, and
• adjust the pose of the surgical instrument and the lesion rendered in the visual environment by compensating a difference in pose of the surgical instrument in the visual environment and in the second image, and compensating a position difference of the lesion in the first and second images.

A non-transitory machine readable medium having information recorded thereon for surgical procedure assistance, wherein the information, when read by a machine, causes the machine to perform the steps of:

• obtaining a first image of an organ having a lesion prior to a surgical procedure;
• receiving information, related to a pose of a surgical instrument at a first location with respect to the lesion, from a sensor coupled with the surgical instrument;
• generating a visual environment having the lesion and the surgical instrument rendered therein based on the first image and the information received from the sensor;
• obtaining a second image of the organ when the surgical instrument is disposed at a second location with respect to the lesion during the surgical procedure, wherein the second image captures the lesion and the surgical instrument;
• mapping the lesion in the first image to the second image;
• mapping the surgical instrument rendered in the visual environment to the second image;
• and
• adjusting the pose of the surgical instrument and the lesion rendered in the visual environment, wherein the adjusting comprises compensating a difference in pose of the surgical instrument in the visual environment and in the second image, and compensating a position difference of the lesion in the first and second images.

A method, implemented on a computing device having at least one processor, storage, and a communication platform capable of connecting to a network for instrument tracking and guidance, comprising:

• obtaining a first image of an object prior to an operation;
• receiving information, related to a pose of an instrument at a first location with respect to the object, from a sensor coupled with the instrument;
• generating a visual environment having the object and the instrument rendered therein based on the first image and the information received from the sensor;
• obtaining a second image capturing the object and the instrument when the instrument is disposed at a second location with respect to the object during the operation;
• and
• adjusting the pose of the instrument and the object rendered in the visual environment based on mapping of the object in the first image to the second image, and mapping of the instrument rendered in the visual environment to the second image, the adjusting being performed by compensating a difference in pose of the instrument in the visual environment and in the second image, and compensating a position difference of the lesion in the first and second images.