US 12,213,737 B2Granted

User interface for image guided surgery system

AssigneesAcclarent, Inc., Biosense Webster (Israel) Ltd.

InventorsFatemeh Akbarian, Athanasios Papadakis, Jordan R. Trott, Noam Racheli, Itamar Bustan, Jetmir Palushi

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Abstract

A virtual camera may be positioned relative to a 3-D model of a patient anatomy in order to provide a virtual camera view of the surrounding anatomy and tracked surgical instruments being deployed to the anatomy. Visual context provided by the virtual camera may be limited in some cases, such as where a surgical instrument is being used within a very narrow anatomical passageway or cavity. To provide more placement flexibility, an IGS system providing a virtual camera receives inputs defining variable visual characteristics for different segments or regions of the 3-D model, which may include hiding certain segments or making certain segments semi-transparent. With such a system, the view of the 3-D model provided by the virtual camera view may be modified to remove or deemphasize less relevant segments, to display or emphasize more relevant segments (e.g., critical patient anatomy), or both.

Claims20

Dependent claims

An image guided surgery system comprising:

(a) a display;
(b) a set of preoperative images associated with a patient;
(c) a tracked surgical instrument configured to produce a set of instrument location information that is associated with a coordinate system;
and
(d) a processor configured to:
(i) segment the set of preoperative images to produce a patient model and associate the patient model with the coordinate system, wherein the patient model comprises a three-dimensional model of the patient's anatomy comprised of a plurality of segments,
(ii) identify, for each segment of the plurality of segments, an anatomical structure of the patient corresponding to each segment,
(iii) determine a filter selection indicative of a surgical procedure to be performed on the patient using the image guided surgery system,
(iv) categorize each segment of the plurality of segments into two or more segment groups based upon the filter selection indicative of the surgical procedure and on the anatomical structure corresponding to the respective segment, wherein each of the two or more segment groups is associated with a different visual characteristic,
(v) render a modified patient model based on the different visual characteristic of each of the two or more segment groups,
(vi) receive a set of virtual camera configurations that define a position and an orientation of a virtual camera within the coordinate system, and
(vii) cause the display to show a virtual camera view of the modified patient model based on the set of virtual camera configurations and the set of instrument location information.

9 more elements

A method for selectively controlling segments shown by a virtual camera comprising:

with a processor,
(a) segmenting a set of preoperative images to produce a patient model and associating the patient model with a coordinate system, wherein the patient model comprises a three-dimensional model of a patient's anatomy comprised of a plurality of segments;
(b) identify, for each segment of the plurality of segments, an anatomical structure of the patient corresponding to each segment,
(c) determine a filter selection indicative of a surgical procedure to be performed on the patient using the image guided surgery system,
(d) categorizing each segment of the plurality of segments into two or more segment groups based upon the filter selection indicative of the surgical procedure and on the anatomical structure corresponding to the respective segment, wherein each of the two or more segment groups is associated with a different visual characteristic;
(e) rendering a modified patient model based on the different visual characteristic of each of the two or more segment groups;
(f) receiving a set of virtual camera configurations that define a position and an orientation of the virtual camera within the coordinate system;
(g) receiving a set of instrument location information that indicates a tracked surgical instrument within the coordinate system;
and
(h) causing a display to show a virtual camera view of the modified patient model based on the set of virtual camera configurations and the set of instrument location information.

7 more elements

An image guided surgery system comprising one or more processors configured to:

(i) maintain a coordinate system,
(ii) segment a set of preoperative images to produce a patient model and associate the patient model with the coordinate system, wherein the patient model comprises a three-dimensional model of the patient's anatomy comprised of a plurality of segments,
(iii) identify, for each segment of the plurality of segments, an anatomical structure of the patient corresponding to each segment,
(iii) determine a filter selection indicative of a surgical procedure to be performed on the patient using the image guided surgery system,
(iv) categorize each segment of the plurality of segments into one of two segment groups based upon the filter selection indicative of the surgical procedure and on the anatomical structure corresponding to the respective segment, wherein each of the two segment groups is associated with a different visual characteristic,
(v) render a modified patient model based on the different visual characteristic of each of the two or more segment groups, and
(vi) update the two segment groups by moving a segment categorized into a first segment group to the second segment group based on a present procedural step of the surgical procedure being performed on the patient.

4 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/194,466Filed 8 Mar 2021 · us provisional application
Priority: 9 Apr 2020
Published: US 2021/0315636 A114 Oct 2021
Granted: 4 Feb 2025
Term ends: Not estimatedThe source records don’t support an estimate.

Classification10 codes

A61B 34/10
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: computer-aided planning, simulation or modelling of surgical…
A61B 34/20
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical navigation systems; Devices for tracking or guiding…
A61B 34/25
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: user interfaces for surgical systems
A61B 2034/105
Computer-aided simulation of surgical operations: modelling of the patient, e.g. for ligaments or bones

Family

Application63/007,713Us provisional application · filed 9 Apr 2020
US 2021/0315636 A1Pre-grant publication · published 14 Oct 2021
US 12,213,737 B2This patent

From the US filing history. Foreign family members aren’t listed.

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