Systems, methods, apparatuses, and computer-readable media for image guided surgery
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.
1. A method for image guided surgery, comprising:
determining, with a computer system, real-time position and orientation of a first medical device;
determining, with the computer system, real-time position and orientation of a second medical device;
determining position and orientation of a 2D image area based at least on the determined real-time position and orientation of the second medical device;
receiving an image corresponding to the 2D image area from the second medical device in real-time;
determining a perspective view of the 2D image area in a virtual 3D space based at least on real-time relative orientation of the second medical device with respect to a position of a user; and
causing the one or more displays to display in real-time a perspective view of the image in the virtual 3D space based at least on the real-time relative orientation of the second medical device with respect to the position of the user.
2. The method of claim 1 , wherein the first medical device comprises an ablation needle, and wherein the method further comprises causing the one or more displays to display in real-time a perspective view of an ablation volume for the ablation needle in the virtual 3D space based at least on real-time relative orientation of the first medical device with respect to the position of the user.
3. The method of claim 1 , wherein the first medical device comprises a needle, and wherein the method further comprises causing the one or more displays to display in real-time a perspective view of a drive projection for the needle in the virtual 3D space based at least on real-time relative orientation of the first medical device with respect to the position of the user.
4. The method of claim 1 , further comprising causing the one or more displays to display in real-time graphical indicators of the real-time relative emplacement of the first medical device with respect to a target location.
5. The method of claim 1 , wherein the first medical device comprises an ablation needle and the second medical device comprises a medical imager.
6. The method of claim 5 , further comprising:
receiving an indication of a point of interest; and
marking, in an underlying 3D model, the intersection of the ablation needle's axis and an image plane of the medical imager as the point of interest.
7. The method of claim 6 , further comprising causing the one or more displays to display in real-time a perspective view of the point of interest in the virtual 3D space based at least on the determined perspective view of the 2D image area.
8. The method of claim 1 , further comprising altering the perspective view of the 2D image area based on at least one of a changed position of the second medical device with respect to the position of the user and a changed orientation of the second medical device with respect to the position of the user.
9. The method of claim 1 , wherein a size of the perspective view of the 2D image area is proportional to the orientation of the second medical device with respect to the position of the user.
10. The method of claim 1 , further comprising causing the one or more displays to display a copy of the image in a location that is different from the location of the perspective view of the image.
11. The method of claim 1 , further comprising:
determining a rotated perspective view of the 2D image area in the virtual 3D space in response to a rotation of the second medical device about an axis;
receiving a second image corresponding to the 2D image area from the second medical device following the rotation; and
causing the one or more displays to display a perspective view of the second image in the virtual 3D space based at least on the rotated perspective view of the 2D image area.
12. The method of claim 1 , wherein the position of the user is an expected position of the user.
13. The method of claim 1 , wherein the position of the user is a calculated position of the user.
14. A system for image guided surgery, comprising:
a computer system comprising one or more processors, wherein the processor is configured to:
determine real-time position and orientation for a first medical device;
determine real-time position and orientation for a second medical device;
determine position and orientation of a 2D image area based at least on the determined position and orientation of the second medical device;
receive an image corresponding the 2D image area from the second medical device in real-time;
determine a perspective view of the 2D image area in a virtual 3D space based at least on real-time relative orientation of the second medical device with respect to a position of a user; and
cause one or more displays to display in real-time a perspective view of the image in the virtual 3D space based at least on the determined perspective view of the 2D image area.
15. The system of claim 14 , wherein the first medical device comprises an ablation needle, and wherein the processor is further configured to cause the one or more displays to display in real-time a perspective view of an ablation volume for the ablation needle in the virtual 3D space based at least on real-time relative orientation of the first medical device with respect to the position of the user.
16. The system of claim 14 , wherein the first medical device comprises a needle, and wherein the processor is further configured to cause the one or more displays to display in real-time a perspective view of a drive projection for the needle in the virtual 3D space based at least on real-time relative orientation of the first medical device with respect to the position of the user.
17. The system of claim 14 , wherein the first medical device comprises an ablation needle, the second medical device comprises a medical imager, and the processor is further configured to cause the one or more display devices to display in real time an intersection of the ablation needle's axis and an image plane for the medical imager.
18. The system of claim 14 , wherein a size of the perspective view of the 2D image area is proportional to the orientation of the second medical device with respect to the position of the user.
19. The system of claim 14 , wherein the processor is further configured to:
determine a rotated perspective view of the 2D image area in the virtual 3D space in response to a rotation of the second medical device about an axis;
receive a second image corresponding to the 2D image area from the second medical device following the rotation; and
cause the one or more displays to display a perspective view of the second image in the virtual 3D space based at least on the rotated perspective view of the 2D image area.
20. The system of claim 14 , wherein the processor is further configured to alter the perspective view of the 2D image area based on at least one of a changed position of the second medical device with respect to the position of the user and a changed orientation of the second medical device with respect to the position of the user.
21. The system of claim 14 , wherein the position of the user is an expected position of the user.
22. A non-transitory computer-readable medium comprising computer-executable instructions, said instructions, when executed, cause one or more processors to:
determine real-time position and orientation of a first medical device;
determine real-time position and orientation of a second medical device;
determine position and orientation of a 2D image area based at least on the determined real-time position and orientation of the second medical device;
receive an image corresponding to the 2D image area from the second medical device in real-time;
determine a perspective view of the 2D image area in a virtual 3D space based at least on real-time relative orientation of the second medical device with respect to a position of a user; and
cause one or more displays to display in real-time a perspective view of the image in the virtual 3D space based at least on the determined perspective view of the 2D image area.
23. The non-transitory computer-readable medium of claim 22 , wherein a size of the perspective view of the 2D image area is proportional to the orientation of the second medical device with respect to the position of the user.
24. The non-transitory computer-readable medium of claim 22 , wherein, said instructions, when executed, further cause the one or more processors to:
determine a rotated perspective view of the 2D image area in the virtual 3D space in response to a rotation of the second medical device about an axis;
receive a second image corresponding to the 2D image area from the second medical device following the rotation; and
cause the one or more displays to display a perspective view of the second image in the virtual 3D space based at least on the rotated perspective view of the 2D image area.