US6892090B2
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method and apparatus for virtual endoscopy
Assignee: Medtronic Navigation Inc
•
Filing: 2002-08-19
•
Granted: 2005-05-10
•
Expires: 2022-08-19
Abstract
Abstract A surgical instrument navigation system is provided that visually simulates a virtual volumetric scene of a body cavity of a patient from a point of view of a surgical instrument residing in the cavity of the patient. The surgical instrument navigation system includes: a surgical instrument; an imaging device which is operable to capture scan data representative of an internal region of interest within a given patient; a tracking subsystem that employs electro-magnetic sensing to capture in real-time position data indicative of the position of the surgical instrument; a data processor which is operable to render a volumetric, perspective image of the internal region of interest from a point of view of the surgical instrument; and a display which is operable to display the volumetric perspective image of the patient.
Inventors
- 👤 Laurent Verard
- 👤 Paul Kessman
- 👤 Mark Hunter
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-09 21:08
CPC Classifications
A; A61; A61B; A61B90/00; A61B90/36; A61B34/00; A61B34/20; A61B17/00; A61B2017/00681; A61B2017/00694; A61B2017/00703; A61B34/10; A61B2034/101; A61B2034/105; A61B2034/107; A61B2034/2046; A61B2034/2051; A61B2034/2055; A61B2034/2072; A61B34/25; A61B2034/256; A61B2090/364; A61B2090/365; A61B2090/367; A61B90/361
Claims Analysis
Total Claims: 30
Claim 1
Independent Claim
109 words
A surgical instrument navigation system, comprising: a surgical instrument; a tracking subsystem operable to capture in real-time position data indicative of the position of the surgical instrument; a data processor adapted to receive scan data representative of a region of interest of a given patient and the position data from the tracking subsystem, the data processor being operable to render an image of the region of interest from a point of view which relates to position of the surgical instrument, the image being derived from the scan data; and a display in data communication with the data processor, the display being operable to display the image of the patient.
Claim 2
Dependent Claim
109 words
A surgical instrument navigation system, comprising: a surgical instrument; a tracking subsystem operable to capture in real-time position data indicative of the position of the surgical instrument; a data processor adapted to receive scan data representative of a region of interest of a given patient and the position data from the tracking subsystem, the data processor being operable to render an image of the region of interest from a point of view which relates to position of the surgical instrument, the image being derived from the scan data; and a display in data communication with the data processor, the display being operable to display the image of the patient.
Claim 3
Dependent Claim
23 words
The surgical navigation system of claim 1 wherein a volumetric perspective image is rendered from a point of view of the surgical instrument.
Claim 4
Dependent Claim
36 words
The surgical navigation system of claim 1 wherein the surgical instrument is further defined as at least one of a catheter, a guide wire, a pointer probe, a stent, a seed, an implant, or an endoscope.
Claim 5
Dependent Claim
24 words
The surgical navigation system of claim 1 further comprising an imaging device operable to capture and provide the scan data to the data processor.
Claim 6
Dependent Claim
27 words
The surgical navigation system of claim 4 wherein the imaging device is operable to capture volumetric scan data or surface data representative of the region of interest.
Claim 7
Dependent Claim
44 words
The surgical navigation system of claim 4 wherein the imaging device is further defined as at least one of a magnetic resonance imaging device, a computed tomography imaging device, a positron emission tomography imaging device, a fluoroscopic imaging device, or an ultrasound imaging device.
Claim 8
Dependent Claim
30 words
The surgical navigation system of claim 1 wherein the tracking subsystem is further defined as an electro-magnetic localizing device having one or more electro-magnetic sensors attached to the surgical instrument.
Claim 9
Dependent Claim
32 words
The surgical navigation system of claim 7 wherein a volumetric perspective image is rendered from a point of view which correlates to one of the electro-magnetic sensors attached to the surgical instrument.
Claim 10
Dependent Claim
44 words
The surgical navigation system of claim 1 wherein the data processor is operable to render a second image of the region of interest based on the scan data, and to superimpose an indicia of the surgical instrument onto the second image of the patient.
Claim 11
Dependent Claim
52 words
The surgical navigation system of claim 9 wherein the data processor is further operable to track in real-time the position of the surgical instrument as it is moved within the region of interest and update the corresponding position of the indicia of the surgical instrument on the second image of the patient.
Claim 12
Dependent Claim
51 words
The surgical navigation system of claim 9 wherein the data processor is further operable to track in real-time the location and orientation of the surgical instrument as it is moved within the region of interest and the display is further operable to display the location and orientation of the surgical instrument.
