The present disclosure relates to graphical user interfaces for surgical navigation systems, in particular to a system and method for operative planning and execution of a medical procedure.
Some of typical functions of a computer-assisted surgery (CAS) system with navigation include presurgical planning of a procedure and presenting preoperative diagnostic information and images in useful formats. The CAS system presents status information about a procedure as it takes place in real time, displaying the preoperative plan along with intraoperative data. The CAS system may be used for procedures in traditional operating rooms, interventional radiology suites, mobile operating rooms or outpatient clinics. The procedure may be any medical procedure, whether surgical or non-surgical.
Surgical navigation systems are used to display the position and orientation of surgical instruments and medical implants with respect to presurgical or intraoperative medical imagery datasets of a patient. These images include pre and intraoperative images, such as two-dimensional (2D) fluoroscopic images and three-dimensional (3D) magnetic resonance imaging (MM) or computed tomography (CT).
Navigation systems locate markers attached or fixed to an object, such as surgical instruments and patient. Most commonly these tracking systems are optical and electro-magnetic. Optical tracking systems have one or more stationary cameras that observes passive reflective markers or active infrared LEDs attached to the tracked instruments or the patient. Eye-tracking solutions are specialized optical tracking systems that measure gaze and eye motion relative to a user's head. Electro-magnetic systems have a stationary field generator that emits an electromagnetic field that is sensed by coils integrated into tracked medical tools and surgical instruments.
Incorporating image segmentation processes that automatically identify various bone landmarks, based on their density, can increase planning accuracy. One such bone landmark is the spinal pedicle, which is made up of dense cortical bone making its identification utilizing image segmentation easier. The pedicle is used as an anchor point for various types of medical implants. Achieving proper implant placement in the pedicle is heavily dependent on the trajectory selected for implant placement. Ideal trajectory is identified by surgeon based on review of advanced imaging (e.g., CT or MRI), goals of the surgical procedure, bone density, presence or absence of deformity, anomaly, prior surgery, and other factors. The surgeon then selects the appropriate trajectory for each spinal level. Proper trajectory generally involves placing an appropriately sized implant in the center of a pedicle. Ideal trajectories are also critical for placement of inter-vertebral biomechanical devices.
Another example is placement of electrodes in the thalamus for the treatment of functional disorders, such as Parkinson's. The most important determinant of success in patients undergoing deep brain stimulation surgery is the optimal placement of the electrode. Proper trajectory is defined based on preoperative imaging (such as Mill or CT) and allows for proper electrode positioning.
Another example is minimally invasive replacement of prosthetic/biologic mitral valve in for the treatment of mitral valve disorders, such as mitral valve stenosis or regurgitation. The most important determinant of success in patients undergoing minimally invasive mitral valve surgery is the optimal placement of the three dimensional valve.
The fundamental limitation of surgical navigation systems is that they provide restricted means of communicating to the surgeon. Currently-available navigation systems present some drawbacks.
Typically, one or several computer monitors are placed at some distance away from the surgical field. They require the surgeon to focus the visual attention away from the surgical field to see the monitors across the operating room. This results in a disruption of surgical workflow. Moreover, the monitors of current navigation systems are limited to displaying multiple slices through three-dimensional diagnostic image datasets, which are difficult to interpret for complex 3D anatomy.
The fact that the screen of the surgical navigation system is located away from the region of interest (ROI) of the surgical field requires the surgeon to continuously look back and forth between the screen and the ROI. This task is not intuitive and results in a disruption to surgical workflow and decreases planning accuracy.
For example, a system of such type is disclosed in a U.S. Pat. No. 9,532,848, which discloses a system for assisting a user manipulating an object during a surgery, the system comprising a tracking device for tracking the object and for generating tracking data for the object and a sterilized displaying device located in a volume within the sterile field defined as being above a plane of and delimited by an operating table and below the shoulders of an operator standing next to a patient lying on the operating table, the displaying device being supported directly by the operating table. Even though the displaying device is positioned very close to the patient being operated, the surgeon still needs to look back and forth between the screen and the ROI.
