Patent US7386339B2 successfully refreshed from Google Patents.
US7386339B2
Expired / Lapsed
US
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Medical imaging and navigation system
Assignee: St Jude Medical International Holding SARL
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Filing: 2001-02-13
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Granted: 2008-06-10
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Expires: 2021-02-13
Abstract
Abstract Medical imaging and navigation system including a processor, a display unit, a database, a medical positioning system (MPS), a two-dimensional imaging system, an inspected organ monitor interface, and a superimposing processor, the MPS including a transducer MPS sensor and a surgical tool MPS sensor, the two-dimensional imaging system including an imaging transducer, the processor being connected to the display unit, to the database, to the MPS, to the two-dimensional imaging system, to the inspected organ monitor interface, and to the superimposing processor, the inspected organ monitor interface being connected to an organ monitor, the surgical tool MPS sensor being firmly attached to a surgical tool, the transducer MPS sensor being firmly attached to the imaging transducer, the organ monitor monitoring an organ timing signal associated with an inspected organ.
Inventors
- 👤 Gera M. Strommer
- 👤 Uzi Eicher
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-09 22:20
CPC Classifications
A; A61; A61B; A61B8/00; A61B8/46; A61B8/461; A61B8/463; A61B34/00; A61B34/20; A61B5/00; A61B5/0059; A61B5/0062; A61B5/0066; A61B5/06; A61B5/061; A61B5/062; A61B8/08; A61B8/0833; A61B8/0841; A61B8/12; A61B8/42; A61B8/4245; A61B8/4254; A61B8/52; A61B8/5215; A61B8/5238; A61B34/10; A61B2034/101; A61B2034/105; A61B2034/107; A61B2034/2046; A61B2034/2051; A61B2034/2072; A61B34/25; A61B2034/256; A61B90/00; A61B90/36; A61B2090/364; A61B2090/367; A61B90/37; A61B2090/378; A61B90/39; A61B2090/3954; A61B2090/3958; A61B5/01; A61B5/015; A61B5/24; A61B5/316; A61B5/318; A61B5/346; A61B5/349; A61B5/352; A61B8/48; A61B8/483; A61B90/10
Claims Analysis
Total Claims: 108
Claim 1
Independent Claim
356 words
Medical imaging and navigation system comprising: a processor, connected to a display unit and to a database; a medical positioning system (MPS), connected to said processor, including a transducer MPS sensor and a surgical tool MPS sensor, said surgical tool MPS sensor being firmly attached to a surgical tool; a two-dimensional imaging system, connected to said processor, including an imaging transducer, said transducer MPS sensor being firmly attached to said imaging transducer; an inspected organ monitor interface, connected to said processor and to an organ monitor, said organ monitor monitoring an organ timing signal associated with an inspected organ; a superimposing processor, connected to said processor; wherein said processor receives: a plurality of two-dimensional images from said two-dimensional imaging system, acquired by said imaging transducer; the location and orientation of said imaging transducer from said medical positioning system, as detected by said transducer MPS sensor in a coordinate system, for each said two-dimensional images; said organ timing signal from said inspected organ monitor interface, as detected by said organ monitor, for each said two-dimensional images; and the location and orientation of said surgical tool, from said medical positioning system, as detected by said surgical tool MPS sensor in the coordinate system of the transducer MPS sensor; so that said location and orientation of said surgical tool and said location and orientation of said imaging transducer, are acquired in a single coordinate system, thereby eliminating computations for correlating said location and orientation of said transducer MPS sensor and said location and orientation of said surgical MPS sensor; and wherein for each said two-dimensional images, said processor stores said two-dimensional image in said database together with said location and orientation information of said imaging transducer, respective of said two-dimensional image and said organ timing signal, respective of said two-dimensional image, wherein said processor selects at least one of said stored two-dimensional images, having a stored organ timing signal substantially equal to a real time detected organ timing signal, wherein said superimposing processor superimposes a representation of said surgical tool on a visual representation of said selected two-dimensional images, and wherein said display presents the result of said superimposing.
