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US 10,895,906 B2Granted
System and method for holographic image-guided non-vascular percutaneous procedures
AssigneeThe Cleveland Clinic Foundation
InventorsKarl West, Jeffrey H. Yanof
Life of this patent
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Abstract
Holographic image-guidance can be used to track an interventional device during a non-vascular percutaneous procedure. The holographic image guidance can be provided by a head-mounted device by transforming tracking data and body image data to a common coordinate system and creating a holographic display relative to a patient's body to track the interventional device during the non-vascular percutaneous procedure. The holographic display can also include graphics to provide guidance for the physical interventional device as it travels through the patient's anatomy.
Claims22
A method comprising:
- receiving, by a head-mounted device comprising a processor, tracking data for a physical interventional device in a tracking coordinate system, wherein the physical interventional device is used during a non-vascular percutaneous medical procedure;
- transforming, by the head-mounted device, the tracking data for the physical interventional device in the tracking coordinate system into a headset coordinate system;
- accessing, by the head-mounted device, image data from a pre-operative image of a patient's anatomy comprising a physical operative site in an imaging coordinate system;
- transforming, by the head mounted device, the image data in the imaging coordinate system into the headset coordinate system;
- registering, by the head-mounted device, the image data of the patient's anatomy and the tracking data for the physical interventional device into the headset coordinate system to generate 3D anatomical holographic projections and a 3D holographic representation of the interventional device within the headset coordinate system, wherein the headset coordinate system is a common coordinate system for the tracking data and the image data;
- displaying in the common coordinate system, by the head mounted device, the 3D anatomical holographic projections providing a visualization of a holographic version of the patient's anatomy with reference graphics related to a physical operative site within the patient's anatomy;
- displaying in the common coordinate system, by the head mounted device, the 3D holographic representation of the interventional device providing a visualization of a holographic version of the interventional device with guidance control graphics related to the physical interventional device;
- and
- navigating, by the head mounted device, the 3D holographic representation of the interventional device in the 3D anatomical holographic projections based on the tracking data for the interventional device in the headset coordinate system,
- wherein the reference graphics and the guidance control graphics provide guidance for tracking the physical interventional device through the patient's anatomy using the 3D anatomical holographic projections and the 3D holographic representation of the interventional device.
7 more elements
A head-mounted device comprising:
- a non-transitory memory storing instructions;
- and
- a processor to access the non-transitory memory and execute the instructions to:
- receive tracking data for a physical interventional device in a tracking coordinate system, wherein the physical interventional device is used during a non-vascular percutaneous medical procedure;
- transform the tracking data for the physical interventional device in the tracking coordinate system into a headset coordinate system;
- access image data from a pre-operative image of a patient's anatomy comprising a physical operative site in an imaging coordinate system;
- transform the image data in the imaging coordinate system into the headset coordinate system;
- register the image data of the patient's anatomy and the tracking data for the physical interventional device into the headset coordinate system to generate 3D anatomical holographic projections and a 3D holographic representation of the interventional device within the headset coordinate system, wherein the headset coordinate system is a common coordinate system for the tracking data and the image data;
- display in the common coordinate system the 3D anatomical holographic projections providing a visualization of a holographic version of the patient's anatomy with reference graphics related to a physical operative site within the patient's anatomy;
- display in the common coordinate system the 3D holographic representation of the interventional device providing a visualization of a holographic version of the interventional device with guidance control graphics related to the physical interventional device;
- and
- navigate the 3D holographic representation of the interventional device in the 3D anatomical holographic projections based on the tracking data for the interventional device in the headset coordinate system,
- wherein the reference graphics and the guidance control graphics provide guidance for tracking the physical interventional device through the patient's anatomy using the 3D anatomical holographic projections and the 3D holographic representation of the interventional device.
10 more elements
Dependencies are inferred from the claim text.