When defining and later executing an operative plan, the surgeon interacts with the navigation system via a keyboard and mouse, touchscreen, voice commands, control pendant, foot pedals, haptic devices, and tracked surgical instruments. Based on the complexity of the 3D anatomy, it can be difficult to simultaneously position and orient the instrument in the 3D surgical field only based on the information displayed on the monitors of the navigation system. Similarly, when aligning a tracked instrument with an operative plan, it is difficult to control the 3D position and orientation of the instrument with respect to the patient anatomy. This can result in an unacceptable degree of error in the preoperative plan that will translate to poor surgical outcome. There is disclosed a surgical navigation system comprising: a 3D display system with a see-through visor; a tracking system comprising means for real-time tracking of: a surgeon's head, the see-through visor, a patient anatomy and a surgical instrument to provide current position and orientation data; a source of an operative plan, a patient anatomy data and a virtual surgical instrument model; a surgical navigation image generator configured to generate a surgical navigation image comprising a three-dimensional image representing simultaneously a virtual image of the surgical instrument corresponding to the current position and orientation of the surgical instrument and a virtual image of the surgical instrument indicating the suggested positions and orientation of the surgical instrument according to the operative plan data based on the current relative position and orientation of the surgeon's head, the see-through visor, the patient anatomy and the surgical instrument; wherein the 3D display system is configured to show the surgical navigation image at the see-through visor, such that an augmented reality image collocated with the patient anatomy in the surgical field underneath the see-through visor is visible to a viewer looking from above the see-through visor towards the surgical field.
The three-dimensional image of the surgical navigation image may further comprise at least one of: the patient anatomy data, operative plan data, in accordance to the current position and orientation data provided by the tracking system.
The three-dimensional image of the surgical navigation image may further comprise a graphical cue indicating the required change of position and orientation of the surgical instrument to match the suggested position and orientation according to the pre-operative plan data.
The surgical navigation image may further comprise a set of orthogonal (axial, sagittal, and coronal) and arbitrary planes of the patient anatomy data.
The 3D display system may comprise a 3D projector and a see-through projection screen, wherein the 3D projector is configured to project the surgical navigation image onto the see-through projection screen, which is partially transparent and partially reflective, for showing the surgical navigation image.
The 3D display system may comprise a 3D projector, an opaque projection screen and a see-through mirror, wherein the 3D projector is configured to project the surgical navigation image onto the opaque projection screen for showing the surgical navigation image for emission towards the see-through mirror, which is partially transparent and partially reflective.
The 3D display system may comprise a 3D projector, a plurality of opaque mirrors, an opaque projection screen and a see-through mirror, wherein the 3D projector is configured to project the surgical navigation image towards the plurality of opaque mirrors for reflecting the surgical navigation image towards the opaque projection screen for showing the surgical navigation image for emission towards the see-through mirror, which is partially transparent and partially reflective.
The 3D display may comprise a 3D monitor for showing the surgical navigation image for emission towards the see-through mirror which is partially transparent and partially reflective.
The 3D display may comprise a see-through 3D screen, which is partially transparent and partially emissive, for showing the surgical navigation image.
The see-through visor may be configured to be positioned, when the system is in use, at a distance (d1) from the surgeon's head which is shorter than the distance (d2) from the surgical field of the patient anatomy.
The surgical navigation image generator may be controllable by an input interface comprising at least one of: foot-operable pedals, a microphone, a joystick, an eye-tracker.
The tracking system may comprise a plurality of arranged fiducial markers, including a head array, a display array, a patient anatomy array, an instrument array; and a fiducial marker tracker configured to determine in real time the positions and orientations of each of the components of the surgical navigation system.
At least one of the head array, the display array, the patient anatomy array, the instrument array may contain several fiducial markers that are not all coplanar.
There is also disclosed a method for providing an augmented reality image during an operation, comprising: providing a 3D display system with a see-through visor; providing a tracking system comprising means for real-time tracking of: a surgeon's head, the 3D see-through visor, a patient anatomy and a surgical instrument to provide current position and orientation data; providing a source of: an operative plan, a patient anatomy data and a virtual surgical instrument model; generating, by a surgical navigation image generator, a surgical navigation image comprising: a three-dimensional image representing simultaneously a virtual image of the surgical instrument corresponding to the current position and orientation of the surgical instrument and a virtual image of the surgical instrument indicating the suggested positions and orientations of the surgical instruments according to the operative plan based on the current relative position and orientation of the surgeon's head, the see-through visor, the patient anatomy and the surgical instrument; showing the surgical navigation image at the see-through visor, such that an augmented reality image collocated with the patient anatomy in the surgical field underneath the see-through visor is visible to a viewer looking from above the see-through visor towards the surgical field.
The intended use of this invention is both presurgical planning of ideal surgical instrument trajectory and placement, and intraoperative surgical guidance, with the objective of helping to improve surgical outcomes.
A combination of a navigated probe and a computer-assisted medical system is used for interactive creation of a trajectory for positioning of a medical device. A navigated probe facilitates the positioning of the medical device. The navigated probe is part of a computer-assisted medical system consisting of a 6-degree-of-freedom (DOF) tracker (optical, electromagnetic, inertial, or any other tracking technology) and a navigated structure. The navigated structure contains a graphical user interface (GUI) for displaying patient anatomy in three dimensions (3D), as well as a virtual representation of actual implanted medical devices (IMDs) and instruments during a surgical procedure in a real time.