Claim 2
Dependent Claim
356 words
Medical imaging and navigation system comprising: a processor, connected to a display unit and to a database; a medical positioning system (MPS), connected to said processor, including a transducer MPS sensor and a surgical tool MPS sensor, said surgical tool MPS sensor being firmly attached to a surgical tool; a two-dimensional imaging system, connected to said processor, including an imaging transducer, said transducer MPS sensor being firmly attached to said imaging transducer; an inspected organ monitor interface, connected to said processor and to an organ monitor, said organ monitor monitoring an organ timing signal associated with an inspected organ; a superimposing processor, connected to said processor; wherein said processor receives: a plurality of two-dimensional images from said two-dimensional imaging system, acquired by said imaging transducer; the location and orientation of said imaging transducer from said medical positioning system, as detected by said transducer MPS sensor in a coordinate system, for each said two-dimensional images; said organ timing signal from said inspected organ monitor interface, as detected by said organ monitor, for each said two-dimensional images; and the location and orientation of said surgical tool, from said medical positioning system, as detected by said surgical tool MPS sensor in the coordinate system of the transducer MPS sensor; so that said location and orientation of said surgical tool and said location and orientation of said imaging transducer, are acquired in a single coordinate system, thereby eliminating computations for correlating said location and orientation of said transducer MPS sensor and said location and orientation of said surgical MPS sensor; and wherein for each said two-dimensional images, said processor stores said two-dimensional image in said database together with said location and orientation information of said imaging transducer, respective of said two-dimensional image and said organ timing signal, respective of said two-dimensional image, wherein said processor selects at least one of said stored two-dimensional images, having a stored organ timing signal substantially equal to a real time detected organ timing signal, wherein said superimposing processor superimposes a representation of said surgical tool on a visual representation of said selected two-dimensional images, and wherein said display presents the result of said superimposing.
Claim 3
Dependent Claim
40 words
The system according to claim 1 , wherein said visual representation is a three-dimensional reconstructed image produced from said selected two-dimensional images, according to the location and orientation information of said imaging transducer associated with each said selected two-dimensional images.
Claim 4
Dependent Claim
18 words
The system according to claim 2 , wherein a renderer renders said visual representation according to reference coordinates.
Claim 5
Dependent Claim
32 words
The system according to claim 3 , wherein said reference coordinates are selected from the list consisting of: surgical tool coordinates; inspected organ coordinates; and coordinates of the body of the patient.
Claim 6
Dependent Claim
13 words
The system according to claim 4 , wherein said visual representation is two-dimensional.
Claim 7
Dependent Claim
33 words
The system according to claim 5 , wherein said representation of said surgical tool comprises a projection of a three-dimensional representation of said representation of said surgical tool, on said two-dimensional visual representation.
Claim 8
Dependent Claim
22 words
The system according to claim 1 , wherein said representation of said surgical tool indicates an estimated location of said surgical tool.
Claim 9
Dependent Claim
21 words
The system according to claim 1 , wherein said representation of said surgical tool indicates the orientation of said surgical tool.
Claim 10
Dependent Claim
28 words
The system according to claim 1 , wherein portions of said surgical tool which are located above, below and within a viewed plane, are presented in different colors.
Claim 11
Dependent Claim
21 words
The system according to claim 1 , wherein said representation of said surgical tool is in the form of a cursor.
Claim 12
Dependent Claim
23 words
The system according to claim 1 , wherein said representation of said surgical tool is a pseudo realistic visualization of said surgical tool.
Claim 13
Dependent Claim
50 words
The system according to claim 1 , wherein said visual representation is a three-dimensional reconstruction produced from said selected two-dimensional images, according to the location and orientation information of said imaging transducer associated with said selected two-dimensional images, discarding portions in said selected two-dimensional images which represent said surgical tool.
Claim 14
Dependent Claim
56 words
The system according to claim 1 , wherein said medical positioning system further includes a goggles MPS sensor, wherein said display includes semi-transparent goggles, being attached to said goggles MPS sensor, and wherein said processor selects a viewing plane for said visual representation, according to the location and orientation information received from said goggles MPS sensor.
Claim 15
Dependent Claim
23 words
The system according to claim 13 , wherein said location and orientation of said goggles MPS sensor is provided within said coordinate system.
Claim 16
Dependent Claim
12 words
The system according to claim 1 , wherein said database is volumetric.
Claim 17
Dependent Claim
12 words
The system according to claim 1 , wherein said display includes goggles.
Claim 18
Dependent Claim
12 words
The system according to claim 16 , wherein said goggles are semi-transparent.
Claim 19
Dependent Claim
33 words
The system according to claim 1 , wherein said two-dimensional imaging system is selected from the list consisting of: ultra-sound; inner-vascular ultra-sound; X-ray; Nuclear magnetic resonance; Computerized tomography; Position-emission tomography; and Single-photon-emission tomography.
Claim 20
Dependent Claim
49 words
The system according to claim 1 , wherein said surgical tool is selected from the list consisting of: clamp; laser cutter; brush; catheter; stent; balloon; pace maker electrode; solution dispensing unit; neuron electrode; substance collection unit; surgical delivery tool; gene delivery tool; drug delivery tool; and device delivery tool.
