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US 10,617,401 B2Granted
Systems for localization of targets inside a body
AssigneeZiteo, Inc.
InventorsLucian Mihailescu, Michael J. Quinlan, Victor Arie Negut
Life of this patent
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Abstract
The present disclosure relates, in part, to a scanning sufficiency apparatus that computes whether a handheld scanning device has scanned a volume for a sufficiently long time for there to be detections and then indicate to the user that the time is sufficient in 3-D rendered voxels. Also described is a hand held medical navigation apparatus with system and methods to map targets inside a patient's body.
Claims24
An image formation and navigation apparatus, comprising:
- a housing assembly comprising a preferred axis physically identifiable by an operator;
- an ionizing radiation sensor at least partially enclosed within the housing assembly and disposed towards a distal end of the housing assembly;
- an optical tracking camera at least partially enclosed within the housing assembly, the camera having a field of view that overlaps partially with the field of view of the sensor;
- a visualization device operably linked to at least one processor and configured to show instantaneous renderings of images, the at least one processor operatively coupled with a memory, the sensor, and the camera, the memory having instructions for execution by the at least one processor configured to:
- determine a pose of the camera with respect to an object using an image captured by the camera and, using transformations derived from the camera being rigidly connected with the sensor, determine a spatial position and orientation of the sensor with respect to the object;
- associate scanning data from the sensor with the determined spatial position and orientation of the sensor with respect to the object to create registered scans;
- create a 3-D map of sources generating signatures measured by the sensor by using at least two registered scans;
- and
- create an image for visualization on the visualization device which is a combination of a rendered image of the 3-D map and an image processed from an image captured by the camera.
6 more elements
A laparoscopic, endoscopic or intra-cavity image formation and navigation apparatus, comprising:
- a housing assembly having an elongated, essentially cylindrical part with a diameter of less than 30 millimeters (mm);
- a gamma ray sensor with spectroscopic and position resolution at least partially enclosed within the elongated part of the housing assembly, towards a distal end of the elongated part;
- an optical tracking camera at least partially enclosed within another housing assembly having an elongated, essentially cylindrical part with a diameter of less than 30 mm, towards the distal end of the elongated part, the camera having a field of view that observes a general area where the sensor is operated;
- a tracking and co-registration system to provide a spatial position and orientation of the sensor and the camera with respect to examined organs;
- at least one processor operatively coupled with a memory, the sensor, the tracking and co-registration system, and the camera, the memory having instructions for execution by the at least one processor configured to:
- associate gamma ray interaction data from the sensor with the provided spatial position and orientation of the sensor with respect to an object to create registered scans;
- determine a scattering angle around a scattering direction of a gamma ray interacting at least two times in the sensor by resolving kinematics of the gamma ray interactions within the sensor;
- and
- create a 3-D map of gamma ray sources by resolving statistically an intersection of at least two spatially registered cones formed by the determined scattering angle around the scattering direction.
6 more elements
An image navigation apparatus, comprising:
- an elongated medical instrument comprising a preferred axis physically identifiable by an operator;
- an optical tracking camera rigidly affixed to the medical instrument;
- a visualization device operably linked to at least one processor and configured to show instantaneous renderings of images, the at least one processor operatively coupled with a memory and the tracking camera, the memory having instructions for execution by the at least one processor configured to:
- load a 3D medical image dataset from the memory;
- determine a pose of the tracking camera with respect to an object using an image captured by the tracking camera;
- determine the pose of the tracking camera with respect to the 3D medical image dataset using the pose of the tracking camera with respect to the object;
- and
- create an image for visualization on the visualization device that is a combination of a rendered image of the 3D medical image dataset and an image processed from an image captured by the tracking camera.
5 more elements
Dependencies are inferred from the claim text.