The surgeon can control the navigated probe by looking at its virtual representation on the GUI and lining it up to the virtual representation of the organ to achieve a proper trajectory for medical implant placement. During the planning process, a virtual instrument is displayed on a 3D display device to indicate the dynamic 3D position and orientation of the medical device. The surgeon can interact with the probe and the computer-assisted medical system by either using a 6-DOF tracking device and/or by pressing on a set of pre-programed pedals or using other input interfaces, such as a microphone (for voice commands), a joystick, an eye-tracker (for gaze tracking).
The presented system and method solve the critical problems of typical surgical navigation systems. First, they allow the surgeon to focus the visual attention to the surgical field by superimposing 3D patient anatomy, surgical guidance, and orthogonal planes directly onto the area of patient anatomy where the surgery is performed, without requiring the surgeon to look away from the surgical field. Secondly, they provide the surgeon a more intuitive mechanism to define and execute an operative plan by simply handling the surgical instruments in a 3D workspace that perfectly matches the operative field, without requiring the surgeon to perform a disorienting mental mapping of the information displayed by the navigation system to the 3D position and orientation of the surgical instruments with respect to the complex 3D anatomy. Moreover, by using the presented system and method, the time of operation can be reduced, as the more intuitive communication means do not distract the surgeon and do not require additional time to look away from the ROI.
These and other features, aspects and advantages of the invention will become better understood with reference to the following drawings, descriptions and claims.
The surgical navigation system and method are presented herein by means of non-limiting example embodiments shown in a drawing, wherein:
The following detailed description is of the best currently contemplated modes of carrying out the invention. The description is not to be taken in a limiting sense, but is made merely for the purpose of illustrating the general principles of the invention.
The system presented herein is comprises a 3D display system 140 to be implemented directly on real surgical applications in a surgical room as shown in
The surgical room typically comprises a floor 101 on which an operating table 104 is positioned. A patient 105 lies on the operating table 104 while being operated by a surgeon 106 with the use of various surgical instruments 107. The surgical navigation system as described in details below can have its components, in particular the 3D display system 140, mounted to a ceiling 102, or alternatively to the floor 101 or a side wall 103 of the operating room. Furthermore, the components, in particular the 3D display system 140, can be mounted to an adjustable and/or movable floor-supported structure (such as a tripod). Components other than the 3D display system 140, such as the surgical image generator 131, can be implemented in a dedicated computing device 109, such as a stand-alone PC computer, which may have its own input controllers and display(s) 110.
In general, the system is designed for use in such a configuration wherein the distance d1 between the surgeon's eyes and the see-through mirror 141, is shorter than the distance d2, between the see-through mirror 141 and the operative field at the patient anatomy 105 being operated.
The surgical navigation system comprises a tracking system for tracking in real time the position and/or orientation of various entities to provide current position and/or orientation data. For example, the system may comprise a plurality of arranged fiducial markers, which are trackable by a fiducial marker tracker 125. Any known type of tracking system can be used, for example in case of a marker tracking system, 4-point marker arrays are tracked by a three-camera sensor to provide movement along six degrees of freedom. A head position marker array 121 can be attached to the surgeon's head for tracking of the position and orientation of the surgeon and the direction of gaze of the surgeon—for example, the head position marker array 121 can be integrated with the wearable 3D glasses 151 or can be attached to a strip worn over surgeon's head.
A display marker array 122 can be attached to the see-through mirror 141 of the 3D display system 140 for tracking its position and orientation, as the see-through mirror 141 is movable and can be placed according to the current needs of the operative setup.
A patient anatomy marker array 123 can be attached at a particular position and orientation of the anatomy of the patient.
A surgical instrument marker array 124 can be attached to the instrument whose position and orientation shall be tracked.
Preferably, the markers in at least one of the marker arrays 121-124 are not coplanar, which helps to improve the accuracy of the tracking system.
Therefore, the tracking system comprises means for real-time tracking of the position and orientation of at least one of: a surgeon's head 106, a 3D display 142, a patient anatomy 105, and surgical instruments 107. Preferably, all of these elements are tracked by a fiducial marker tracker 125.
A surgical navigation image generator 131 is configured to generate an image to be viewed via the see-through mirror 141 of the 3D display system. It generates a surgical navigation image 142A comprising data representing simultaneously a virtual image 164B of the surgical instrument corresponding to the current position and orientation of the surgical instrument and a virtual image 164A of the surgical instrument indicating the suggested positions and orientation of the surgical instrument according to the operative plan data 161, 162 based on the current relative position and orientation of the surgeon's head 106, the see-through visor 141, 141B, 141D, the patient anatomy 105 and the surgical instrument 107. It may further comprise data representing the patient anatomy scan 163 (which can be generated before the operation or live during the operation).