Claim 21
Dependent Claim
26 words
The system according to claim 1 , wherein said medical positioning system further includes a body MPS sensor, for attaching to the body of the patient.
Claim 22
Dependent Claim
270 words
Medical imaging and navigation system comprising: a processor, connected to a display unit and to a database; a medical positioning system (MPS), connected to said processor, including a surgical tool MPS sensor being firmly attached to a surgical tool; an inspected organ monitor interface, connected to said processor and to an organ monitor, said organ monitor monitoring an organ timing signal associated with an inspected organ; and a superimposing processor, connected to said processor; wherein said processor receives: said organ timing signal from said inspected organ monitor interface, as detected by said organ monitor; and the location and orientation of said surgical tool, from said medical positioning system, as detected by said surgical tool MPS sensor in a coordinate system; wherein said processor selects images from said database, each said selected images having a stored organ timing signal substantially equal to a real-time detected organ timing signal, wherein said superimposing processor superimposes a representation of said surgical tool on said selected images, and wherein said display presents the result of said superimposing; wherein said medical positioning system further includes a goggles MPS sensor, wherein said display includes semi-transparent goggles, being attached to said goggles MPS sensor, and wherein said processor selects a viewing plane for said visual representation, according to the location and orientation information received from said goggles MPS sensor; so that said location and orientation information of said goggles MPS sensor is acquired within the coordinate system of said surgical tool MPS sensor, thereby eliminating computations for correlating said location and orientation of said goggles MPS sensor and said location and orientation of said surgical tool MPS sensor.
Claim 23
Dependent Claim
270 words
Medical imaging and navigation system comprising: a processor, connected to a display unit and to a database; a medical positioning system (MPS), connected to said processor, including a surgical tool MPS sensor being firmly attached to a surgical tool; an inspected organ monitor interface, connected to said processor and to an organ monitor, said organ monitor monitoring an organ timing signal associated with an inspected organ; and a superimposing processor, connected to said processor; wherein said processor receives: said organ timing signal from said inspected organ monitor interface, as detected by said organ monitor; and the location and orientation of said surgical tool, from said medical positioning system, as detected by said surgical tool MPS sensor in a coordinate system; wherein said processor selects images from said database, each said selected images having a stored organ timing signal substantially equal to a real-time detected organ timing signal, wherein said superimposing processor superimposes a representation of said surgical tool on said selected images, and wherein said display presents the result of said superimposing; wherein said medical positioning system further includes a goggles MPS sensor, wherein said display includes semi-transparent goggles, being attached to said goggles MPS sensor, and wherein said processor selects a viewing plane for said visual representation, according to the location and orientation information received from said goggles MPS sensor; so that said location and orientation information of said goggles MPS sensor is acquired within the coordinate system of said surgical tool MPS sensor, thereby eliminating computations for correlating said location and orientation of said goggles MPS sensor and said location and orientation of said surgical tool MPS sensor.
Claim 24
Dependent Claim
13 words
The system according to claim 21 , wherein said selected images are three-dimensional.
Claim 25
Dependent Claim
13 words
The system according to claim 21 , wherein said selected images are two-dimensional.
Claim 26
Dependent Claim
32 words
The system according to claim 21 , wherein said representation of said surgical tool comprises a projection of a three-dimensional representation of said representation of said surgical tool, on said two-dimensional images.
Claim 27
Dependent Claim
12 words
The system according to claim 21 , wherein said database is volumetric.
Claim 28
Dependent Claim
18 words
The system according to claim 21 , wherein said database is further coupled to an image acquisition system.
Claim 29
Dependent Claim
12 words
The system according to claim 21 , wherein said display includes goggles.
Claim 30
Dependent Claim
12 words
The system according to claim 21 , wherein said goggles are semi-transparent.
Claim 31
Dependent Claim
28 words
The system according to claim 21 , wherein said location and orientation information of said goggles MPS sensor is provided within the coordinate system of said selected images.
Claim 32
Dependent Claim
33 words
The system according to claim 21 , wherein said two-dimensional imaging system is selected from the list consisting of: ultra-sound; inner-vascular ultra-sound; X-ray; Nuclear magnetic resonance; Computerized tomography; Position-emission tomography; and Single-photon-emission tomography.
Claim 33
Dependent Claim
49 words
The system according to claim 21 , wherein said surgical tool is selected from the list consisting of: clamp; laser cutter; brush; catheter; stent; balloon; pace maker electrode; solution dispensing unit; neuron electrode; substance collection unit; surgical delivery tool; gene delivery tool; drug delivery tool; and device delivery tool.
