Methods, Devices, Systems, Circuits and Associated Computer Executable Code for Detecting and Predicting the Position, Orientation and Trajectory of Surgical Tools
The present invention includes methods, devices, systems, circuits and associated computer executable code for detecting and predicting the position and trajectory of surgical tools. According to some embodiments of the present invention, images of a surgical tool within or in proximity to a patient may be captured by a radiographic imaging system. The images may be processed by associated processing circuitry to determine and predict position, orientation and trajectory of the tool based on 3D models of the tool, geometric calculations and mathematical models describing the movement and deformation of surgical tools within a patient body.
1 . A system for determining the position and orientation of a surgical tool, the system comprising:
a communication module adapted to receive a radiographic image of a surgical tool within or in proximity to a patient;
processing circuitry functionally associated with said communication module and comprising:
first image processing logic adapted to identify appearances of the surgical tool within the radiographic image; and
second image processing logic adapted to extrapolate, based on the identified appearances: (1) a position and orientation of the surgical tool;
and (2) an expected trajectory of the surgical tool.
2 . The system according to claim 1 , wherein said second image processing logic is adapted to determine and factor deformations of the surgical tool.
3 . The system according to claim 1 , wherein said second image processing logic is further adapted to extrapolate, based on the identified appearances: (1) a three dimensional (3D) position and orientation of the surgical tool; and (2) an expected 3D trajectory of the surgical tool
4 . The system according to claim 3 , wherein the surgical tool includes markings visible in a radiographic image and the appearance of the markings in the radiographic image are used by said second image processing logic to determine a (3D) position and orientation of the surgical tool.
5 . The system according to claim 1 , wherein said second image processing logic further extrapolates an expected future position of the tool.
6 . The system according to claim 5 , further comprising a rendering module for rendering, upon a display, an image: (1) of the tool, (2) the extrapolated position and orientation of the tool, (3) the expected trajectory of the tool, (4) the extrapolated future position of the tool and (5) anatomical elements of the patient in proximity to the tool.
7 . The system according to claim 1 , further comprising a data storage of mathematical models describing: (1) the movement of tools within a human anatomy, or (2) the deformation of tools within a human anatomy.
8 . The system according to claim 7 , wherein said mathematical models factor an effect of an interaction with different types of human tissue upon the movement or form of the tool.
9 . The system according to claim 7 , wherein said mathematical models are used by said second image processing logic to extrapolate expected future positions of the tool.
10 . The system according to claim 7 , wherein parameters relating to said mathematical models are updated during a medical procedure.
11 . The system according to claim 1 , wherein determining a 3D position of the surgical tool includes comparing the appearances of the tool to two dimensional projections of a 3D model of the tool.
12 . A method for determining the position and orientation of a surgical tool, the method comprising:
capturing a radiographic image of a surgical tool within or in proximity to a patient;
identifying appearances of the surgical tool within the radiographic image;
automatically extrapolating, by processing circuitry, based on the identified appearances:
(1) a position and orientation of the surgical tool; and
(2) an expected trajectory of the surgical tool.
13 . The method according to claim 12 , further comprising extrapolating, by processing circuitry, an expected future position of the tool.
14 . The method according to claim 13 , further comprising rendering, upon a display, an image: (1) of the tool, (2) the extrapolated position and orientation of the tool, (3) the expected trajectory of the tool, (4) the extrapolated future position of the tool and (5) anatomical elements of the patient in proximity to the tool.
15 . The method according to claim 13 , further comprising using, for extrapolating an expected future position of the tool by the processing circuitry, mathematical models describing: (1) the movement of tools within a human anatomy, or (2) the deformation of tools within a human anatomy.
16 . The method according to claim 15 , further comprising factoring, within said mathematical models, an effect of an interaction with different types of human tissue upon the movement or form of the tool.
17 . The method according to claim 16 , wherein extrapolating the expected future position of the tool includes factoring a type of human tissue the tool is expected to encounter.
18 . The method according to claim 15 , further comprising updating parameters relating to said mathematical models, during a medical procedure.
19 . The method according to claim 12 , further comprising determining and factoring deformations of the surgical tool.
20 . The method according to claim 12 , further comprising marking the tool with markings visible in a radiographic image.