System and method for displaying anatomy and devices on a movable display

Abstract

An image display system is provided comprised of a virtual window system that creates a visual coherency between the patient's anatomical images and the actual patient by aligning the image on the display to the patient and then presenting the image to the user in a way that feels as if the user is looking directly into the patient through the display. The image shown within the image display system is dependent upon the position of the image display apparatus and the position of the user so that the display orientation of the image may be biased slightly toward the user to improve ergonomics and usability.

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         29 . A medical system for displaying a tool in patient anatomy, comprising:
 a repositionable display coupled to a support arm including at least one rotational joint, wherein the repositionable display is mounted on a portable cart and configured to show a first image and a second image of a patient simultaneously, the first image comprising a live endoscopic image of the patient and the second image comprising an image derived from a pre-operative scan of the patient;   a tool insertable into the patient, the tool comprising a sensor for providing position sensor data of the tool to a data processor, wherein the position sensor data is used by the data processor to place an icon of the tool into the image derived from the pre-operative scan; and   a robotic device configured to control movement of the tool to an anatomical target within the patient,   wherein the data processor is configured to mark the anatomical target on the image derived from the pre-operative scan and present a collision-free projected path to the anatomical target that is overlaid on the image derived from the pre-operative scan on the repositionable display.   
     
     
         30 . The medical system of  claim 29 , wherein the support arm comprises counterbalanced joints at a support arm elbow. 
     
     
         31 . The medical system of  claim 29 , wherein the second image of the patient is derived from a computed tomography scan. 
     
     
         32 . The medical system of  claim 29 , wherein the second image of the patient includes a live fluoroscopic image of the patient. 
     
     
         33 . The medical system of  claim 29 , wherein the second image of the patient is a three-dimensional image segmented from a computed tomography scan. 
     
     
         34 . The medical system of  claim 29 , wherein the tool comprises a catheter. 
     
     
         35 . The medical system of  claim 34 , wherein the catheter comprises a urethral catheter. 
     
     
         36 . The medical system of  claim 29 , wherein the tool comprises an endoscope. 
     
     
         37 . The medical system of  claim 29 , wherein the tool comprises a biopsy needle. 
     
     
         38 . The medical system of  claim 29 , wherein the sensor of the tool comprises an electromagnetic sensor. 
     
     
         39 . The medical system of  claim 29 , wherein the sensor comprises a fiber optic sensor. 
     
     
         40 . The medical system of  claim 29 , wherein the data processor provides a positive indication when the collision-free projected path is uninterrupted as the tool moves through patient anatomy. 
     
     
         41 . The medical system of  claim 29 , wherein the data processor further presents collision boundaries of the tool within the patient anatomy. 
     
     
         42 . A medical system for displaying a tool in patient anatomy comprising:
 a repositionable display configured to show a first image and a second image of a patient simultaneously, the first image comprising an intraoperative image of the patient and the second image comprising an image derived from a pre-operative scan of the patient;   a tool insertable into the patient, the tool comprising a sensor for providing position sensor data of the tool to a data processor, wherein the position sensor data is used by the data processor to place an icon of the tool into the image derived from the pre-operative scan; and   a robotic device configured to control movement of the tool to an anatomical target within the patient,   wherein the data processor is configured to mark the anatomical target on the image derived from the pre-operative scan and present a collision-free projected path to the anatomical target that is overlaid on the image derived from the pre-operative scan on the repositionable display.   
     
     
         43 . The medical system of  claim 42 , wherein the repositionable display is coupled to a support arm. 
     
     
         44 . The medical system of  claim 43 , wherein the support arm comprises an elbow with a rotational joint. 
     
     
         45 . The medical system of  claim 43 , wherein the support arm is mounted on a portable cart. 
     
     
         46 . The medical system of  claim 42 , wherein the second image of the patient is derived from a computed tomography scan. 
     
     
         47 . The medical system of  claim 42 , wherein the sensor of the tool comprises an electromagnetic sensor. 
     
     
         48 . The medical system of  claim 42 , wherein the sensor comprises a fiber optic sensor. 
     
     
         49 . The medical system of  claim 42 , wherein the tool comprises a biopsy needle. 
     
     
         50 . The medical system of  claim 42 , wherein the data processor provides a positive indication when the collision-free projected path is uninterrupted as the tool moves through patient anatomy. 
     
     
         51 . The medical system of  claim 42 , wherein the data processor further presents collision boundaries of the tool within the patient anatomy.