Claim 34
Dependent Claim
26 words
The system according to claim 21 , wherein said medical positioning system further includes a body MPS sensor, for attaching to the body of the patient.
Claim 35
Dependent Claim
279 words
Method for displaying an image sequence of a moving inspected organ, the method comprising the steps of: detecting an organ timing signal of said inspected organ, said organ timing signal defining an organ timing signal cycle; detecting a plurality of two-dimensional images of said inspected organ, using an image detector; detecting the location and orientation of said image detector; associating each of said two-dimensional images with said image detector location and orientation and with said detected organ timing signal; reconstructing a plurality of three-dimensional images from said two-dimensional images, each said three-dimensional images being reconstructed from two-dimensional images selected from said two-dimensional images, said selected two-dimensional images corresponding to a selected position within said organ timing signal cycle; selecting one of said three-dimensional images according to a real-time reading of said organ timing signal; and displaying said selected three-dimensional image; prior to said step of reconstructing: detecting the location and orientation of a surgical tool; and modifying at least one of said two-dimensional images, by discarding a portion of at least one of said two-dimensional images, said portion representing at least a portion of said surgical tool; detecting the location and orientation of a surgical tool; and modifying at least one of said two-dimensional images, by discarding a portion of at least one of said two-dimensional images, said portion representing at least a portion of said surgical tool; wherein said detected location and orientation of said surgical tool and said detected location and orientation of said image detector, are acquired in a single coordinate system, thereby eliminating computations for correlating said location and orientation of said transducer MPS sensor and said location and orientation of said surgical MPS sensor.
Claim 36
Dependent Claim
279 words
Method for displaying an image sequence of a moving inspected organ, the method comprising the steps of: detecting an organ timing signal of said inspected organ, said organ timing signal defining an organ timing signal cycle; detecting a plurality of two-dimensional images of said inspected organ, using an image detector; detecting the location and orientation of said image detector; associating each of said two-dimensional images with said image detector location and orientation and with said detected organ timing signal; reconstructing a plurality of three-dimensional images from said two-dimensional images, each said three-dimensional images being reconstructed from two-dimensional images selected from said two-dimensional images, said selected two-dimensional images corresponding to a selected position within said organ timing signal cycle; selecting one of said three-dimensional images according to a real-time reading of said organ timing signal; and displaying said selected three-dimensional image; prior to said step of reconstructing: detecting the location and orientation of a surgical tool; and modifying at least one of said two-dimensional images, by discarding a portion of at least one of said two-dimensional images, said portion representing at least a portion of said surgical tool; detecting the location and orientation of a surgical tool; and modifying at least one of said two-dimensional images, by discarding a portion of at least one of said two-dimensional images, said portion representing at least a portion of said surgical tool; wherein said detected location and orientation of said surgical tool and said detected location and orientation of said image detector, are acquired in a single coordinate system, thereby eliminating computations for correlating said location and orientation of said transducer MPS sensor and said location and orientation of said surgical MPS sensor.
Claim 37
Dependent Claim
30 words
The method according to claim 33 , further comprising the step of superimposing a representation of said surgical tool onto said selected three-dimensional image, prior to said step of displaying.
Claim 38
Dependent Claim
24 words
The method according to claim 34 , wherein said representation of said surgical tool indicates an estimated an estimated location of said surgical tool.
Claim 39
Dependent Claim
21 words
The method according to claim 34 , wherein said representation of said surgical tool indicates the orientation of said surgical tool.
Claim 40
Dependent Claim
28 words
The method according to claim 34 , wherein portions of said surgical tool which are located above, below and within a viewed plane, are presented in different colors.
Claim 41
Dependent Claim
21 words
The method according to claim 34 , wherein said representation of said surgical tool is in the form of a cursor.
Claim 42
Dependent Claim
23 words
The method according to claim 34 , wherein said representation of said surgical tool is a pseudo relistic visualization of said surgical tool.
Claim 43
Dependent Claim
34 words
The method according to claim 34 , wherein said representation of said surgical tool comprises a projection of a three-dimensional representation of said representation of said surgical tool, on each of said two-dimensional images.
Claim 44
Dependent Claim
51 words
The method according to claim 33 , further comprising the following steps, prior to said step of displaying: detecting the location and orientation of a surgical tool; and superimposing a representation of said surgical tool onto said selected three-dimensional image, according to said detected location and orientation of said surgical tool.
Claim 45
Dependent Claim
46 words
The method according to claim 33 , further comprising the following steps prior to said step of displaying: detecting the location and orientation of a surgical tool; and superimposing a representation of said detected location and orientation of said surgical tool, onto said selected three-dimensional image.
