Systems and methods for planning and navigation

Abstract

The present disclosure is directed to a planning and navigation method. The planning and navigation method includes obtaining a plurality of images, rendering the plurality of images in three dimensions, automatically segmenting the plurality of images to demarcate a target area, and automatically determining a treatment plan based on the target area. The planning and navigation system also 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 using an image capture device on a surgical device. The obtained fiducial image is corrected for lens distortion and a correspondence between the fiducial image and a model image is found. After which a camera pose is 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 based on the model coordinates to allow a surgeon to navigate the surgical device to the target using the displayed ultrasound image and the virtual image and treating the target based on the treatment plan.

1 - 28 . (canceled) 
     
     
         29 . A method of tracking a medical device comprising:
 generating an electromagnetic field;   detecting a location of a surgical device in the electromagnetic field;   obtaining an ultrasound image of a target, the ultrasound image defining a scan plane;   determining a spatial relationship between the surgical device and the scan plane; and   displaying a representation of the surgical device with respect to the target in the scan plane.   
     
     
         30 . The method of  claim 29 , further comprising displaying the position of the surgical device in relation to the scan plane. 
     
     
         31 . The method of  claim 29 , wherein the spatial relationship between the surgical device and the scan plane defines a relative position and a relative angle of the surgical instrument to the scan plane. 
     
     
         32 . The method of  claim 31 , further comprising displaying a trajectory of the surgical device with respect to the image. 
     
     
         33 . The method of  claim 32 , wherein the trajectory is determined based on the defined relative position and defined relative angle of the surgical instrument to the scan plane. 
     
     
         34 . The method of  claim 32 , further comprising replacing the trajectory with the image of the surgical instrument as the surgical instrument enters the image. 
     
     
         35 . The method of  claim 29 , further comprising displaying a virtual ablation zone. 
     
     
         36 . The method of  claim 35 , further comprising adjusting an energy level to adjust the displayed virtual ablation zone. 
     
     
         37 . The method of  claim 35 , further comprising adjusting an ablation time setting to adjust the displayed virtual ablation zone. 
     
     
         38 . The method of  claim 29 , wherein the target is identified in a pre-operative image. 
     
     
         39 . The method of  claim 38 , wherein a location of the target in the pre-operative image is recorded. 
     
     
         40 . The method of  claim 38 , further comprising determining calculated properties of the target upon identification of the target. 
     
     
         41 . The method of  claim 40 , further comprising determining power and time settings based on the calculated properties of the target. 
     
     
         42 . The method of  claim 41 , further comprising displaying initial power and time settings. 
     
     
         43 . The method of  claim 40 , further comprising identifying the surgical device based on the calculated properties of the target.