Method and apparatus for determining the position of a surgical tool relative to a target volume inside an animal body

A surgical imaging method for determining and displaying, within a computer-generated display of a display device, a current position of a surgical tool relative to a planned position of the surgical tool within a patient, the surgical imaging method comprising:

• obtaining, via an imaging device, a three-dimensional image of a target volume within the patient;
• generating a first display signal causing the display device to display the three-dimensional image of the target volume on the display device, wherein the displayed three-dimensional image includes a three-dimensional representation of the surgical tool inserted in the target volume at a position corresponding to at least one planned position of the surgical tool;
• receiving a user selection, based on user interaction with the three-dimensional image on the display device, that identifies a selected location in the displayed three-dimensional image;
• generating, responsive to receiving the user selection that identifies the selected location in the displayed three-dimensional image, a control signal causing the imaging device to capture a corresponding location on the patient that corresponds to the selected location in the displayed three-dimensional image;
• obtaining, via the imaging device, a two-dimensional image of the corresponding location on the patient;
• generating a second display signal causing the display device to display the two-dimensional image including an image representation of the surgical tool at the current position in the patient;
• and
• wherein the second display signal is configured to display a visual feedback, via the display device, that indicates the current position of the surgical tool in the patient relative to the planned position of the surgical tool.

A surgical imaging apparatus for determining and displaying, within a computer-generated display of a display device, a current position of a surgical tool relative to a planned position of the surgical tool within a patient, the surgical imaging apparatus comprising:

• an imaging device configured to obtain a three-dimensional image of a target volume within the patient;
• a display of a computer system configured to display the three-dimensional image of the target volume within the patient, wherein the displayed three-dimensional image includes a three-dimensional representation of the surgical tool inserted in the target volume at a position corresponding to the planned position of the surgical tool;
• a selector configured to interact with the three-dimensional image on the display of the computer system to select at least one selected location in the displayed three-dimensional image;
• and
• a controller connected to the imaging device configured to:
• generate, responsive to the selector selecting at least one selected location in the displayed three-dimensional image, a control signal causing the imaging device to capture a corresponding location on the patient that corresponds to the selected location in the displayed three-dimensional image;
• control the imaging device to obtain a two-dimensional image of the corresponding location on the patient;
• and
• generate a second display signal for displaying the two-dimensional image including an image representation of the surgical tool at the current position in the patient,
• wherein the second display signal is configured to display, via the display device, visual feedback that indicates the current position of the surgical tool in the patient relative to the planned position.