Claim 46
Dependent Claim
48 words
The method according to claim 33 , further comprising, the following steps, after said step of selecting: detecting the location and orientation of a point of view of a user; and rendering said selected three-dimensional image according to said detected location and orientation of said point of view.
Claim 47
Dependent Claim
39 words
The method according to claim 43 , further comprising the following steps prior to said step of rendering: detecting the location and orientation a surgical tool; and superimposing a representation of said surgical tool onto said selected three-dimensional image.
Claim 48
Dependent Claim
46 words
The method according to claim 43 , further comprising the following steps, prior to said step of rendering: detecting the location and orientation of a surgical tool; and superimposing a representation of said detected location and orientation of said surgical tool onto said selected three-dimensional image.
Claim 49
Dependent Claim
37 words
The method according to claim 43 , wherein said step of detecting said location and orientation of said point of view of said user, is performed using a location and orientation sensor attached to user worn goggles.
Claim 50
Dependent Claim
27 words
The method according to claim 46 , wherein the information respective of said location and orientation sensor is provided with the coordinate system of a surgical tool.
Claim 51
Dependent Claim
27 words
The method according to claim 46 , wherein the information respective of said location and orientation sensor is provided within the coordinate system of said inspected organ.
Claim 52
Dependent Claim
29 words
The method according to claim 46 , wherein the information respective of said location and orientation sensor is provided within the coordinate system of the body of the patient.
Claim 53
Dependent Claim
38 words
The method according to claim 43 , wherein said step of detecting said location and orientation of said point of view of said user, is performed using a location and orientation sensor attached to user worn semi-transparent goggles.
Claim 54
Dependent Claim
49 words
The method according to claim 33 , wherein said surgical tool is selected from the list consisting of: clamp; laser cutter; brush; catheter; stent; balloon; pace maker electrode; solution dispensing unit; neuron electrode; substance collection unit; surgical delivery tool; gene delivery tool; drug delivery tool; and device delivery tool.
Claim 55
Dependent Claim
30 words
The method according to claim 33 , further comprising the step of discarding portions in said selected two-dimensional images which represent a surgical tool, prior to said step of reconstructing.
Claim 56
Dependent Claim
34 words
The method according to claim 33 , wherein said representation of said surgical tool comprises a projection of a three-dimensional representation of said representation of said surgical tool, on each of said two-dimensional images.
Claim 57
Dependent Claim
239 words
Method for displaying an image sequence of a moving inspected organ, the method comprising the steps of: detecting an organ timing signal of said inspected organ, said organ timing signal defining an organ timing signal cycle; selecting one of a previously stored three-dimensional images according to a real-time reading of said organ timing signal; detecting the location and orientation of a surgical tool; superimposing a representation of said surgical tool onto said selected three-dimensional image; and displaying said superimposed three-dimensional image; further comprising the following steps prior to said step of selecting: detecting a plurality of two-dimensional images of said inspected organ, using an image detector; detecting the location and orientation of said image detector; associating each of said two-dimensional images with said location and orientation of said two-dimensional image and with a reading of said organ timing signal detected at the time of acquiring said two-dimensional image; and reconstructing a plurality of three-dimensional images from said two-dimensional images, each said three-dimensional images being reconstructed from two-dimensional images selected from said two-dimensional images, said selected two-dimensional images corresponding to a selected position within said organ timing signal cycle; wherein said detected location and orientation of said surgical tool and said detected location and orientation of said image detector, are acquired in a single coordinate system, thereby eliminating computations for correlating said detected location and orientation of said surgical tool and said detected location and orientation of said image detector.
Claim 58
Dependent Claim
239 words
Method for displaying an image sequence of a moving inspected organ, the method comprising the steps of: detecting an organ timing signal of said inspected organ, said organ timing signal defining an organ timing signal cycle; selecting one of a previously stored three-dimensional images according to a real-time reading of said organ timing signal; detecting the location and orientation of a surgical tool; superimposing a representation of said surgical tool onto said selected three-dimensional image; and displaying said superimposed three-dimensional image; further comprising the following steps prior to said step of selecting: detecting a plurality of two-dimensional images of said inspected organ, using an image detector; detecting the location and orientation of said image detector; associating each of said two-dimensional images with said location and orientation of said two-dimensional image and with a reading of said organ timing signal detected at the time of acquiring said two-dimensional image; and reconstructing a plurality of three-dimensional images from said two-dimensional images, each said three-dimensional images being reconstructed from two-dimensional images selected from said two-dimensional images, said selected two-dimensional images corresponding to a selected position within said organ timing signal cycle; wherein said detected location and orientation of said surgical tool and said detected location and orientation of said image detector, are acquired in a single coordinate system, thereby eliminating computations for correlating said detected location and orientation of said surgical tool and said detected location and orientation of said image detector.
