# US 2019/0167354 A1 · Systems, methods, apparatuses, and computer-readable media for image guided surgery

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- Number: US 2019/0167354 A1
- Document ID: US20190167354A1
- Status: Published application
- Kind: A1
- Application number: 16/178,002
- Filed: 2018-11-01
- Published: 2019-06-06
- Earliest claimed: 2009-02-17
- Assignees: InnerOptic Technology, Inc.
- Applicants: InnerOptic Technology, Inc.
- Inventors: Brian Heaney; John Martinie; David Iannitti; Andrei State; Sharif Razzaque
- Web page: https://patentgrep.com/patent/US20190167354A1

## CPC

- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 8/4245: {involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient}
- A61B 18/1477: {Needle-like probes}
- A61B 18/1815: {using microwaves}
- A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations
- A61B 34/25: {User interfaces for surgical systems}
- A61B 90/37: {Surgical systems with images on a monitor during operation}
- A61B 18/02: by cooling, e.g. cryogenic techniques
- A61B 18/082: {Probes or electrodes therefor}
- A61B 18/1442: {Probes having pivoting end effectors, e.g. forceps}
- A61B 18/18: by applying electromagnetic radiation, e.g. microwaves
- A61B 18/20: using laser
- A61B 2018/00577: {Ablation}
- A61B 2018/1425: {Needle}
- A61B 2018/1869: {with an instrument interstitially inserted into the body, e.g. needles}
- A61B 2034/102: {Modelling of surgical devices, implants or prosthesis}
- A61B 2034/104: {Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring}
- A61B 2034/107: {Visualisation of planned trajectories or target regions}
- A61B 2034/2051: {Electromagnetic tracking systems}
- A61B 2034/207: {Divots for calibration}
- A61B 2034/2072: {Reference field transducer attached to an instrument or patient}
- A61B 2090/368: {changing the image on a display according to the operator's position}
- A61B 2090/378: {using ultrasound}
- A61B 2090/3983: {Reference marker arrangements for use with image guided surgery}
- A61B 2090/502: {Headgear, e.g. helmet, spectacles}
- B33Y 80/00: Products made by additive manufacturing
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- B33Y: ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING

## Abstract

Presented herein are methods, systems, devices, and computer-readable media for image guided surgery. The systems herein allow a physician to use multiple instruments for a surgery and simultaneously provide image-guidance data for those instruments. Various embodiments disclosed herein provide information to physicians about procedures they are performing, the devices (such as ablation needles, ultrasound wands or probes, scalpels, cauterizers, etc.) they are using during the procedure, the relative emplacements or poses of these devices, prediction information for those devices, and other information. Some embodiments provide useful information about 3D data sets. Additionally, some embodiments provide for quickly calibratable surgical instruments or attachments for surgical instruments.

## Claims

### Claim at position 1

1-24. (canceled)

### Claim 25

A method for medical device navigation, the method comprising:
determining an emplacement of a 2D medical image in a 3D virtual space based at least in part on received emplacement data associated with a first physical medical device;
determining an emplacement of a medical device in the 3D virtual space based at least in part on received emplacement data associated with a second physical medical device;
determining an intersection between an axis of the medical device in the 3D space and the 2D medical image in the 3D space based at least in part on the determined emplacement of the 2D medical image in the 3D space and the determined emplacement of the medical device in the 3D space; and
causing one or more displays to concurrently display:
the 2D medical image,
an indication of the intersection between the axis of the medical device and the 2D medical image.

### Claim 26 (depends on 25)

The method of claim 25, further comprising:
determining a distance between a tip of the medical device and a point on the medical image that is closest to the tip of the medical device; and
causing the one or more displays to further concurrently display:
an indication of the distance.

### Claim 27 (depends on 25)

The method of claim 25, wherein the second physical medical device comprises an ablation needle, wherein the method further comprises:
determining an emplacement of an ablation volume in the 3D virtual space based at least in part on the received emplacement data associated with the second physical medical device;
determining a portion of the ablation volume that intersects with the medical image in the 3D space; and
causing the one or more displays to further concurrently display:
an indication of the portion of the ablation volume that that intersects with the medical image in the 3D space, wherein the indication of the portion of the ablation volume is coplanar with the 2D image.

### Claim 28

A method for image guidance comprising:
determining an emplacement of at least one of a medical device or a medical image based at least in part on emplacement data associated with a physical medical device; and
causing one or more displays to display, in a virtual 3D space, a perspective view of at least one of:
at least a portion of the medical device; or
at least a portion of the medical image,
wherein the perspective view is based at least in part on a relative emplacement of the physical medical device with respect to a particular location.

### Claim 29 (depends on 28)

The method of claim 28, wherein the particular location comprises a location from which the one or more displays are visible.

### Claim 30 (depends on 28)

The method of claim 28, wherein the particular location comprises an expected location of the user that is a fixed location in front of one or more displays.

### Claim 31 (depends on 28)

The method of claim 28, wherein the medical image is a medical image slice.

### Claim 32 (depends on 28)

The method of claim 28, wherein the particular location corresponds to an expected location of a user.

### Claim 33 (depends on 32)

The method of claim 32, wherein the expected location of the user is a fixed location in front of the one or more displays.

### Claim 34 (depends on 28)

The method of claim 28, wherein said causing the one or more displays to display the perspective view comprises causing the one or more displays to display the perspective view in real-time.

### Claim 35 (depends on 28)

The method of claim 28, wherein the physical medical device comprises at least one of a needle or an imaging device.

### Claim 36 (depends on 28)

The method of claim 28, further comprising causing the one or more displays to display a graphic indicating an intersection between a trajectory of the medical device and a location on a 2D plane corresponding to the medical image.

### Claim 37 (depends on 28)

The method of claim 28, further comprising causing the one or more displays to display in real-time a perspective view of an ablation volume corresponding to the medical device based at least in part on the emplacement of the at least one of the medical device or the medical image.

### Claim 38

A system for image guidance comprising one or more processors configured to:
determine an emplacement of at least one of a medical device or a medical image based at least in part on emplacement data associated with a physical medical device; and
cause one or more displays to display, in a virtual 3D space, a perspective view of at least one of:
at least a portion of the medical device; or
at least a portion of the medical image,
wherein the perspective view is based at least in part on a relative emplacement of the physical medical device with respect to a particular location.