The surgical navigation image generator 131, as well as other components of the system, can be controlled by a user (i.e. a surgeon or support staff) by one or more user interfaces 132, such as foot-operable pedals (which are convenient to be operated by the surgeon), a keyboard, a mouse, a joystick, a button, a switch, an audio interface (such as a microphone), a gesture interface, a gaze detecting interface etc. The input interface(s) are for inputting instructions and/or commands.
All system components are controlled by one or more computer which is controlled by an operating system and one or more software applications. The computer may be equipped with a suitable memory which may store computer program or programs executed by the computer in order to execute steps of the methods utilized in the system. Computer programs are preferably stored on a non-transitory medium. An example of a non-transitory medium is a non-volatile memory, for example a flash memory while an example of a volatile memory is RAM. The computer instructions are executed by a processor. These memories are exemplary recording media for storing computer programs comprising computer-executable instructions performing all the steps of the computer-implemented method according the technical concept presented herein. The computer(s) can be placed within the operating room or outside the operating room. Communication between the computers and the components of the system may be performed by wire or wirelessly, according to known communication means.
The aim of the system is to generate, via the see-through visor 141, an augmented reality image such as shown in examples of
If the 3D display 142 is stereoscopic, the surgeon shall use a pair of 3D glasses 151 to view the augmented reality image 141A. However, if the 3D display 142 is autostereoscopic, it may be not necessary for the surgeon to use the 3D glasses 151 to view the augmented reality image 141A.
Preferably, the images of the orthogonal planes 172, 173, 174 are displayed in an area next (preferably, above) to the area of the 3D image 171, as shown in
The location of the images of the orthogonal planes 172, 173, 174 may be adjusted in real time depending on the location of the 3D image 171, when the surgeon changes the position of the head during operation, such as not to interfere with the 3D image 171.
Therefore, in general, the anatomical information of the user is shown in two different layouts that merge for an augmented and mixed reality feature. The first layout is the anatomical information that is projected in 3D in the surgical field. The second layout is in the orthogonal planes.
The surgical navigation image 142A is generated by the image generator 131 in accordance with the tracking data provided by the fiducial marker tracker 125, in order to superimpose the anatomy images and the instrument images exactly over the real objects, in accordance with the position and orientation of the surgeon's head. The markers are tracked in real time and the image is generated in real time. Therefore, the surgical navigation image generator 131 provides graphics rendering of the virtual objects (patient anatomy, surgical plan and instruments) collocated to the real objects according to the perspective of the surgeon's perspective.
For example, surgical guidance may relate to suggestions (virtual guidance clues 164) for placement of a pedicle screw in spine surgery or the ideal orientation of an acetabular component in hip arthroplasty surgery. These suggestions may take a form of animations that show the surgeon whether the placement is correct. The suggestions may be displayed both on the 3D holographic display and the orthogonal planes. The surgeon may use the system to plan these orientations before or during the surgical procedure.
In particular, the 3D image 171 is adapted in real time to the position and orientation of the surgeon's head. The display of the different orthogonal planes 172, 173, 174 may be adapted according to the current position and orientation of the surgical instruments used.
The aligning the line of sight of the surgeon onto the see-through mirror with the patient anatomy underneath the see-through mirror, involving the scaling and orientation of the image, can be realized based on known solutions in the field of computer graphics processing, in particular for virtual reality, including virtual scene generation, using well-known mathematical formulas and algorithms related to viewer centered perspective. For example, such solutions are known from various tutorials and textbooks (such as “The Future of the CAVE” by T. A. DeFanti et al, Central European Journal of Engineering, 2010, DOI: 10.2478/s13531-010-0002-5).
For example, as shown in
The see-through mirror (also called a half-silvered mirror) 141 is at least partially transparent and partially reflective, such that the viewer can see the real world behind the mirror but the mirror also reflects the surgical navigation image generated by the display apparatus located above it.
For example, a see-through mirror as commonly used in teleprompters can be used. For example, the see-through mirror 141 can have a reflective and transparent rate of 50R/50T, but other rates can be used as well.
The surgical navigation image is emitted from above the see-through mirror 141 by the 3D display 142.
In an example embodiment as shown in
The 3D display 142 comprises a 3D projector 143, such as a DLP projector, that is configured to generate an image, as shown in
The see-through mirror 141 is held at a predefined position with respect to the 3D projector 143, in particular with respect to the 3D projector 143, by an arm 147, which may have a first portion 147A fixed to the casing of the 3D display 142 and a second portion 147B detachably fixed to the first portion 147A. The first portion 147A may have a protective sleeve overlaid on it. The second portion 147B, together with the see-through mirror 141, may be disposable in order to keep sterility of the operating room, as it is relatively close to the operating field and may be contaminated during the operation. The arm can also be foldable upwards to leave free space of the work space when the arm and augmented reality are not needed.