Claim 59
Dependent Claim
59 words
The method according to claim 54 , further comprising a step of modifying at least one of said two-dimensional images, by discarding a portion thereof which represents at least a portion of said surgical tool, wherein said step of modifying is performed following said step of associating, and following said step of detecting said surgical tool location and orientation.
Claim 60
Dependent Claim
47 words
The method according to claim 54 , further comprising the following steps, before said step of displaying: detecting the location and orientation of a point of view of user; and rendering said selected three-dimensional image according to said detected location and orientation of said point of view.
Claim 61
Dependent Claim
37 words
The method according to claim 56 , wherein said step of detecting said location and orientation of said point of view of said user, is performed using a location and orientation sensor attached to user worn goggles.
Claim 62
Dependent Claim
27 words
The method according to claim 57 , wherein the information respective of said location and orientation sensor is provided within the coordinate system of said surgical tool.
Claim 63
Dependent Claim
27 words
The method according to claim 57 , wherein the information respective of said location and orientation sensor is provided within the coordinate system of said inspected organ.
Claim 64
Dependent Claim
29 words
The method according to claim 57 , wherein the information respective of said location and orientation sensor is provided within the coordinate system of the body of the patient.
Claim 65
Dependent Claim
38 words
The method according to claim 56 , wherein said step of detecting said location and orientation of said point of view of said user, is performed using a location and orientation sensor attached to user worn semi-transparent goggles.
Claim 66
Dependent Claim
49 words
The method according to claim 54 , wherein said surgical tool is selected from the list consisting of: clamp; laser cutter; brush; catheter; stent; balloon; pace maker electrode; solution dispensing unit; neuron electrode; substance collection unit; surgical delivery tool; gene delivery tool; drug delivery tool; and device delivery tool.
Claim 67
Dependent Claim
22 words
The method according to claim 54 , wherein said representation of said surgical tool indicates an estimated location of said surgical tool.
Claim 68
Dependent Claim
21 words
The method according to claim 54 , wherein said representation of said surgical tool indicates the orientation of said surgical tool.
Claim 69
Dependent Claim
28 words
The method according to claim 54 , wherein portions of said surgical tool which are located above, below and within a viewed plane, are presented in different colors.
Claim 70
Dependent Claim
21 words
The method according to claim 54 , wherein said representation of said surgical tool is in the form of a cursor.
Claim 71
Dependent Claim
23 words
The method according to claim 54 , wherein said representation of said surgical tool is a pseudo realistic visualization of said surgical tool.
Claim 72
Dependent Claim
28 words
The method according to claim 54 , wherein said step of reconstruction is performed according to the location and orientation information associated with each said selected two-dimensional images.
Claim 73
Dependent Claim
30 words
The method according to claim 54 , further comprising the step of discarding portions in said selected two-dimensional images which represent said surgical tool, prior to said step of reconstructing.
Claim 74
Dependent Claim
34 words
The method according to claim 54 , wherein said representation of said surgical tool comprises a projection of a three-dimensional representation of said representation of said surgical tool, on each of said two-dimensional images.
Claim 75
Dependent Claim
300 words
Method for displaying an image sequence of a moving inspected organ, the method comprising the steps of: detecting an organ timing signal of said inspected organ, said organ timing signal defining an organ timing signal cycle; detecting the location and orientation of a point of view of a user; selecting one of a previously stored three-dimensional images according to a real-time reading of said organ timing signal; rendering said selected three-dimensional image according to said detected location and orientation of said point of view; and displaying said selected three-dimensional image; further comprising the following steps prior to said step of selecting: detecting a plurality of two-dimensional images of said inspected organ, using an image detector; detecting the location and orientation of said image detector; associating each of said two-dimensional images with said location and orientation of said two-dimensional image and with a reading of said organ timing signal detected at the time of acquiring said two-dimensional image; and reconstructing a plurality of three-dimensional images from said two-dimensional images, each said three-dimensional images being reconstructed from two-dimensional images selected from said two-dimensional images, said selected two-dimensional images corresponding to a selected position within said organ timing signal cycle; further comprising the following steps prior to said step of reconstructing; detecting the location and orientation of a surgical tool; and modifying at least one of said two-dimensional images, by discarding a portion of at least one of said two-dimensional images, said portion representing at least a portion of said surgical tool; wherein said detected location and orientation of said surgical tool and said detected location and orientation of said image detector, are acquired in a single coordinate system, thereby eliminating computations for correlating said detected location and orientation of said surgical tool and said detected location and orientation of said image detector.
