Medical device guidance

Abstract

A system and method for providing image guidance for placement of one or more medical devices at a target location. The system can be used to display portions of a display object, such as a rendered medical image, at different transparency levels. The system can also be used to resolve co-located display objects, such as a co-located image guidance cue and rendered medical image. The system can further be used to adjust a point-of-view location for one or more medical display objects within a virtual 3D space.

1 . A method, comprising:
 determining a pose of a first medical device based at least in part on received emplacement information of the first medical device;   determining a pose of an imaged area based at least in part on received emplacement information of a second medical device;   receiving at least one image corresponding to the imaged area based at least in part on the emplacement of the second medical device;   determining whether a portion of the first medical device satisfies a location threshold;   based at least in part on a determination that the portion of the of the first medical device does not satisfy the location threshold, causing the one or more displays to display a portion of the image corresponding to a particular location of the imaged area at a first transparency level;   determining whether the portion of the first medical device satisfies a proximity threshold;   based at least in part on a determination that the portion of the first medical device satisfies the location threshold and the proximity threshold, causing the one or more displays to display the portion of the image corresponding to the particular location at a second transparency level.   
     
     
         2 . The method of  claim 1 , further comprising mapping the imaged area to a rendered image area on the one or more displays. 
     
     
         3 . The method of  claim 1 , further comprising mapping the image to a rendered image area on the one or more displays. 
     
     
         4 . The method of  claim 3 , further comprising mapping the portion of the image corresponding to the particular location to a corresponding particular display location in the rendered image area. 
     
     
         5 . The method of  claim 4 , further comprising causing the one or more displays to display at the particular display location the portion of the image at the first transparency level. 
     
     
         6 . The method of  claim 4 , further comprising causing the one or more displays to display at the particular display location the portion of the image at the second transparency level. 
     
     
         7 . The method of  claim 1 , wherein determining that the portion of the first medical device satisfies the location threshold comprises determining that the portion of the first medical device is level with the particular location of the imaged area. 
     
     
         8 . The method of  claim 1 , wherein determining that the portion of the first medical device satisfies the location threshold comprises determining that the x and y coordinates of a portion of a virtual first medical device corresponding to the portion of the first medical device match the x and y coordinates of the particular location mapped to the one or more displays. 
     
     
         9 . The method of  claim 1 , wherein determining that the portion of the first medical device satisfies the location threshold comprises determining that the y and z coordinates of the portion of the first medical device match the y and z coordinates of the particular location. 
     
     
         10 . The method of  claim 1 , wherein determining that the portion of the first medical device satisfies the location threshold comprises determining that the portion of the first medical device and the particular location are co-located on a 2D plane. 
     
     
         11 . The method of  claim 1 , wherein determining that the portion of the first medical device satisfies the location threshold comprises determining that the portion of the first medical device and the particular location are mapped to a same pixel on the one or more displays. 
     
     
         12 . The method of  claim 1 , wherein determining that the portion of the first medical device satisfies the location threshold comprises determining that the portion of the first medical device and the particular location overlap when mapped to the one or more displays. 
     
     
         13 . The method of  claim 1 , wherein determining that the portion of the first medical device satisfies the proximity threshold comprises determining that the portion of the first medical device is not proximal to a point-of-view location with respect to the particular location. 
     
     
         14 . The method of  claim 1 , wherein the point-of-view location comprises at least one of a location of a user, an expected location of user, and a fixed point relative to the one or more displays 
     
     
         15 . The method of  claim 14 , wherein the point-of-view location is different for each eye of a user. 
     
     
         16 . The method of  claim 1 , wherein the first transparency level is more opaque than the second transparency level. 
     
     
         17 . The method of  claim 1 , further comprising receiving the at least one image from the second medical device. 
     
     
         18 . The method of  claim 1 , further comprising,
 determining whether the portion of the first medical device satisfies the location threshold for each unique location within the imaged area;   determining whether the portion of the first medical device satisfies the proximity threshold for each unique location within the imaged area;   for each unique location in which the portion of the first medical device does not satisfy the location threshold, causing the one or more displays to display a portion of the image corresponding to the unique location of the imaged area at the first transparency level; and   for each unique location in which the portion of the first medical device satisfies the location threshold and the proximity threshold, causing the one or more displays to display the portion of the image corresponding to the unique location at the second transparency level.   
     
     
         19 . (canceled) 
     
     
         20 . (canceled) 
     
     
         21 . (canceled) 
     
     
         22 . (canceled) 
     
     
         23 . A system comprising:
 a computer system in communication with a display, the computer system comprising a computer processor and a non-transitory storage medium, wherein the computer system is configured to:
 determine a pose of a first medical device based at least in part on emplacement information of the first medical device received from a first pose sensor; 
 determine a pose of an imaged area based at least in part on emplacement information of a second medical device received from a second pose sensor; 
 receive at least one image corresponding to the imaged area based at least in part on the emplacement of the second medical device; 
 determine whether a portion of the first medical device satisfies a location threshold; 
 determine whether the portion of the first medical device satisfies a proximity threshold; 
 based at least in part on a determination that the portion of the first medical device satisfies the location threshold and the proximity threshold, cause the one or more displays to display a portion of the image corresponding to a particular location in the imaged area at a first transparency level, wherein the computer system causes the one or more displays to display the portion of the image corresponding to the particular location of the imaged area at a second transparency level based at least in part on a determination that the portion of the first medical device does not satisfy the location threshold. 
   
     
     
         24 . A method comprising:
 determining a location of a first display object;   determining whether at least a portion of the first display object satisfies a location threshold;   based at least in part on a determination that the portion of the of the first display object does not satisfy the location threshold, causing the one or more displays to display the portion of the second display object at a first transparency level;   determining whether the portion of the first display object satisfies a proximity threshold; and   based at least in part on a determination that the portion of the first display object satisfies the proximity threshold and the location threshold, causing the one or more displays to display the portion of the second display object at a second transparency level.