Claim 13
Dependent Claim
177 words
A surgical instrument navigation system, comprising: a surgical instrument; a timing signal generator operable to generate and transmit a timing signal that correlates to at least one anatomical function of the patient; a tracking subsystem operable to receive the timing signal from the timing signal generator, the tracking subsystem operable to capture position data indicative of the position of the surgical instrument and to report the position data in response to the timing signal received from the timing signal generator; a data processor adapted to receive scan image data representative of an internal region of interest within a given patient and the position data from the tracking subsystem, the data processor being operable to render a volumetric perspective image of the internal region of interest from the scan image data and to superimpose an indicia of the surgical instrument onto the volumetric perspective image based on the position data received from the tracking subsystem; and a display in data communication with the data processor, the display being operable to display the volumetric perspective image of the patient.
Claim 14
Dependent Claim
177 words
A surgical instrument navigation system, comprising: a surgical instrument; a timing signal generator operable to generate and transmit a timing signal that correlates to at least one anatomical function of the patient; a tracking subsystem operable to receive the timing signal from the timing signal generator, the tracking subsystem operable to capture position data indicative of the position of the surgical instrument and to report the position data in response to the timing signal received from the timing signal generator; a data processor adapted to receive scan image data representative of an internal region of interest within a given patient and the position data from the tracking subsystem, the data processor being operable to render a volumetric perspective image of the internal region of interest from the scan image data and to superimpose an indicia of the surgical instrument onto the volumetric perspective image based on the position data received from the tracking subsystem; and a display in data communication with the data processor, the display being operable to display the volumetric perspective image of the patient.
Claim 15
Dependent Claim
25 words
The surgical instrument navigation system of claim 12 wherein the timing signal correlates at least one of cardiac cycle or respiratory cycle of the patient.
Claim 16
Dependent Claim
61 words
The surgical instrument navigation system of claim 13 wherein the timing signal is generated at a repetitive point within each cycle of either the cardiac cycle or the respiratory cycle of the patient, thereby minimizing any jitter of the surgical instrument in the volumetric perspective image which may be caused by the cardiac cycle or the respiratory cycle of the patient.
Claim 17
Dependent Claim
26 words
The surgical instrument navigation system of claim 13 wherein the timing signal is at least one derived from or is an electrocardiogram signal from the patient.
Claim 18
Dependent Claim
52 words
The surgical instrument navigation system of claim 12 wherein the data processor is further operable to track position of the surgical instrument as it is moved within the region of interest and to update the corresponding position of the indicia of the surgical instrument in the volumetric perspective image of the patient.
Claim 19
Dependent Claim
51 words
The surgical navigation system of claim 12 wherein the data processor is further operable to track in real-time the location and orientation of the surgical instrument as it is moved within the region of interest and the display is further operable to display the location and orientation of the surgical instrument.
Claim 20
Dependent Claim
36 words
The surgical navigation system of claim 12 wherein the surgical instrument is further defined as at least one of a catheter, a guide wire, a pointer probe, a stent, a seed, an implant, or an endoscope.
Claim 21
Dependent Claim
25 words
The surgical navigation system of claim 12 further comprises an imaging device operable to capture and provide the scan image data to the data processor.
Claim 22
Dependent Claim
25 words
The surgical navigation system of claim 19 wherein the imaging device is operable to capture volumetric scan data representative of the internal region of interest.
Claim 23
Dependent Claim
44 words
The surgical navigation system of claim 19 wherein the imaging device is further defined as at least one of a magnetic resonance imaging device, a computed tomography imaging device, a positron emission tomography imaging device, a fluoroscopic imaging device, or a ultrasound imaging device.
Claim 24
Dependent Claim
30 words
The surgical navigation system of claim 12 wherein the tracking subsystem is further defined as an electro-magnetic localizing device having one or more electro-magnetic sensors attached to the surgical instrument.
Claim 25
Dependent Claim
167 words
A surgical instrument navigation system, comprising: a surgical instrument; an imaging device operable to capture volumetric scan data over time, the volumetric scan data representative of an internal region of interest within a patient and the internal region of interest having motion that is caused by at least one anatomical function of the patient; a timing signal generator operable to generate and transmit a timing signal that correlates to the at least one anatomical function of the patient; a data processor adapted to receive the volumetric image data from the imaging device and the timing signal from the timing signal generator, the data processor being operable to render a volumetric perspective image from the viewpoint of the surgical instrument of the internal region of interest over time, the volumetric perspective image being derived from the volumetric scan data and synchronized with the timing signal; and a display in data communication with the data processor, the display being operable to display the volumetric perspective image of the patient.
Claim 26
Dependent Claim
167 words
A surgical instrument navigation system, comprising: a surgical instrument; an imaging device operable to capture volumetric scan data over time, the volumetric scan data representative of an internal region of interest within a patient and the internal region of interest having motion that is caused by at least one anatomical function of the patient; a timing signal generator operable to generate and transmit a timing signal that correlates to the at least one anatomical function of the patient; a data processor adapted to receive the volumetric image data from the imaging device and the timing signal from the timing signal generator, the data processor being operable to render a volumetric perspective image from the viewpoint of the surgical instrument of the internal region of interest over time, the volumetric perspective image being derived from the volumetric scan data and synchronized with the timing signal; and a display in data communication with the data processor, the display being operable to display the volumetric perspective image of the patient.
