US 12,402,955 B2
Extended-reality visualization of endovascular navigation
Enio T. Perez Filho, Minneapolis, MN (US); Braden Eliason, Minneapolis, MN (US); Reza Talaie, Plymouth, MN (US); Aaron Koenigsberg, Farmington, MN (US); and Jafar Golzarian, Plymouth, MN (US)
Assigned to Regents of the University of Minnesota, Minneapolis, MN (US)
Appl. No. 18/003,295
Filed by Regents of the University of Minnesota, Minneapolis, MN (US)
PCT Filed Jun. 29, 2021, PCT No. PCT/US2021/070787
§ 371(c)(1), (2) Date Dec. 23, 2022,
PCT Pub. No. WO2022/006586, PCT Pub. Date Jan. 6, 2022.
Claims priority of provisional application 63/200,007, filed on Feb. 9, 2021.
Claims priority of provisional application 63/045,542, filed on Jun. 29, 2020.
Prior Publication US 2023/0248441 A1, Aug. 10, 2023
Int. Cl. A61B 34/20 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 90/361 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, by processing circuitry and from one or more electromagnetic (EM) sensors of an EM sensor system, signals indicative of a magnitude of an EM field generated by an EM source of the EM sensor system, wherein the one or more EM sensors are disposed at a distal portion of a flexible shaft of a medical tool configured for insertion into a body of a patient;
determining, by the processing circuitry and based on the signals indicative of the magnitude of the EM field, a pose of the one or more EM sensors;
adjusting, by the processing circuitry and based on the determined pose of the one or more EM sensors, a three-dimensional (3-D) model representation of the medical tool;
receiving, by the processing circuitry, first image data depicting at least a portion of an internal anatomy of the body of the patient and an internal imaging target;
receiving, by the processing circuitry, second image data depicting an external imaging target;
determining, by the processing circuitry and based on the signals indicative of the magnitude of the EM field, the first image data, and the second image data, a relative alignment between the pose of the one or more EM sensors, a pose of the external imaging target, and a pose of the internal imaging target;
generating, by the processing circuitry and based on the determined relative alignment, extended reality (XR) content comprising a visual representation of the medical tool within the at least a portion of the internal anatomy of the body; and
outputting, by the processing circuitry, the XR content for display on an XR device to simulate a current pose of the medical tool relative to the body of the patient.