System and method of providing real-time dynamic imagery of a medical procedure site using multiple modalities
A system and method of providing composite real-time dynamic imagery of a medical procedure site from multiple modalities which continuously and immediately depicts the current state and condition of the medical procedure site synchronously with respect to each modality and without undue latency is disclosed. The composite real-time dynamic imagery may be provided by spatially registering multiple real-time dynamic video streams from the multiple modalities to each other. Spatially registering the multiple real-time dynamic video streams to each other may provide a continuous and immediate depiction of the medical procedure site with an unobstructed and detailed view of a region of interest at the medical procedure site at multiple depths. A user may thereby view a single, accurate, and current composite real-time dynamic imagery of a region of interest at the medical procedure site as the user performs a medical procedure.
1. A method of medical procedure image guidance, comprising the steps of:
receiving first spatial state data associated with a first medical device;
obtaining first medical imaging data associated with the first medical device;
receiving real-time second spatial state data associated with a second medical device that is different from the first medical device;
obtaining second medical imaging data associated with the second medical device;
determining, using one or more processors, a spatial relationship between the first medical device and the second medical device based at least in part on the first spatial state data and the second spatial state data; and
causing a display device to display a composite medical image comprising at least a portion of a first medical image corresponding to the first medical imaging data and at least a portion of a second medical image corresponding to the second medical imaging data based at least in part on the determined spatial relationship between the first medical device and the second medical device.
2. The method of claim 1 , wherein the first spatial state data corresponds to a position and/or orientation of the first medical device, and wherein the second spatial state data corresponds to a position and/or orientation of the second medical device.
3. The method of claim 1 , wherein the first medical image depicts a scene from a first point-of-view of the first medical device, and the second medical image depicts at least a portion of the scene from a second point-of-view corresponding to the second medical device.
4. The method of claim 3 , wherein the composite medical image depicts the scene from the first point-of-view of the first medical device.
5. The method of claim 3 , wherein the composite medical image includes a view of the second medical image spatially registered with the first medical image, wherein the view is from the first point-of-view of the first medical device.
6. The method of claim 1 , wherein the first medical image is based on a first modality, and the second medical image is based on a second modality that is different from the first modality.
7. The method of claim 1 , wherein the composite medical image depicts the second medical image within the first medical image.
8. The method of claim 1 , wherein said obtaining the first medical imaging data comprises determining a first spatial state of the first medical device with respect to a first coordinate system, and wherein said obtaining the second medical imaging data comprises determining a second spatial state of the second medical device with respect to a second coordinate system different than the first coordinate system.
9. The method of claim 8 , wherein said determining the spatial relationship comprises determining a relationship between the first and second coordinate systems.
10. The method of claim 1 , wherein the first medical image is based on a modality that provides two-dimensional imagery.
11. The method of claim 1 , wherein the first medical image is based on a modality that provides three-dimensional imagery.
12. A system for medical procedure image guidance comprising an image guidance system having one or more processors, the one or more processors configured to:
receive first spatial state data associated with a first medical device;
obtain first medical imaging data associated with the first medical device;
receive real-time second spatial state data associated with a second medical device that is different from the first medical device;
obtain second medical imaging data associated with the second medical device;
determine a spatial relationship between the first medical device and the second medical device based at least in part on the first spatial state data and the second spatial state data; and
cause a display device to display a composite medical image comprising at least a portion of a first medical image corresponding to the first medical imaging data and at least a portion of a second medical image corresponding to the second medical imaging data based at least in part on the determined spatial relationship between the first medical device and the second medical device.
13. The system of claim 12 , wherein the first spatial state data corresponds to a position and/or orientation of the first medical device, and wherein the second spatial state data corresponds to a position and/or orientation of the second medical device.
14. The system of claim 12 , wherein the first medical image depicts a scene from a first point-of-view of the first medical device, and the second medical image depicts at least a portion of the scene from a second point-of-view corresponding to the second medical device.
15. The system of claim 14 , wherein the composite medical image depicts the scene from the first point-of-view of the first medical device.
16. The system of claim 14 , wherein the composite medical image includes a view of the second medical image spatially registered with the first medical image, wherein the view is from the first point-of-view of the first medical device.
17. A computer-readable non-transitory storage medium comprising computer-executable instructions that when executed by one or more processors, causes the one or more processors to:
receive first spatial state data associated with a first medical device;
obtain first medical imaging data associated with the first medical device;
receive real-time second spatial state data associated with a second medical device that is different from the first medical device;
obtain second medical imaging data associated with the second medical device;
determine a spatial relationship between the first medical device and the second medical device based at least in part on the first spatial state data and the second spatial state data; and
cause a display device to display a composite medical image comprising at least a portion of a first medical image corresponding to the first medical imaging data and at least a portion of a second medical image corresponding to the second medical imaging data based at least in part on the determined spatial relationship between the first medical device and the second medical device.
18. The computer-readable non-transitory storage medium of claim 17 , wherein the first medical image depicts a scene from a first point-of-view of the first medical device, and the second medical image depicts at least a portion of the scene from a second point-of-view corresponding to the second medical device.
19. The computer-readable non-transitory storage medium of claim 18 , wherein the composite medical image depicts the scene from the first point-of-view of the first medical device.
20. The computer-readable non-transitory storage medium of claim 18 , wherein the composite medical image includes a view of the second medical image spatially registered with the first medical image, wherein the view is from the first point-of-view of the first medical device.