In alternative embodiments, as shown for example in
As shown in
As shown in
As shown in
Therefore, see-through screen 141B, the see-through display 141D and the see-through mirror 141 can be commonly called a see-through visor.
If a need arises to adapt the position of the augmented reality screen with respect to the surgeon's head (for example, to accommodate the position depending on the height of the particular surgeon), the position of the whole 3D display system 140 can be changed, for example by manipulating an adjustable holder (a surgical boom) 149 on
An eye tracker 148 module can be installed at the casing of the 3D display 142 or at the see-through visor 141 or at the wearable glasses 151, to track the position and orientation of the eyes of the surgeon and input that as commands via the gaze input interface to control the display parameters at the surgical navigation image generator 131, for example to activate different functions based on the location that is being looked at, as shown in
For example, the eye tracker 148 may use infrared light to illuminate the eyes of the user without affecting the visibility of the user, wherein the reflection and refraction of the patterns on the eyes are utilized to determine the gaze vector (i.e. the direction at which the eye is pointing out). The gaze vector along with the position and orientation of the user's head is used to interact with the graphical user interface. However, other eye tracking algorithms techniques can be used as well.
It is particularly useful to use the eye tracker 148 along with the pedals 132 as the input interface, wherein the surgeon may navigate the system by moving a cursor by eye sight and inputting commands (such as select or cancel) by pedals.
While the invention has been described with respect to a limited number of embodiments, it will be appreciated that many variations, modifications and other applications of the invention may be made. Therefore, the claimed invention as recited in the claims that follow is not limited to the embodiments described herein.
Number | Date | Country | Kind |
---|---|---|---|
17186307 | Aug 2017 | EP | regional |
This application is a continuation of U.S. patent application Ser. No. 16/842,793, filed Apr. 8, 2020, entitled “GRAPHICAL USER INTERFACE FOR A SURGICAL NAVIGATION SYSTEM AND METHOD FOR PROVIDING AN AUGMENTED REALITY IMAGE DURING OPERATION,” which is a continuation of U.S. patent application Ser. No. 16/059,061, filed Aug. 9, 2018, entitled “GRAPHICAL USER INTERFACE FOR A SURGICAL NAVIGATION SYSTEM AND METHOD FOR PROVIDING AN AUGMENTED REALITY IMAGE DURING OPERATION,” now U.S. Pat. No. 10,646,285, which claims priority under 35 U.S.C. § 119 to the European Patent Application No. 17186307, filed Aug. 15, 2017, entitled “A GRAPHICAL USER INTERFACE FOR A SURGICAL NAVIGATION SYSTEM FOR PROVIDING AN AUGMENTED REALITY IMAGE DURING OPERATION,” the disclosures of each of which is hereby incorporated herein by reference in its entirety.
Number | Name | Date | Kind |
---|---|---|---|
6405072 | Cosman | Jun 2002 | B1 |
8314815 | Navab et al. | Nov 2012 | B2 |
8933935 | Yang et al. | Jan 2015 | B2 |
9289267 | Sauer et al. | Mar 2016 | B2 |
9510771 | Finley et al. | Dec 2016 | B1 |
9532848 | Amiot et al. | Jan 2017 | B2 |
9785246 | Isaacs et al. | Oct 2017 | B2 |
9949700 | Razzaque et al. | Apr 2018 | B2 |
10013808 | Jones et al. | Jul 2018 | B2 |
10016243 | Esterberg | Jul 2018 | B2 |
10080623 | Saito | Sep 2018 | B2 |
10105187 | Corndorf et al. | Oct 2018 | B2 |
10134166 | Benishti et al. | Nov 2018 | B2 |
10194131 | Casas | Jan 2019 | B2 |
10292768 | Lang | May 2019 | B2 |
10646283 | Johnson et al. | May 2020 | B2 |