Claim 27
Dependent Claim
25 words
The surgical instrument navigation system of claim 23 wherein the timing signal correlates at least one of cardiac cycle or respiratory cycle of the patient.
Claim 28
Dependent Claim
89 words
The surgical instrument navigation system of claim 23 , further comprising: a tracking subsystem operable to receive the timing signal from the timing signal generator, the tracking subsystem operable to capture position data indicative of a position of the surgical instrument and to report the position data in response to the timing signal received from the timing signal generator; a display in data communication with the data processor, the display being operable to display the volumetric perspective image of the patient based upon the position of the surgical instrument.
Claim 29
Dependent Claim
114 words
A surgical instrument navigation system, comprising: a non-imaging surgical instrument; a tracking subsystem operable to capture in real-time position data indicative of the position of the non-imaging surgical instrument; a data processor adapted to receive scan data representative of a region of interest of a given patient and the position data from the tracking subsystem, the data processor being operable to render an image of the region of interest from a point of view which relates to the position of the surgical instrument; and a display in data communication with the data processor, the display being operable to display the image of the patient; wherein the rendered image being derived from the scan data.
Claim 30
Dependent Claim
114 words
A surgical instrument navigation system, comprising: a non-imaging surgical instrument; a tracking subsystem operable to capture in real-time position data indicative of the position of the non-imaging surgical instrument; a data processor adapted to receive scan data representative of a region of interest of a given patient and the position data from the tracking subsystem, the data processor being operable to render an image of the region of interest from a point of view which relates to the position of the surgical instrument; and a display in data communication with the data processor, the display being operable to display the image of the patient; wherein the rendered image being derived from the scan data.
References Cited (Backward Citations)
US1735726A
Cited
US1576781A
Cited
US2407845A
Cited
US2650588A
Cited
US2697433A
Cited
US3073310A
Cited
US3016899A
Cited
US3061936A
Cited
US3017887A
Cited
US3294083A
Cited
US3367326A
Cited
US3439256A
Cited
US3577160A
Cited
US3674014A
Cited
US3704707A
Cited
CA964149A
Cited
US3702935A
Cited
US3868565A
Cited
US3941127A
Cited
US4052620A
Cited
US4054881A
Cited
US4037592A
Cited
US5291199A
Cited
US4262306A
Cited
US4173228A
Cited
US4117337A
Cited
FR2417970B1
Cited
US4418422A
Cited
US4202349A
Cited
US4396885A
Cited
US4314251A
Cited
US4287809A
Cited
US4317078A
Cited
US4368536A
Cited
US5030196A
Cited
US4339953A
Cited
US4328813A
Cited
US4358856A
Cited
DE3042343A1
Cited
US4431005A
Cited
US4543959A
Cited
US4422041A
Cited
US4645343A
Cited
US4485815A
Cited
US4584577A
Cited
US4651732A
Cited
US4613866A
Cited
US4621628A
Cited
US4618978A
Cited
US4727565A
Cited
US4649504A
Cited
US4642786A
Cited
US4625718A
Cited
US4572198A
Cited
US4548208A
Cited
US4889526A
Cited
US4821206A
Cited
US4706665A
Cited
US4673352A
Cited
US4722336A
Cited
US4737921A
Cited
US4653509A
Cited
US4719419A
Cited
US4803976A
Cited
US4737794A
Cited
US4771787A
Cited
US4722056A
Cited
US4821731A
Cited
US5002058A
Cited
US4977655A
Cited
US4791934A
Cited
US4945305A
Cited
US4849692A
Cited
US4750487A
Cited
US4793355A
Cited
US5186174A
Cited
US4836778A
Cited
WO1988009151A1
Cited
US5494034A
Cited
US4845771A
Cited
US4989608A
Cited
USRE35025E
Cited
US4797907A
Cited
US4931056A
Cited
US4923459A
Cited
DE3831278A1
Cited
US4945914A
Cited
US4991579A
Cited
US5211164A
Cited
US5397329A
Cited
US5178164A
Cited
US5142930A
Cited
US5119817A
Cited
US5016639A
Cited
US5097839A
Cited
US5094241A
Cited
US5079699A
Cited
US5027818A
Cited
EP0319844A1
Cited
JP2765738B2
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2008-05-09 | 2008-11-08 | 2009-05-10 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2012-05-09 | 2012-11-08 | 2013-05-10 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2016-05-09 | 2016-11-08 | 2017-05-10 | $7700.00 | Window Closed / Lapsed |