Claim 76
Dependent Claim
300 words
Method for displaying an image sequence of a moving inspected organ, the method comprising the steps of: detecting an organ timing signal of said inspected organ, said organ timing signal defining an organ timing signal cycle; detecting the location and orientation of a point of view of a user; selecting one of a previously stored three-dimensional images according to a real-time reading of said organ timing signal; rendering said selected three-dimensional image according to said detected location and orientation of said point of view; and displaying said selected three-dimensional image; further comprising the following steps prior to said step of selecting: detecting a plurality of two-dimensional images of said inspected organ, using an image detector; detecting the location and orientation of said image detector; associating each of said two-dimensional images with said location and orientation of said two-dimensional image and with a reading of said organ timing signal detected at the time of acquiring said two-dimensional image; and reconstructing a plurality of three-dimensional images from said two-dimensional images, each said three-dimensional images being reconstructed from two-dimensional images selected from said two-dimensional images, said selected two-dimensional images corresponding to a selected position within said organ timing signal cycle; further comprising the following steps prior to said step of reconstructing; detecting the location and orientation of a surgical tool; and modifying at least one of said two-dimensional images, by discarding a portion of at least one of said two-dimensional images, said portion representing at least a portion of said surgical tool; wherein said detected location and orientation of said surgical tool and said detected location and orientation of said image detector, are acquired in a single coordinate system, thereby eliminating computations for correlating said detected location and orientation of said surgical tool and said detected location and orientation of said image detector.
Claim 77
Dependent Claim
30 words
The method according to claim 71 , further comprising the step of superimposing a representation of said surgical tool onto said selected three-dimensional image, prior to said step of displaying.
Claim 78
Dependent Claim
22 words
The method according to claim 72 , wherein said representation of said surgical tool indicates an estimated location of said surgical tool.
Claim 79
Dependent Claim
21 words
The method according to claim 72 , wherein said representation of said surgical tool indicates the orientation of said surgical tool.
Claim 80
Dependent Claim
28 words
The method according to claim 72 , wherein portions of said surgical tool which are located above, below and within a viewed plane, are presented in different colors.
Claim 81
Dependent Claim
21 words
The method according to claim 72 , wherein said representation of said surgical tool is in the form of a cursor.
Claim 82
Dependent Claim
23 words
The method according to claim 72 , wherein said representation of said surgical tool is a pseudo realistic visualization of said surgical tool.
Claim 83
Dependent Claim
34 words
The method according to claim 72 , wherein said representation of said surgical tool comprises a projection of a three-dimensional representation of said representation of said surgical tool, on each of said two-dimensional images.
Claim 84
Dependent Claim
64 words
The method according to claim 71 , further comprising the following steps, after said step of associating: detecting the location and orientation of a surgical tool; modifying at least one of said two-dimensional images, by discarding a portion of at least one of said two-dimensional images, which represents said surgical tool; and superimposing a representation of said surgical tool onto said selected three-dimensional image.
Claim 85
Dependent Claim
37 words
The method according to claim 71 , wherein said step of detecting said location and orientation of said point of view of said user, is performed using a location and orientation sensor attached to user worn goggles.
Claim 86
Dependent Claim
27 words
The method according to claim 80 , wherein the information respective of said location and orientation sensor is provided within the coordinate system of a surgical tool.
Claim 87
Dependent Claim
27 words
The method according to claim 80 , wherein the information respective of said location and orientation sensor is provided within the coordinate system of said inspected organ.
Claim 88
Dependent Claim
29 words
The method according to claim 80 , wherein the information respective of said location and orientation sensor is provided within the coordinate system of the body of the patient.
Claim 89
Dependent Claim
38 words
The method according to claim 71 , wherein said step of detecting said location and orientation of said point of view of said user, is performed using a location and orientation sensor attached to user worn semi-transparent goggles.
Claim 90
Dependent Claim
49 words
The method according to claim 71 , wherein said surgical tool is selected from the list consisting of: clamp; laser cutter; brush; catheter; stent; balloon; peace maker electrode; solution dispensing unit; neuron electrode; substance collection unit; surgical delivery tool; gene delivery tool; drug delivery tool; and device delivery tool.
Claim 91
Dependent Claim
30 words
The method according to claim 71 , further comprising the step of discarding portions in said selected two-dimensional images which represent a surgical tool, prior to said step of reconstructing.
