Systems and methods for planning and navigation

摘要

The present disclosure is directed to a planning and navigation method. The planning and method includes obtaining and rendering a plurality of images. The plurality of images are segmented to demarcate a target area. A treatment plan is determined based on the target area. The navigation method includes obtaining an ultrasound image of a scan plane including the target and obtaining a fiducial image of a fiducial pattern disposed on an ultrasound device. The obtained fiducial image is corrected and a correspondence between the fiducial image and a model image is found. A position of the surgical device is transformed to model coordinates. Then the ultrasound image and a virtual image of the surgical device is displayed to allow a surgeon to navigate the surgical device to the target using the displayed ultrasound image and the virtual image. The target is treated based on the treatment plan.

主权项

1. A method of navigating a surgical device using a fiducial pattern disposed on an ultrasound device and an image capture device disposed on the surgical device, the method comprising:
obtaining an ultrasound image of a scan plane; obtaining a fiducial image of the fiducial pattern; correcting the fiducial image for lens distortion; identifying a plurality of first unique identifiers and a plurality of second unique identifiers in the fiducial image, wherein the plurality of first unique identifiers includes circles of a first color and the plurality of second unique identifiers includes circles of a second color and wherein identifying includes:
applying a first threshold to the fiducial image substantially in parallel with applying a second threshold to an inverted fiducial image;performing a connected component analysis on the first and second thresholds; andapplying a geometric filter to results of the connected component analysis to identify a region having the plurality of first unique identifiers and to determine weighted centroids of the plurality of first unique identifiers and the plurality of second unique identifiers, finding correspondence between the fiducial image and a model image using the plurality of first unique identifiers and the plurality of second unique identifiers by:
selecting a plurality of the circles of the first color;determining an amount of the circles of the first color disposed in a first portion of the region of the fiducial pattern;determining whether the determined amount of the circles of the first color disposed in the first portion matches a predetermined amount of the circles of the first color; andin response to a determination that the determined amount of the circles of the first color disposed in the first portion does not match the predetermined amount of the circles of the first color, determining an amount of the circles of the first color disposed in a second portion of the region of the fiducial pattern; estimating a camera pose; transforming a position of the surgical device to model coordinates; and displaying the ultrasound image and a virtual image of the surgical device based on the model coordinates.