SYSTEMS AND METHODS FOR PLANNING AND NAVIGATION
The present disclosure is directed to a planning and navigation method. The planning and navigation method includes obtaining a plurality of images, rendering the plurality of images in three dimensions, automatically segmenting the plurality of images to demarcate a target area, and automatically determining a treatment plan based on the target area. The planning and navigation system also includes obtaining an ultrasound image of a scan plane including the target and obtaining a fiducial image of a fiducial pattern disposed on an ultrasound device using an image capture device on a surgical device. The obtained fiducial image is corrected for lens distortion and a correspondence between the fiducial image and a model image is found. After which a camera pose is a position of the surgical device is transformed to model coordinates. Then the ultrasound image and a virtual image of the surgical device is displayed based on the model coordinates to allow a surgeon to navigate the surgical device to the target using the displayed ultrasound image and the virtual image and treating the target based on the treatment plan.
1 - 28 . (canceled)
29 . A method of tracking a medical device comprising:
generating an electromagnetic field;
detecting a location of a surgical device in the electromagnetic field;
obtaining an ultrasound image of a target, the ultrasound image defining a scan plane;
determining a spatial relationship between the surgical device and the scan plane; and
displaying a representation of the surgical device with respect to the target in the scan plane.
30 . The method of claim 29 , further comprising displaying the position of the surgical device in relation to the scan plane.
31 . The method of claim 29 , wherein the spatial relationship between the surgical device and the scan plane defines a relative position and a relative angle of the surgical instrument to the scan plane.
32 . The method of claim 31 , further comprising displaying a trajectory of the surgical device with respect to the image.
33 . The method of claim 32 , wherein the trajectory is determined based on the defined relative position and defined relative angle of the surgical instrument to the scan plane.
34 . The method of claim 32 , further comprising replacing the trajectory with the image of the surgical instrument as the surgical instrument enters the image.
35 . The method of claim 29 , further comprising displaying a virtual ablation zone.
36 . The method of claim 35 , further comprising adjusting an energy level to adjust the displayed virtual ablation zone.
37 . The method of claim 35 , further comprising adjusting an ablation time setting to adjust the displayed virtual ablation zone.
38 . The method of claim 29 , wherein the target is identified in a pre-operative image.
39 . The method of claim 38 , wherein a location of the target in the pre-operative image is recorded.
40 . The method of claim 38 , further comprising determining calculated properties of the target upon identification of the target.
41 . The method of claim 40 , further comprising determining power and time settings based on the calculated properties of the target.
42 . The method of claim 41 , further comprising displaying initial power and time settings.
43 . The method of claim 40 , further comprising identifying the surgical device based on the calculated properties of the target.