US 12,594,125 B2Granted

Visualization system and method for ENT procedures

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

InventorsJetmir Palushi, Itamar Bustan, Noam Racheli, Itzhak Fang, Athanasios Papadakis, Vadim Gliner

Life of this patent

Estimating the term…

Loading patent…

Abstract

A visualization system may be implemented with an image guided surgery navigation system for use during ENT procedures. Correlated datasets such as surgical paths and pre-operative image slices may be correlated with the coordinate system of the navigation system for reference during a procedure. A surgeon may wear a head mounted display (“HMD”) having a transparent screen through which the patient anatomy may be viewed. The orientation and distance of the head mounted display relative to the patient anatomy may be determined using magnetic position tracking, image analysis of images captured by a camera of the HMD, or both. Correlated datasets may then be transformed based on the relative distance and orientation and may be displayed via the transparent screen to overlay directly viewed patient anatomy. Some implementations may include optical fiducials integrated with a patient tracking assembly to aid in tracking the patient and determining perspective of the HMD.

Claims15

Dependent claims

A system for ear, nose, and throat (“ENT”) visualization comprising:

(a) an image guided surgery (“IGS”) navigation system operable to:
(i) maintain a coordinate system corresponding to a tracked area, the coordinate system being based on an electromagnetic field,
(ii) track a plurality of position sensors with the coordinate system, and
(iii) register a location of a patient anatomy with the coordinate system;
(b) a head mounted display (“HMD”) comprising a wearable frame and a display, the display being positioned on the wearable frame and configured to be intersected by a neutral optical axis of a wearer;
(c) a sensor operable to produce a set of perspective data indicating the perspective of the HMD relative to the patient anatomy;
(d) a patient tracking assembly including (i) a disposable portion having a base configured to be attached to a patient's head of the patient anatomy and a coupling block secured to the base and (ii) a reusable portion having a coupling assembly including a latch configured to secure to the coupling block of the disposable portion and including a patient anatomy position sensor of the plurality of position sensors, the IGS navigation system being configured to update the location of the patient anatomy with the coordinate system based on signals from the patient anatomy position sensor;
and
(e) a processor configured to:
(i) receive one or more correlated datasets, each of the one or more correlated datasets comprising data associated with the coordinate system including a distal tip location indicating the current location of a distal tip of an instrument, the distal tip location data being acquired from an instrument position sensor of the plurality of position sensors, the instrument position sensor being positioned at the distal tip of the instrument,
(ii) while the patient anatomy is viewed from a present perspective, determine an orientation of the neutral optical axis relative to a viewed point on the patient anatomy based on the set of perspective data, determine a distance between an origin of the neutral optical axis and the viewed point based on the set of perspective data,
(iii) transform the one or more correlated datasets based on the orientation and the distance to produce an overlay image that corresponds to the patient anatomy at the present perspective,
(iv) render the overlay image, including a live view of the current location of the distal tip having the instrument position sensor, via the display, and
(v) drive a plurality of field generators to generate alternating electromagnetic fields and process signals from a navigation guidewire such that the processor is configured to track the live location of the navigation guidewire, the navigation guidewire including a guidewire position sensor of the plurality of position sensors that is responsive to positioning within the alternating electromagnetic fields generated by the plurality of field generators.

11 more elements

A system for ear, nose, and throat (“ENT”) visualization comprising:

(a) an image guided surgery (“IGS”) navigation system operable to:
(i) maintain a coordinate system corresponding to a tracked area, the coordinate system being based on an electromagnetic field,
(ii) track a plurality of position sensors with the coordinate system, and
(iii) register a location of a patient anatomy with the coordinate system;
(b) a head mounted display (“HMD”) comprising a wearable frame and a display, the display being positioned on the wearable frame and configured to be intersected by a neutral optical axis of a wearer;
(c) a sensor operable to produce a set of perspective data indicating the perspective of the HMD relative to the patient anatomy;
(d) a patient tracking assembly including (i) a disposable portion having a base configured to be attached to a patient's head of the patient anatomy and a coupling block secured to the base and (ii) a reusable portion having a coupling assembly including a latch configured to secure to the coupling block of the disposable portion and including a patient anatomy position sensor of the plurality of position sensors, the IGS navigation system being configured to update the location of the patient anatomy with the coordinate system based on signals from the patient anatomy position sensor;
and
(e) a processor configured to:
(i) receive one or more correlated datasets from the patient anatomy position sensor, each of the one or more correlated datasets comprising data associated with the coordinate system,
(ii) while the patient anatomy is viewed from a present perspective, determine an orientation of the neutral optical axis relative to a viewed point on the patient anatomy based on the set of perspective data,
(iii) determine a distance between an origin of the neutral optical axis and the viewed point based on the set of perspective data,
(iv) transform the one or more correlated datasets based on the orientation and the distance to produce an overlay image that corresponds to the patient anatomy at the present perspective,
(v) render the overlay image, including a live view of the current location of a portion of an instrument within the patient anatomy, the instrument having an instrument position sensor within the patient anatomy, the instrument position sensor being configured to generate a signal indicating a location of the portion of the instrument, the live view of the current location being based at least in part on a signal received from the instrument position sensor, the live view being rendered via the display, and
(vi) drive a plurality of field generators to generate alternating electromagnetic fields and process signals from a navigation guidewire such that the processor is configured to track the live location of the navigation guidewire, the navigation guidewire including a guidewire position sensor of the plurality of position sensors that is responsive to positioning within the alternating electromagnetic fields generated by the plurality of field generators.

