Systems, methods, apparatuses, and computer-readable media for image management in image-guided medical procedures
Presented herein are methods, systems, devices, and computer-readable media for image management in image-guided medical procedures. Some embodiments 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 transducers 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 and allow the operator to control the presentation of regions of interest. Additionally, some embodiments provide for quick calibration of surgical instruments or attachments for surgical instruments.
1. A method for image management in image-guided medical procedures, comprising:
obtaining pose data for a set of 3D visualizable medical data, wherein the set of 3D visualizable medical data includes a plurality of parallel slices;
determining, with one or more computing devices, a real-time pose of a tracking sensor associated with a medical device;
based at least in part on the real-time pose of the tracking sensor associated with the medical device, determining a pose of an imaging plane associated with the medical device;
selecting a region of the set of 3D visualizable medical data based at least in part on the determined pose of the imaging plane, wherein the selected region of the set of 3D visualizable medical data comprises data from the set of 3D visualizable medical data that intersects with at least a portion of the imaging plane associated with the medical device;
determining a perspective view of the selected region of the set of 3D visualizable medical data based at least in part on an expected location of a user, wherein the expected location of the user is a fixed location in front of one or more displays; and
causing the one or more displays to concurrently display, in a virtual 3D space:
a rendering of the perspective view of the selected region of the set of 3D visualizable medical data, and
image guidance data based at least in part on the real-time pose of the tracking sensor associated with the medical device.
2. The method of claim 1 , wherein the set of 3D visualizable medical data comprises preoperative imaging data.
3. The method of claim 1 , wherein the set of 3D visualizable medical data comprises annotations of imaging data.
4. The method of claim 1 , wherein the set of 3D visualizable medical data is a first set of 3D visualizable medical data, the selected region of the first set of 3D visualizable medical data is a first selected region of the first set of 3D visualizable medical data, and the imaging plane is a first imaging plane, the method further comprising:
obtaining pose data for a second set of 3D visualizable medical data;
based at least in part on the real-time pose of the tracking sensor associated with the medical device, determining a pose of a second imaging plane associated with the medical device;
selecting a second region of the second set of 3D visualizable medical data based at least in part on the determined pose of the second imaging plane, wherein the second selected region of the second set of 3D visualizable medical data comprises data from the second set of 3D visualizable medical data that intersects with at least a portion of the second imaging plane associated with the medical device;
determining a perspective view of the second selected region of the set of 3D visualizable medical data based at least in part on the expected location of the user; and
causing the one or more displays to further concurrently display, in the virtual 3D space, a rendering of the perspective view of the second selected region of the second set of 3D visualizable medical data.
5. The method of claim 4 , wherein the second imaging plane is parallel to the first imaging plane.
6. The method of claim 5 , wherein the first selected region of the set of 3D visualizable medical data is rendered at one or more first focus settings based at least in part on real-time relative pose of the tracking sensor associated with the medical device with respect to the expected location of the user, and the second selected region of the second set of 3D visualizable medical data is rendered at one or more second focus settings, wherein the one or more second focus settings vary in proportion to a distance between the second imaging plane and the first imaging plane.
7. The method of claim 1 , wherein the medical device is a first medical device, wherein the tracking sensor is a first tracking sensor, wherein the imaging plane is a first imaging plane, the method further comprising:
determining, with the one or more computing devices, a real-time pose of a second tracking sensor associated with a second medical device;
based at least in part on the real-time pose of the second tracking sensor associated with the second medical device, determining a pose of a second imaging plane associated with the second medical device;
selecting a second region of the set of 3D visualizable medical data based at least in part on the determined pose of the second imaging plane, wherein the second selected region comprises data from the set of 3D visualizable medical data that intersects with at least a portion of the second imaging plane associated with the second medical device;
determining a perspective view of the second selected region of the set of 3D visualizable medical data based at least in part on the expected location of the user; and
causing the one or more displays to further concurrently display, in the virtual 3D space, a rendering of the perspective view of the second selected region of the set of 3D visualizable medical data.
8. The method of claim 7 , wherein the image guidance data comprises a volume of image guidance data, the method further comprising:
determining a pose of the volume of image guidance data based at least in part on the set of 3D visualizable medical data; and
determining a perspective view of the volume of image guidance data based at least in part on the expected location of a user,
wherein said causing the one or more displays to further concurrently display the image guidance data comprises causing the one or more displays to further concurrently display a rendering of the perspective view of the volume of image guidance data based at least in part on the determined pose of the volume of image guidance data.
9. The method of claim 8 , wherein said determining the pose of the volume of image guidance data is further based at least in part on the selected region of the set of 3D visualizable medical data.
10. The method of claim 8 , wherein the medical device is an ablation needle and wherein the volume of image guidance data corresponds to an ablation volume of the ablation needle.
11. The method of claim 1 , wherein the image guidance data comprises data of the set of 3D visualizable medical data which corresponds to 3D visualizable medical data that is different from the selected region of the set of 3D visualizable medical data.