10646285 | Siemionow et al. | May 2020 | B2 |
10653497 | Crawford et al. | May 2020 | B2 |
10667864 | Feilkas et al. | Jun 2020 | B2 |
10788672 | Yadav et al. | Sep 2020 | B2 |
10835322 | Ruckel et al. | Nov 2020 | B2 |
10939977 | Messinger et al. | Mar 2021 | B2 |
10951872 | Casas | Mar 2021 | B2 |
11090019 | Siemionow et al. | Aug 2021 | B2 |
20020082498 | Wendt et al. | Jun 2002 | A1 |
20040047044 | Dalton | Mar 2004 | A1 |
20050190446 | Kuerz et al. | Sep 2005 | A1 |
20050289472 | Morita et al. | Dec 2005 | A1 |
20060176242 | Jaramaz et al. | Aug 2006 | A1 |
20080144773 | Bar-Zohar et al. | Jun 2008 | A1 |
20100328433 | Li | Dec 2010 | A1 |
20110007071 | Pfister | Jan 2011 | A1 |
20110229005 | Harder et al. | Sep 2011 | A1 |
20110311113 | Baumgart | Dec 2011 | A1 |
20120314224 | Luellau | Dec 2012 | A1 |
20130204097 | Rondoni et al. | Aug 2013 | A1 |
20130226190 | Mckinnon et al. | Aug 2013 | A1 |
20140081659 | Nawana et al. | Mar 2014 | A1 |
20150018622 | Tesar et al. | Jan 2015 | A1 |
20150125033 | Murphy et al. | May 2015 | A1 |
20150177598 | Mima et al. | Jun 2015 | A1 |
20150201895 | Suzuki | Jul 2015 | A1 |
20150264339 | Riedel | Sep 2015 | A1 |
20160035139 | Fuchs et al. | Feb 2016 | A1 |
20160176242 | Nakamata | Jun 2016 | A1 |
20160187969 | Larsen et al. | Jun 2016 | A1 |
20160191887 | Casas | Jun 2016 | A1 |
20160225192 | Jones et al. | Aug 2016 | A1 |
20160278875 | Crawford et al. | Sep 2016 | A1 |
20160324580 | Esterberg | Nov 2016 | A1 |
20160328630 | Han et al. | Nov 2016 | A1 |
20170024903 | Razzaque | Jan 2017 | A1 |
20170042631 | Doo et al. | Feb 2017 | A1 |
20170056115 | Corndorf et al. | Mar 2017 | A1 |
20170084036 | Pheiffer et al. | Mar 2017 | A1 |
20170105802 | Taraschi et al. | Apr 2017 | A1 |
20170112575 | Li et al. | Apr 2017 | A1 |
20170165028 | Hummelink | Jun 2017 | A1 |
20170258526 | Lang | Sep 2017 | A1 |
20170323062 | Djajadiningrat et al. | Nov 2017 | A1 |
20170329402 | Riedel | Nov 2017 | A1 |
20170360395 | Razzaque | Dec 2017 | A1 |
20180012416 | Jones et al. | Jan 2018 | A1 |
20180042681 | Jagga | Feb 2018 | A1 |
20180078316 | Schaewe et al. | Mar 2018 | A1 |
20180082480 | White et al. | Mar 2018 | A1 |
20180140362 | Cali et al. | May 2018 | A1 |
20180174311 | Kluckner et al. | Jun 2018 | A1 |
20180185113 | Gregorson et al. | Jul 2018 | A1 |
20180225993 | Buras et al. | Aug 2018 | A1 |
20180260951 | Yang et al. | Sep 2018 | A1 |
20180271484 | Whisler | Sep 2018 | A1 |
20180276813 | Gur et al. | Sep 2018 | A1 |
20180303558 | Thomas | Oct 2018 | A1 |
20180311012 | Moctezuma et al. | Nov 2018 | A1 |
20190029757 | Roh et al. | Jan 2019 | A1 |
20190053851 | Siemionow et al. | Feb 2019 | A1 |
20190105009 | Siemionow et al. | Apr 2019 | A1 |
20190125288 | Ethell | May 2019 | A1 |
20190130575 | Chen et al. | May 2019 | A1 |
20190142519 | Siemionow et al. | May 2019 | A1 |
20190175285 | Siemionow et al. | Jun 2019 | A1 |
20190192230 | Siemionow et al. | Jun 2019 | A1 |
20190201106 | Siemionow et al. | Jul 2019 | A1 |
20190307513 | Leung et al. | Oct 2019 | A1 |
20190333626 | Mansi et al. | Oct 2019 | A1 |
20200051274 | Siemionow et al. | Feb 2020 | A1 |
20200151507 | Siemionow et al. | May 2020 | A1 |
20200229877 | Siemionow et al. | Jul 2020 | A1 |
20200327721 | Siemionow et al. | Oct 2020 | A1 |
20200410687 | Siemionow et al. | Dec 2020 | A1 |
20210150702 | Claessen et al. | May 2021 | A1 |
20210369226 | Siemionow et al. | Dec 2021 | A1 |
Number | Date | Country |
---|---|---|
106600568 | Apr 2017 | CN |
2 922 025 | Sep 2015 | EP |
3 151 736 | Apr 2017 | EP |
3 221 809 | Sep 2017 | EP |
3 361 979 | Aug 2018 | EP |
3 432 263 | Jan 2019 | EP |
2 536 650 | Sep 2016 | GB |
