US 12,343,205 B2
System and method for medical navigation
Toby Collins, Strasbourg (FR); Leonardo Sosa Valencia, Strasbourg (FR); Alexandre Hostettler, Strasbourg (FR); Caroline Trompf, Strasbourg (FR); and Jacques Marescaux, Scharrachbergheim-Irmstett (FR)
Assigned to INSTITUT HOSPITALO-UNIVERSITAIRE DE STRASBOURG, Strasbourg (FR); and INSTITUT DE RECHERCHE CONTRE LES CANCERS DE L'APPAREIL DIGESTIF, Strasbourg (FR)
Appl. No. 17/421,570
Filed by INSTITUT HOSPITALO-UNIVERSITAIRE DE STRASBOURG, Strasbourg (FR); and INSTITUT DE RECHERCHE CONTRE LES CANCERS DE L'APPAREIL DIGESTIF, Strasbourg (FR)
PCT Filed Jan. 17, 2020, PCT No. PCT/EP2020/051193
§ 371(c)(1), (2) Date Jul. 8, 2021,
PCT Pub. No. WO2020/148450, PCT Pub. Date Jul. 23, 2020.
Claims priority of provisional application 62/793,963, filed on Jan. 18, 2019.
Prior Publication US 2022/0079557 A1, Mar. 17, 2022
Int. Cl. G06T 7/30 (2017.01); A61B 8/00 (2006.01); A61B 8/12 (2006.01); G06T 7/00 (2017.01); G06T 7/20 (2017.01); G16H 20/40 (2018.01); G16H 30/40 (2018.01); G16H 40/63 (2018.01); A61B 90/00 (2016.01)
CPC A61B 8/4254 (2013.01) [A61B 8/12 (2013.01); A61B 8/463 (2013.01); G06T 7/0012 (2013.01); G06T 7/20 (2013.01); G06T 7/30 (2017.01); G16H 20/40 (2018.01); G16H 30/40 (2018.01); G16H 40/63 (2018.01); A61B 8/4416 (2013.01); A61B 8/467 (2013.01); A61B 2090/363 (2016.02); A61B 2090/364 (2016.02); G06T 2207/10068 (2013.01); G06T 2207/10132 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A system for medical navigation comprising an echo-endoscope, a tracking device, a pointer tracked by the tracking device, a user interface, a display and a computing and storing system, the computing and storing system containing pre-operative radiologic data of a patient, wherein the computing and storing system is configured to:
receive, via the user interface, a first chain of points representing an oesophagus centre axis in the pre-operative radiologic data;
receive, from the echo-endoscope, a second chain of points representing a position path of the tip of the echo-endoscope when the echo-endoscope passes between the oesophagus and the stomach of the patient;
receive a localization, in the pre-operative radiologic data, of an anatomical landmark located on an external surface of the patient;
receive a localization of the anatomical landmark acquired by the pointer and tracked by the pointer tracker;
perform a registration between a first coordinate system related to the pre-operative radiologic data and a second coordinate system related to real-time intra-operative data acquired by the echo-endoscope, the registration being performed based on the first chain of points, the second chain of points and the received localizations of the anatomical landmark;
wherein
the echo-endoscope is further configured to acquire, after the registration, a real-time ultrasound signal on the patient;
the tracking device is further configured to acquire tracking data representative of a position of a distal tip of the echo-endoscope in a space during the acquisition of the real-time ultrasound signal;
the computing and storing system is further configured to compute, based on the registration and the tracking data, a real-time position and orientation of the real-time ultrasound signal with respect to the pre-operative radiologic data based on said registration; and
the display is configured to display a navigation view integrating a real-time ultrasound data view within the pre-operative radiologic data based on said position and orientation.