Graphical user interface for displaying guidance information in a plurality of modes during an image-guided procedure

Abstract

A method for displaying guidance information using a graphical user interface during an medical procedure comprises displaying, in a first mode of the graphical user interface, first image data from a perspective corresponding to a distal end of an elongate device. The first image data includes a virtual roadmap. The method also comprises transitioning from the first mode of the graphical user interface to a second mode of the graphical user interface. The transition is based on an occurrence of a triggering condition. The method also comprises displaying, in the second mode of the graphical user interface, second image data from a perspective corresponding to the distal end of the elongate device. The second image data includes a target indicator corresponding to a target location and an alignment indicator corresponding to an expected location of the medical procedure at the target location.

1 - 42 . (canceled) 
     
     
         43 . A non-transitory computer-readable medium storing instructions that, when executed by one or more processors, cause the one or more processors to:
 display, in an alignment mode of a graphical user interface and during alignment of a distal end of an elongate device to perform a medical procedure at a target location, first image data from a perspective corresponding to the distal end of the elongate device, wherein the first image data includes a target indicator corresponding to the target location and an alignment indicator corresponding to an expected location of the medical procedure;   receive a plurality of instrument trajectories for an instrument delivered to the target location; and   display a plurality of historical indicators corresponding to the plurality of instrument trajectories.   
     
     
         44 . The non-transitory computer-readable medium of  claim 43 , wherein the instrument is a needle. 
     
     
         45 . The non-transitory computer-readable medium of  claim 43 , storing instructions that, when executed by the one or more processors, cause the one or more processors to:
 display a first virtual global view of a patient anatomy; and   display a second virtual global view of the patient anatomy.   
     
     
         46 . The non-transitory computer-readable medium of  claim 45 , wherein the first virtual global view and the second virtual global view have different perspectives with a fixed offset, wherein rotating a perspective of the first virtual global view automatically rotates the perspective of the second virtual global view. 
     
     
         47 . The non-transitory computer-readable medium of  claim 45 , wherein the first virtual global view has a perspective automatically selected to display the instrument in-plane. 
     
     
         48 . The non-transitory computer-readable medium of  claim 45 , wherein the first virtual global view has a perspective automatically selected to match a perspective of a fluoroscopic imaging device. 
     
     
         49 . The non-transitory computer-readable medium of  claim 43 , storing instructions that, when executed by the one or more processors, cause the one or more processors to:
 display, in a traversal mode of the graphical user interface and during traversal of the elongate device through an anatomical passageway, second image data from a perspective corresponding to the distal end of the elongate device, wherein the second image data includes a virtual roadmap and a historical path of the elongate device.   
     
     
         50 . The non-transitory computer-readable medium of  claim 49 , storing instructions that, when executed by the one or more processors, cause the one or more processors to:
 display, in the traversal mode of the graphical user interface, a virtual global view of a patient anatomy, wherein the virtual global view includes the historical path of the elongate device.   
     
     
         51 . The non-transitory computer-readable medium of  claim 49 , wherein different portions of the historical path are displayed with different colors, textures, shades or transparencies to indicate a purpose of each portion of the historical path or a time of each portion of the historical path. 
     
     
         52 . The non-transitory computer-readable medium of  claim 49 , storing instructions that, when executed by the one or more processors, cause the one or more processors to:
 hide the historical path based on a manual input.   
     
     
         53 . The non-transitory computer-readable medium of  claim 43 , storing instructions that, when executed by the one or more processors, cause the one or more processors to:
 hide the historical indicators based on a manual input.   
     
     
         54 . The non-transitory computer-readable medium of  claim 49 , storing instructions that, when executed by the one or more processors, cause the one or more processors to:
 display, in at least one of the alignment mode or the traversal mode, actuation information associated with a bend radius of the elongate device.   
     
     
         55 . The non-transitory computer-readable medium of  claim 54 , wherein the actuation information is displayed using one or more graphical indicators including an actuation information icon. 
     
     
         56 . The non-transitory computer-readable medium of  claim 55 , wherein the actuation information icon includes an alphanumeric indicator that displays a current minimum bend radius of the elongate device. 
     
     
         57 . The non-transitory computer-readable medium of  claim 55 , wherein the actuation information icon includes a directional indicator that indicates a direction in which an operator should steer the elongate device to alleviate excessive bending. 
     
     
         58 . The non-transitory computer-readable medium of  claim 55 , wherein a color, a size, a texture, or a transparency of the actuation information icon is dynamic to convey supplemental guidance information to an operator. 
     
     
         59 . The non-transitory computer-readable medium of  claim 43 , wherein the medical procedure is one or more of a biopsy or an ablation. 
     
     
         60 . The non-transitory computer-readable medium of  claim 43 , storing instructions that, when executed by the one or more processors, cause the one or more processors to:
 display a force indicator, wherein the force indicator includes a representation of insertion force exerted by motors or actuators used to advance the elongate device.   
     
     
         61 . The non-transitory computer-readable medium of  claim 60 , wherein the force indicator is displayed as a scrolling bar graph. 
     
     
         62 . The non-transitory computer-readable medium of  claim 43 , storing instructions that, when executed by the one or more processors, cause the one or more processors to:
 change a color, shade, texture, and/or transparency of a portion of the graphical user interface when patient movement exceeds a predetermined threshold.