WO 2007110820 | Oct 2007 | WO |
WO 2007115826 | Oct 2007 | WO |
WO 2012018560 | Feb 2012 | WO |
WO 2012027574 | Mar 2012 | WO |
WO 2014036473 | Mar 2014 | WO |
WO 2015058816 | Apr 2015 | WO |
WO 2016010719 | Jan 2016 | WO |
WO 2016010737 | Jan 2016 | WO |
WO 2016078919 | May 2016 | WO |
WO 2017003453 | Jan 2017 | WO |
WO 2017066373 | Apr 2017 | WO |
WO 2017083494 | May 2017 | WO |
WO 2017091833 | Jun 2017 | WO |
WO 2018048575 | Mar 2018 | WO |
WO 2018052966 | Mar 2018 | WO |
WO 2018057564 | Mar 2018 | WO |
WO 2018063528 | Apr 2018 | WO |
WO 2018067794 | Apr 2018 | WO |
WO 2018140415 | Aug 2018 | WO |
WO 2018171880 | Sep 2018 | WO |
WO 2018206086 | Nov 2018 | WO |
WO 2019005722 | Jan 2019 | WO |
WO 2019023625 | Jan 2019 | WO |
WO 2019118215 | Jun 2019 | WO |
WO 2019195926 | Oct 2019 | WO |
WO 2020109903 | Jun 2020 | WO |
WO 2020121126 | Jun 2020 | WO |
WO 2020231880 | Nov 2020 | WO |
Entry |
---|
Non-Final Office Action dated Nov. 16, 2020 for U.S. Appl. No. 16/101,459, 43 pages. |
Non-Final Office Action dated Sep. 16, 2019 for U.S. Appl. No. 16/059,061, 20 pages. |
Non-Final Office Action dated Jul. 10, 2020 for U.S. Appl. No. 16/842,793, 23 pages. |
Non-Final Office Action dated Oct. 28, 2020 for U.S. Appl. No. 16/186,549, 30 pages. |
Non-Final Office Action dated Oct. 27, 2020 for U.S. Appl. No. 16/537,645, 18 pages. |
Extended European Search Report dated Oct. 25, 2017 for European Application No. 17186306.1, 14 pages. |
Extended European Search Report dated Oct. 27, 2017 for European Application No. 17186307.9, 15 pages. |
Extended European Search Report dated Feb. 16, 2018 for European Application No. 17195826.7, 8 pages. |
Extended European Search Report dated Feb. 12, 2018 for European Application No. 17201224.7, 14 pages. |
Extended European Search Report dated Feb. 27, 2018 for European Application No. 17206558.3, 13 pages. |
Communication Pursuant to Article 94(3) dated Mar. 18, 2020 for European Application No. 17206558.3, 11 pages. |
Extended European Search Report dated Apr. 17, 2019 for European Application No. 18211806.7, 8 pages. |
Communication Pursuant to Article 94(3) dated Apr. 22, 2020 for European Application No. 18211806.7, 6 pages. |
Extended European Search Report dated Jul. 5, 2018 for European Application No. 18150376.4, 10 pages. |
Extended European Search Report dated Feb. 26, 2019 for European Application No. 18188557.5, 9 pages. |
Extended European Search Report dated Feb. 1, 2019 for European Application No. 18205207.6, 9 pages. |
Extended European Search Report dated Nov. 4, 2019 for European Application No. 19169136.9, 5 pages. |
Extended European Search Report dated Oct. 23, 2019 for European Application No. 19179411.4, 8 pages. |
Cernazanu-Glavan, C. et al., “Segmentation of Bone Structure in X-ray Images Using Conventional Neural Network,” Advances in Electrical and Computer Engineering, 13(1):87-94 (2013); doi:10.4316/aece.2013.01015. |
Chen, H. et al., “Low-dose CT denoising with convolutional neural network,” 2017 IEEE 14th International Symposium on Biomedical Imaging (Apr. 2017), 4 pages; doi:10.1109/ISBI.2017.7950488. |
Christ, P. F. et al., “Automatic Liver and Lesion Segmentation in CT Using Cascaded Fully Convolutional Neural Networks and 3D Conditional Random Fields,” Oct. 7, 2016, 8 pages; arXiv:1610.02177v1. |
Cramer, J., “Medical Image Segmentation and Design Tutorial with MevisLab,” Apr. 27, 2016, retrieved on Jan. 26, 2018 from https://www.youtube.com/watch?v=PHf3Np37zTW, 1 page. |
Egmont-Petersen, M. & Arts, T., “Recognition of radiopaque markers in X-ray images using a neural network as nonlinear filter,” Pattern Recognition Letters, 20:521-533 (1999). |