12. The method of claim 1 , wherein the medical device is a first medical device, wherein the tracking sensor is a first tracking sensor, wherein the imaging plane is a first imaging plane, and wherein the set of 3D visualizable medical data is a first the set of 3D visualizable medical data, the method further comprising:
obtaining pose data for a second set of 3D visualizable medical data;
determining, with the one or more computing devices, a real-time pose of a second tracking sensor associated with a second medical device;
based at least in part on the real-time pose of the second tracking sensor associated with the second medical device, determining a pose of a second imaging plane associated with the second medical device;
selecting a second region of the second set of 3D visualizable medical data based at least in part on the determined pose of the second imaging plane, wherein the second selected region comprises data from the second set of 3D visualizable medical data that intersects with at least a portion of the second imaging plane;
determining a perspective view of the second selected region of the set of 3D visualizable medical data based at least in part on the expected location of the user; and
causing the one or more displays to further concurrently display, in the virtual 3D space, a rendering of the perspective view of the second selected region of the set of 3D visualizable medical data.
13. A system, comprising:
a computing device comprising one or more processors, the computing device configured to:
obtain pose data for a set of 3D visualizable medical data, wherein the set of 3D visualizable medical data includes a plurality of parallel slices;
determine a real-time pose of a tracking sensor associated with a medical device;
based at least in part on the real-time pose of the tracking sensor associated with the medical device, determine a pose of an imaging plane associated with the medical device;
select a region of the set of 3D visualizable medical data based at least in part on the determined pose of the imaging plane, wherein the selected region comprises data from the set of 3D visualizable medical data that intersects with at least a portion of the imaging plane;
determine a perspective view of the selected region of the set of 3D visualizable medical data based at least in part on an expected location of a user, wherein the expected location of the user is a fixed location in front of one or more displays; and
cause the one or more displays to concurrently display, in a virtual 3D space:
a rendering of the perspective view of the selected region of the set of 3D visualizable medical data, and
image guidance data based at least in part on the real-time pose of the tracking sensor associated with the medical device.
14. The system of claim 13 , wherein the set of 3D visualizable medical data is a first set of 3D visualizable medical data, the selected region of the first set of 3D visualizable medical data is a first selected region of the first set of 3D visualizable medical data, and the imaging plane is a first imaging plane, wherein the computing device is further configured to:
obtain pose data for a second set of 3D visualizable medical data;
based at least in part on the real-time pose of the tracking sensor associated with the medical device, determining a pose of a second imaging plane associated with the medical device;
select a second region of the second set of 3D visualizable medical data based at least in part on the determined pose of the second imaging plane, wherein the second selected region comprises data from the second set of 3D visualizable medical data that intersects with at least a portion of the second imaging plane;
determine a perspective view of the second selected region of the set of 3D visualizable medical data based at least in part on the expected location of the user; and
cause the one or more displays to further concurrently display, in the virtual 3D space, a rendering of the perspective view of the second selected region of the second set of 3D visualizable medical data.
15. The system of claim 13 , wherein the medical device comprises at least one of an ablation needle or an ultrasound transducer.
16. The system of claim 13 , wherein the set of 3D visualizable medical data comprises at least one of annotations of imaging data or preoperative imaging data.
17. A non-transitory computer-readable medium comprising computer-executable instructions for image management in image-guided medical procedures, said computer-executable instructions, when running on one or more computing devices, performing a method comprising:
obtaining pose data for a set of 3D visualizable medical data, wherein the set of 3D visualizable medical data includes a plurality of parallel slices;
determining a real-time pose of a tracking sensor associated with a medical device;
based at least in part on the real-time pose of the tracking sensor, determining a pose of an imaging plane associated with the medical device;
selecting a region of the set of 3D visualizable medical data based at least in part on the determined pose of the imaging plane, wherein the selected region comprises data from the set of 3D visualizable medical data that intersects with at least a portion of the imaging plane;
determining a perspective view of the selected region of the set of 3D visualizable medical data based at least in part on an expected location of a user, wherein the expected location of the user is a fixed location in front of one or more displays; and
causing the one or more displays to concurrently display, in a virtual 3D space:
a rendering of the perspective view of the selected region of the set of 3D visualizable medical data; and
image guidance data based at least in part on the real-time pose of the tracking sensor.
18. The non-transitory computer-readable medium of claim 17 , wherein the medical device is a first medical device, wherein the tracking sensor is a first tracking sensor, wherein the selected region of the set of 3D visualizable medical data is a first selected region of the set of 3D visualizable medical data, wherein the imaging plane is a first imaging plane, wherein the method performed further comprises:
determining a real-time pose of a second tracking sensor associated with a second medical device;
based at least in part on the real-time pose of the second tracking sensor, determining a pose of a second imaging plane associated with the second medical device;
selecting a second region of the set of 3D visualizable medical data based at least in part on the determined pose of the second imaging plane, wherein the second selected region comprises data from the set of 3D visualizable medical data that intersects with at least a portion of the second imaging plane;
determining a perspective view of the second selected region of the set of 3D visualizable medical data based at least in part on the expected location of the user; and
causing the one or more displays to further concurrently display, in the virtual 3D space, a rendering of the perspective view of the second selected region of the set of 3D visualizable medical data.
19. The non-transitory computer-readable medium of claim 17 , wherein the set of 3D visualizable medical data comprises annotations of imaging data.
20. The non-transitory computer-readable medium of claim 17 , wherein the set of 3D visualizable medical data comprises preoperative imaging data.