公开(公告)号：US20170065351A1

公开(公告)日：2017-03-09

申请号：US15356093

申请日：2016-11-18

Applicant: COVIDIEN LP

Inventor： Jason A. Case ,  Kevin Frank ,  Casey M. Ladtkow

IPC: A61B34/10 ,  A61B34/00 ,  A61B18/14 ,  A61B90/00

CPC classification number: A61B34/10 ,  A61B8/0841 ,  A61B8/4263 ,  A61B8/483 ,  A61B8/565 ,  A61B18/1477 ,  A61B18/1492 ,  A61B34/20 ,  A61B34/25 ,  A61B90/04 ,  A61B90/37 ,  A61B90/39 ,  A61B2017/00477 ,  A61B2018/00577 ,  A61B2018/00595 ,  A61B2018/00601 ,  A61B2018/0063 ,  A61B2018/00702 ,  A61B2018/00761 ,  A61B2018/00982 ,  A61B2018/1425 ,  A61B2018/1869 ,  A61B2034/104 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2090/0463 ,  A61B2090/0472 ,  A61B2090/0481 ,  A61B2090/363 ,  A61B2090/365 ,  A61B2090/378 ,  A61B2090/3966 ,  A61B2090/3983 ,  G06T7/73 ,  G06T2207/10016 ,  G06T2207/10132 ,  G06T2207/30021 ,  G06T2207/30208 ,  G06T2207/30244

Abstract: 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.

Abstract translation: 本公开涉及一种计划和导航方法。 规划导航方法包括获取多个图像，以三维呈现多个图像，自动分割多个图像以划定目标区域，并且基于目标区域自动确定治疗计划。 规划和导航系统还包括获取包括目标的扫描平面的超声图像，并使用外科装置上的图像捕获装置获得布置在超声装置上的基准图案的基准图像。 校正所获得的基准图像的透镜畸变，并且找到基准图像和模型图像之间的对应关系。 之后，相机姿势是将外科手术装置的位置转换为模型坐标。 然后，基于模型坐标显示超声图像和手术装置的虚拟图像，以允许外科医生使用所显示的超声图像和虚拟图像将手术装置导航到目标，并且基于治疗计划来对待靶标。

公开(公告)号：US20160374762A1

公开(公告)日：2016-12-29

申请号：US15262551

申请日：2016-09-12

Applicant: COVIDIEN LP

Inventor： Jason A. Case ,  Kevin Frank

IPC: A61B34/10 ,  G06T7/00 ,  A61B34/00 ,  A61B8/08 ,  A61B8/00

CPC classification number: A61B34/10 ,  A61B6/5211 ,  A61B8/0841 ,  A61B8/4263 ,  A61B8/5223 ,  A61B8/565 ,  A61B34/20 ,  A61B34/25 ,  A61B90/37 ,  A61B2017/00477 ,  A61B2018/00577 ,  A61B2018/1425 ,  A61B2018/1869 ,  A61B2034/104 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2063 ,  A61B2034/2065 ,  A61B2034/252 ,  A61B2090/0463 ,  A61B2090/0472 ,  A61B2090/0481 ,  A61B2090/363 ,  A61B2090/365 ,  A61B2090/378 ,  A61B2090/3925 ,  A61B2090/3983 ,  F04C2270/041 ,  G06T7/74 ,  G06T2207/10072 ,  G06T2207/10081 ,  G06T2207/10136 ,  G06T2207/30204 ,  G06T2207/30208 ,  G06T2207/30244

Abstract: The present disclosure is directed to a surgical navigation system. The navigation system includes an ultrasound device configured to obtain an ultrasound image in a scan plane The ultrasound device has a fiducial pattern disposed thereon. A surgical device having an image capture device configured to capture a fiducial image of the fiducial pattern is also provided. The system also includes a controller configured to receive the ultrasound image and the fiducial image, wherein the controller determines a position of the surgical device in relation to the scan plane based on the fiducial image. A display is configured to display the ultrasound image and a virtual image of the surgical device based on the position of the surgical device in relation to the scan plane.

公开(公告)号：US20160374646A1

公开(公告)日：2016-12-29

申请号：US15262278

申请日：2016-09-12

Applicant: COVIDIEN LP

Inventor： Jason A. Case ,  Kevin Frank ,  Casey M. Ladtkow

IPC: A61B8/00 ,  A61B8/08 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B6/12 ,  A61B18/14

CPC classification number: A61B8/465 ,  A61B6/12 ,  A61B8/0841 ,  A61B8/4263 ,  A61B8/4444 ,  A61B8/463 ,  A61B8/466 ,  A61B8/467 ,  A61B8/483 ,  A61B8/565 ,  A61B18/1477 ,  A61B18/1815 ,  A61B34/10 ,  A61B34/20 ,  A61B34/25 ,  A61B90/04 ,  A61B2017/00477 ,  A61B2018/00577 ,  A61B2034/104 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2065 ,  A61B2090/0463 ,  A61B2090/0472 ,  A61B2090/0481 ,  A61B2090/364 ,  A61B2090/365 ,  A61B2090/378 ,  A61B2090/3983

Abstract: The present disclosure is directed to an ablation planning and navigation system. The planning system includes a memory configured to store a plurality of images and a controller configured to render the plurality of images in three dimensions, automatically segment the plurality of images to demarcate a target area, and automatically determine a treatment plan based on the target area. The navigation system includes an ultrasound device having a fiducial pattern that obtains an ultrasound image, an ablation needle having a image capture device that captures an image of the fiducial pattern, and a controller that receives the ultrasound image and the fiducial image. The controller determines a position of the ablation needle based on the fiducial image. The planning and navigation system also includes a controller that receives data from the planning system and the navigation system and a display configured to display the received information.