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US 11,627,924 B2Granted
Systems and methods for image-guided navigation of percutaneously-inserted devices
AssigneeCovidien LP
InventorsGuy Alexandroni, Oren P. Weingarten, Evgeni Kopel
Life of this patent
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Abstract
Systems and methods for image-guided medical procedures use fluoroscopic 3D reconstructions to plan and navigate a percutaneously-inserted device such as a biopsy tool from an entry point to a target.
Claims20
A method of performing an image-guided medical procedure, comprising:
- receiving fluoroscopic images from a fluoroscopic sweep of at least a portion of a patient's body that includes a target area;
- determining a fluoroscopic pose for each of the fluoroscopic images;
- generating a fluoroscopic three-dimensional (3D) reconstruction based on the fluoroscopic images and the fluoroscopic poses;
- applying a trajectory of a percutaneously-inserted device to the fluoroscopic 3D reconstruction such that the fluoroscopic 3D reconstruction includes a planned trajectory;
- displaying a live fluoroscopic image;
- overlaying the planned trajectory of the percutaneously-inserted device on the live fluoroscopic image;
- displaying advancement of a percutaneously-inserted device a first distance in the live fluoroscopic image;
- determining at two angles that the advancement of the percutaneously-inserted device the first distance is following the planned trajectory;
- displaying advancement of the percutaneously-inserted device a second distance in response to determining at two angles that the advancement of the percutaneously-inserted device the first distance is following the planned trajectory;
- and
- determining at two angles that the advancement of the percutaneously-inserted device the second distance is following the planned trajectory.
8 more elements
A method of performing an image-guided medical procedure, comprising:
- receiving first fluoroscopic images from a first fluoroscopic sweep of at least a portion of a patient's body that includes a target area;
- determining a pose for each of the first fluoroscopic images;
- generating and displaying a first fluoroscopic 3D reconstruction based on the first fluoroscopic images and the poses;
- marking a planned trajectory in the first fluoroscopic 3D reconstruction;
- displaying a live fluoroscopic image;
- overlaying the planned trajectory on the live fluoroscopic image;
- adjusting the live fluoroscopic image such that the trajectory appears as a point;
- and
- displaying advancement of a percutaneously-inserted device along the planned trajectory based on the adjusted live fluoroscopic image.
6 more elements
A method of performing an image-guided medical procedure, comprising:
- receiving first fluoroscopic images from a first fluoroscopic sweep of at least a portion of a patient's body that includes a target area;
- determining a first fluoroscopic pose for each of the first fluoroscopic images;
- generating and displaying a first fluoroscopic 3D reconstruction based on the first fluoroscopic images and the first fluoroscopic poses;
- applying a trajectory of a percutaneously-inserted device to the first fluoroscopic 3D reconstruction such that the first fluoroscopic 3D reconstruction includes a planned trajectory;
- displaying a live fluoroscopic image;
- overlaying the planned trajectory of the percutaneously-inserted device on the live fluoroscopic image;
- receiving second fluoroscopic images of an insertion point from a second fluoroscopic sweep;
- determining a second pose for each of the second fluoroscopic images;
- generating and displaying a second fluoroscopic 3D reconstruction based on the second fluoroscopic images and the second poses;
- and
- displaying insertion of a percutaneously-inserted device in the live fluoroscopic image.
8 more elements
Dependencies are inferred from the claim text.