Fitzpatrick, J. M., “The role of registration in accurate surgical guidance,” Proceedings of the Institute of Mechanical Engineering Medicine, Part H: Journal of Engineering in Medicine, 224(5):607-622 (2010); doi:10.1243/09544119JEIM589. |
Gros, C. et al., “Automatic segmentation of the spinal cord and intramedullary multiple sclerosis lesions with convolutional neural networks,” Neuroimage, 184:901-915 (2019). |
Han, Z. et al., “Spine-GAN: Semantic segmentation of multiple spinal structures,” Med Image Anal., 50:23-35 (2018); doi:10.1016/j.media.2018.08.005. Epub Aug. 25, 2018. |
Jiménez-Pastor, A. et al., “Automatic localization and identification of vertebrae in spine CT scans by combining Deep Learning with morphological image processing techniques,” European Congress of Radiology (ECR) 2018, Mar. 4, 2018, retrieved from the Internet at: https://quibim.com/wp-content/uploads/2018/03/3_ECR2018_AJP, 30 pages. |
Krinninger, M., “Ein System zur Endoskopführung in der HNO-Chirurgie,” Dissertation, Mar. 15, 2011, XP055450605, Technischen Universität München, 151 pages. |
Krinninger, M., “Ein System zur Endoskopführung in der HNO-Chirurgie,” Dissertation, Mar. 15, 2011, XP055450605, Technischen Universität München; retrieved on Feb. 13, 2018 from https://mediatum.ub.tum.de/doc/998215/998215.pdf.—English Abstract, 1 page. |
Krishnan, R. et al., “Automated Fiducial Marker Detection for Patient Registration in Image-Guided Neurosurgery,” Computer Aided Surgery, 8(1):17-23 (2003). |
Liu, Yanfeng et al., “Human-Readable Fiducial Marker Classification using Convolutional Neural Networks,” 2017 IEEE International Conference on Electro Information Technology (EIT), IEEE, May 14, 2017, 5 pages. |
Lootus, M. et al., “Vertebrae Detection and Labelling in Lumbar MR Images,” Jan. 1, 2014, 12 pages. |
Mao, X.-J. et al., “Image Restoration Using Very Deep Convolutional Encoder-Decoder Networks with Symmetric Skip Connections,” 29th Conference on Neural Information Processing Systems (NIPS 2016), Barcelona, Spain, 9 pages. |
Shi, R. et al., “An Efficient Method for Segmentation of MRI Spine Images,” IEEE/ICME International Conference on Complex Medical Engineering, Jun. 2007, 6 pages; doi:10.1109/ICCME.2007.4381830. |
Song, Yuheng & Hao, Yan, “Image Segmentation Algorithms Overview,” Jul. 7, 2017, retrieved from the Internet at: https://arxiv.org/ftp/arxiv/papers/1707/1707.02051, 6 pages. |
Yang, D. et al., “Deep Image-to-Image Recurrent Network with Shape Basis Learning for Automatic Vertebra Labeling in Large-Scale 3D CT Volumes,” Conference: International Conference on Medical Image Computing and Computer-Assisted Intervention, doi:10.1007/978-3-319-66179-7_57, Sep. 2017, 9 pages. |
Non-Final Office Action dated Apr. 28, 2021 for U.S. Appl. No. 16/217,073, 12 pages. |
Non-Final Office Action dated Mar. 25, 2021 for U.S. Appl. No. 16/217,061, 25 pages. |
U.S. Appl. No. 16/101,459, filed Aug. 12, 2018. |
U.S. Appl. No. 16/154,747, filed Oct. 9, 2018. |
U.S. Appl. No. 16/217,073, filed Dec. 12, 2018. |
U.S. Appl. No. 16/186,549, filed Nov. 11, 2018. |
U.S. Appl. No. 16/217,061, filed Dec. 12, 2018. |
U.S. Appl. No. 16/236,663, filed Dec. 31, 2018. |
U.S. Appl. No. 16/537,645, filed Aug. 12, 2018. |
U.S. Appl. No. 16/677,707, filed Nov. 8, 2019. |
U.S. Appl. No. 16/833,750, filed Mar. 30, 2020. |
U.S. Appl. No. 16/897,315, filed Jun. 10, 2020. |
Non-Final Office Action dated Apr. 27, 2022 for U.S. Appl. No. 16/186,549, 37 pages. |
Number | Date | Country | |
---|---|---|---|
20210267698 A1 | Sep 2021 | US |
Number | Date | Country | |
---|---|---|---|
Parent | 16842793 | Apr 2020 | US |
Child | 17145178 | US | |
Parent | 16059061 | Aug 2018 | US |
Child | 16842793 | US |