Claim 92
Dependent Claim
152 words
Method for displaying an image sequence of a moving inspected organ, each image in said image sequence being associated with the location and orientation thereof within a predetermined coordinate system, the method comprising the steps of: detecting an organ timing signal of said inspected organ; selecting one of a previously stored two-dimensional images according to a real-time reading of said organ timing signal; and displaying said selected two-dimensional image; further comprising the following steps, before said step of displaying: detecting the location and orientation of a surgical tool; and projecting a representation of said surgical tool onto said selected two-dimensional image; wherein said detected location and orientation of said surgical tool and said detected location and orientation of said image detector, are acquired in a single coordinate system, thereby eliminating computations for correlating said detected location and orientation of said surgical tool and said detected location and orientation of said image detector.
Claim 93
Dependent Claim
152 words
Method for displaying an image sequence of a moving inspected organ, each image in said image sequence being associated with the location and orientation thereof within a predetermined coordinate system, the method comprising the steps of: detecting an organ timing signal of said inspected organ; selecting one of a previously stored two-dimensional images according to a real-time reading of said organ timing signal; and displaying said selected two-dimensional image; further comprising the following steps, before said step of displaying: detecting the location and orientation of a surgical tool; and projecting a representation of said surgical tool onto said selected two-dimensional image; wherein said detected location and orientation of said surgical tool and said detected location and orientation of said image detector, are acquired in a single coordinate system, thereby eliminating computations for correlating said detected location and orientation of said surgical tool and said detected location and orientation of said image detector.
Claim 94
Dependent Claim
42 words
The method according to claim 87 , further comprising the preliminary steps of: detecting a plurality of two-dimensional images of said inspected organ, using an image detector; and detecting the location and orientation of said image detector for each said two-dimensional images.
Claim 95
Dependent Claim
32 words
The method according to claim 87 , further comprising the preliminary step of storing said two-dimensional images and the respective said detected locations and orientations of said image detector, in a database.
Claim 96
Dependent Claim
31 words
The method according to claim 87 , further comprising the preliminary steps of: determining if at least one of said two-dimensional images deviates from a selected plane; and reporting said deviation.
Claim 97
Dependent Claim
49 words
The method according to claim 87 , further comprising the step of detecting the location and orientation of a point of view of a user, before said step of displaying, wherein said stored two-dimensional image is selected according to said detected location and orientation of said point of view.
Claim 98
Dependent Claim
63 words
The method according to claim 91 , further comprising the preliminary steps of: detecting a plurality of two-dimensional images of said inspected organ, using an image detector; detecting the location and orientation of said image detector, respective of each of said two-dimensional images; and storing said two-dimensional images and the respective said detected locations and orientations of said image detector, in a database.
Claim 99
Dependent Claim
37 words
The method according to claim 91 , wherein said step of detecting said location and orientation of said point of view of said user, is performed using a location and orientation sensor attached to user worn goggles.
Claim 100
Dependent Claim
27 words
The method according to claim 87 , wherein the information respective of said location and orientation sensor is provided within the coordinate system of a surgical tool.
Claim 101
Dependent Claim
27 words
The method according to claim 87 , wherein the information respective of said location and orientation sensor is provided within the coordinate system of said inspected organ.
Claim 102
Dependent Claim
29 words
The method according to claim 87 , wherein the information respective of said location and orientation sensor is provided within the coordinate system of the body of the patient.
Claim 103
Dependent Claim
49 words
The method according to claim 87 , wherein said surgical tool is selected from the list consisting of: clamp; laser cutter; brush; catheter; stent; balloon; pace maker electrode; solution dispensing unit; neuron electrode; substance collection unit; surgical delivery tool; gene delivery tool; drug delivery tool; and device delivery tool.
Claim 104
Dependent Claim
22 words
The method according to claim 87 , wherein said representation of said surgical tool indicates an estimated location of said surgical tool.
Claim 105
Dependent Claim
21 words
The method according to claim 87 , wherein said representation of said surgical tool indicates the orientation of said surgical tool.
Claim 106
Dependent Claim
29 words
The method according to claim 87 , wherein portions of said surgical tool which are located above, below and within said selected two-dimensional image, are presented in different colors.
Claim 107
Dependent Claim
20 words
The method according to claim 87 , wherein said representation of said surgical tool is in the form of cursor.
Claim 108
Dependent Claim
23 words
The method according to claim 87 , wherein said representation of said surgical tool is a pseudo realistic visualization of said surgical tool.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2011-06-10 | 2011-12-10 | 2012-06-10 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2015-06-10 | 2015-12-10 | 2016-06-10 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2019-06-10 | 2019-12-10 | 2020-06-10 | $7700.00 | Window Closed / Lapsed |