12 more elements

A system for ear, nose, and throat (“ENT”) visualization comprising:

(a) an image guided surgery (“IGS”) navigation system operable to:
(i) maintain a coordinate system corresponding to a tracked area, the coordinate system being based on an electromagnetic field,
(ii) track one or more position sensors with the coordinate system, and
(iii) register a location of a patient anatomy with the coordinate system;
(b) a head mounted display (“HMD”) comprising a wearable frame and a display, the display being positioned on the wearable frame and configured to be intersected by a neutral optical axis of a wearer;
(c) a sensor operable to produce a set of perspective data indicating the perspective of the HMD relative to the patient anatomy, the sensor comprising a camera positioned on the wearable frame and having an optical axis that is parallel to and statically offset from the neutral optical axis;
(d) a patient tracking assembly including a (i) disposable portion having a base configured to be attached to a patient's head of the patient anatomy and a coupling block secured to the base and (ii) a reusable portion having a coupling assembly including a latch configured to secure to the coupling block of the disposable portion and including a patient anatomy position sensor, the IGS navigation system being configured to update the location of the patient anatomy with the coordinate system based on signals from the patient anatomy position sensor;
and
(e) a processor configured to:
(i) receive one or more correlated datasets, each of the one or more correlated datasets comprising data associated with the coordinate system,
(ii) while the patient anatomy is viewed from a present perspective, determine an orientation of the neutral optical axis relative to a viewed point on the patient anatomy based on the set of perspective data,
(iii) determine a distance between an origin of the neutral optical axis and the viewed point based on the set of perspective data,
(iv) transform the one or more correlated datasets based on the orientation and the distance to produce one or more overlay images that correspond to the patient anatomy at the present perspective,
(v) render the one or more overlay images via the display,
(vi) receive an image from the camera and correlate the image to the one or more overlay images based on a known static offset value,
(vii) add a set of overlay images from the one or more overlay images to the image to produce an augmented image,
(viii) display the augmented image on one or more displays other than the display, and
(ix) drive a plurality of field generators to generate alternating electromagnetic fields and process signals from a navigation guidewire such that the processor is configured to track the live location of the navigation guidewire, the navigation guidewire including a guidewire position sensor of the plurality of position sensors that is responsive to positioning within the alternating electromagnetic fields generated by the plurality of field generators.

15 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/037,809Filed 30 Sep 2020 · us provisional application
Priority: 24 Oct 2019
Published: US 2021/0121238 A129 Apr 2021
Granted: 7 Apr 2026
Term ends: Not estimatedThe source records don’t support an estimate.

Classification20 codes

A61B 34/20
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical navigation systems; Devices for tracking or guiding…
A61B 90/37
Image-producing devices or illumination devices not otherwise provided for: surgical systems with images on a monitor during operation
A61B 17/24
Surgical instruments, devices or methods: for use in the oral cavity, larynx, bronchial passages or nose ; Tongue scrapers
A61B 2034/105
Computer-aided simulation of surgical operations: modelling of the patient, e.g. for ligaments or bones

Family

Application62/925,441Us provisional application · filed 24 Oct 2019
US 2021/0121238 A1Pre-grant publication · published 29 Apr 2021
US 12,594,125 B2This patent

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

Timeline

Citations

Open elsewhere

Building an agent or pulling many patents? Use the API or MCP server instead of scraping pages. Get an API key