Systems and methods for assisted surgical navigation

Abstract

In at least one embodiment, a method of surgical navigation is provided. The method includes receiving an external three-dimensional model of a surgical site from the viewpoint of a headset, wherein the external three-dimensional model is derived from reflected light. The method further includes aligning the external three-dimensional model with an internal three-dimensional model of the surgical site from the viewpoint of the headset, wherein the internal three-dimensional model is derived from medical imaging, and generating an aligned view. The method further includes providing the aligned view to the headset, and updating the aligned view in real-time while the headset is moved or the surgical site is moved or modified during a surgical procedure.

1 . A method, comprising:
 receiving, by a computing system, an external three-dimensional model of a surgical site from the viewpoint of a headset, wherein the external three-dimensional model is derived from reflected light;   aligning, by the computing system, the external three-dimensional model with an internal three-dimensional model of the surgical site from the viewpoint of the headset, wherein the internal three-dimensional model is derived from medical imaging, and generating an aligned view;   providing, by the computing system, the aligned view to the headset; and   updating, by the computing system, the aligned view in real-time while the headset is moved or the surgical site is moved or modified during a surgical procedure.   
     
     
         2 . The method of  claim 1 , wherein the reflected light is produced from an array of light beams projected onto the surgical site. 
     
     
         3 . The method of  claim 2 , wherein the array of light beams is projected from the headset. 
     
     
         4 . The method of  claim 2 , wherein the array of light beams comprises infrared light. 
     
     
         5 . The method of  claim 1 , wherein the external three-dimensional model comprises a wireframe model of the surgical site. 
     
     
         6 . The method of  claim 1 , wherein the medical imaging includes at least one of the following: computerized tomography (CT) scanning, magnetic resonance imaging (MRI), x-ray imaging, or ultrasound imaging. 
     
     
         7 . The method of  claim 1 , wherein the internal three-dimensional model is segmented according to relevant anatomy therein, thereby deriving a library of segment-relevant anatomical elements. 
     
     
         8 . The method of  claim 7 , wherein the aligned view shows segment-relevant anatomical elements In an anatomically correct correspondence with the surgical site. 
     
     
         9 . The method of  claim 1 , further comprising:
 receiving, by the computing system, a headset position and orientation relative to the surgical site.   
     
     
         10 . The method of  claim 9 , wherein the headset position and orientation is derived from radio tracking that utilizes at least one fixed radiobeacon to provide a coordinate reference frame for the headset. 
     
     
         11 . The method of  claim 9 , wherein the headset position and orientation is derived from optical tracking that utilizes at least one fixed optical beacon to provide a coordinate reference frame for the headset. 
     
     
         12 . The method of  claim 9 , wherein the headset position and orientation is derived from inertial guidance provided by the headset having an accelerometer. 
     
     
         13 . The method of  claim 9 , wherein updating the aligned view in real-time comprises aligning the headset position and orientation with the internal three-dimensional model. 
     
     
         14 . The method of  claim 1 , further comprising:
 receiving, by the computing system, a hand gesture relative to the surgical site.   
     
     
         15 . The method of  claim 14 , wherein the hand gesture is derived from radio tracking that utilizes at least one radio-reflective patch or radio-frequency identification (RFID) chip inside a glove. 
     
     
         16 . The method of  claim 14 , wherein the hand gesture is derived from optical tracking that utilizes structured light projected onto a glove. 
     
     
         17 . The method of  claim 14 , further comprising:
 manipulating, by the computing system, an anatomical element in the internal three-dimensional model as a function of the received hand gesture; and   updating, by the computing system, the aligned view in real-time to show the manipulation of the anatomical element.   
     
     
         18 . The method of  claim 17 , wherein manipulating the anatomical element includes at least one of the following: isolating, levitating, rotating, magnifying, cross-sectioning, or measuring. 
     
     
         19 . The method of  claim 1 , further comprising:
 receiving, by the computing system, a surgical instrument position and orientation relative to the surgical site, or a sensor output of the surgical instrument.   
     
     
         20 . The method of  claim 19 , wherein the instrument position and orientation is derived from radio tracking that utilizes at least one radio-reflective patch or radio-frequency identification (RFID) chip on the instrument. 
     
     
         21 . The method of  claim 19 , further comprising:
 updating, by the computing system, the aligned view in real-time to show the instrument position and orientation relative to the internal three-dimensional model, or the sensor output of the surgical instrument.   
     
     
         22 . The method of  claim 21 , wherein the instrument position or orientation or sensor output includes at least one of the following: depth, angle, relative angle, relative elevation, volume, temperature, pressure, oxygenation or enervation. 
     
     
         23 . An article of manufacture including a non-transitory computer-readable medium having instructions stored thereon that, in response to execution by a computer system, cause the computer system to perform operations comprising:
 receiving an external three-dimensional model of a surgical site from the viewpoint of a headset, wherein the external three-dimensional model is derived from reflected light;   aligning the external three-dimensional model with an internal three-dimensional model of the surgical site from the viewpoint of the headset, wherein the internal three-dimensional model is derived from medical imaging, and generating an aligned view;   providing the aligned view to the headset; and   updating the aligned view in real-time while the headset is moved or the surgical site is moved or modified during a surgical procedure.   
     
     
         24 . A system, comprising:
 a processor; and   a non-transitory memory having instructions stored thereon that, in response to execution by the processor, cause the system to perform operations comprising:
 receiving an external three-dimensional model of a surgical site from the viewpoint of a headset, wherein the external three-dimensional model is derived from reflected light; 
 aligning the external three-dimensional model with an Internal three-dimensional model of the surgical site from the viewpoint of the headset, wherein the internal three-dimensional model is derived from medical imaging, and generating an aligned view; 
 providing the aligned view to the headset; and 
 updating the aligned view in real-time while the headset is moved or the surgical site is moved or modified during a surgical procedure. 
   
     
     
         25 . The method of  claim 1 , further comprising:
 receiving, by the computing system, a hand gesture relative to the surgical site.   
     
     
         26 . The method of  claim 25 , wherein the hand gesture is derived from radio tracking that utilizes at least one radio-reflective patch or radio-frequency identification (RFID) chip inside a surgical glove. 
     
     
         27 . The method of  claim 25 , further comprising:
 manipulating, by the computing system, the aligned view in real-time according to the received hand gesture.   
     
     
         28 . The method of  claim 27 , wherein the hand gesture includes at least one of the following: a select command, a levitate command, a rotate command, a stop command, a zoom command, a measure command, or a slice command.