Medical imaging and navigation system Number:7,386,339 from the United States Patent and Trademark Office (PTO) owispatent Medical imaging and navigation system including a processor, a display unit, a database, a medical positioning system (MPS), a two-dimensional imaging system, an inspected organ monitor interface, and a superimposing processor, the MPS including a transducer MPS sensor and a surgical tool MPS sensor, the two-dimensional imaging system including an imaging transducer, the processor being connected to the display unit, to the database, to the MPS, to the two-dimensional imaging system, to the inspected organ monitor interface, and to the superimposing processor, the inspected organ monitor interface being connected to an organ monitor, the surgical tool MPS sensor being firmly attached to a surgical tool, the transducer MPS sensor being firmly attached to the imaging transducer, the organ monitor monitoring an organ timing signal associated with an inspected organ.<H navigation, imaging, Medical, imaging, 7386339.html, Patent, pto, 7386339

Title: Medical imaging and navigation system

Abstract: Medical imaging and navigation system including a processor, a display unit, a database, a medical positioning system (MPS), a two-dimensional imaging system, an inspected organ monitor interface, and a superimposing processor, the MPS including a transducer MPS sensor and a surgical tool MPS sensor, the two-dimensional imaging system including an imaging transducer, the processor being connected to the display unit, to the database, to the MPS, to the two-dimensional imaging system, to the inspected organ monitor interface, and to the superimposing processor, the inspected organ monitor interface being connected to an organ monitor, the surgical tool MPS sensor being firmly attached to a surgical tool, the transducer MPS sensor being firmly attached to the imaging transducer, the organ monitor monitoring an organ timing signal associated with an inspected organ.

Patent Number: 7,386,339 Issued on 06/10/2008 to Strommer, et al.

Inventors: Strommer; Gera M. (Haifa, IL), Eicher; Uzi (Haifa, IL)
Assignee: Mediguide Ltd. (Haifa, IL)

Appl. No.: 09/782,528

Filed: February 13, 2001

Related U.S. Patent Documents


Application Number	Filing Date	Patent Number	Issue Date
09314474	May., 1999	6233476

Current U.S. Class: 600/424 ; 600/428; 600/429

Field of Search: 600/407,425,426,437-439,413,417,427-429 606/130 378/20,205,69

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Primary Examiner: Casler; Brian L.
Assistant Examiner: Roy; Baisakhi
Attorney, Agent or Firm: Darby & Darby P.C.

Parent Case Text

CROSS REFERENCE INFORMATION

This application is a Continuation-in-Part of application Ser. No. 09/314,474, filed May 18, 1999, now U.S. Pat. No. 6,233,476.

Claims

The invention claimed is:

1. Medical imaging and navigation system comprising: a processor, connected to a display unit and to a database; a medical positioning system (MPS), connected to said processor, including a transducer MPS sensor and a surgical tool MPS sensor, said surgical tool MPS sensor being firmly attached to a surgical tool; a two-dimensional imaging system, connected to said processor, including an imaging transducer, said transducer MPS sensor being firmly attached to said imaging transducer; an inspected organ monitor interface, connected to said processor and to an organ monitor, said organ monitor monitoring an organ timing signal associated with an inspected organ; a superimposing processor, connected to said processor; wherein said processor receives: a plurality of two-dimensional images from said two-dimensional imaging system, acquired by said imaging transducer; the location and orientation of said imaging transducer from said medical positioning system, as detected by said transducer MPS sensor in a coordinate system, for each said two-dimensional images; said organ timing signal from said inspected organ monitor interface, as detected by said organ monitor, for each said two-dimensional images; and the location and orientation of said surgical tool, from said medical positioning system, as detected by said surgical tool MPS sensor in the coordinate system of the transducer MPS sensor; so that said location and orientation of said surgical tool and said location and orientation of said imaging transducer, are acquired in a single coordinate system, thereby eliminating computations for correlating said location and orientation of said transducer MPS sensor and said location and orientation of said surgical MPS sensor; and wherein for each said two-dimensional images, said processor stores said two-dimensional image in said database together with said location and orientation information of said imaging transducer, respective of said two-dimensional image and said organ timing signal, respective of said two-dimensional image, wherein said processor selects at least one of said stored two-dimensional images, having a stored organ timing signal substantially equal to a real time detected organ timing signal, wherein said superimposing processor superimposes a representation of said surgical tool on a visual representation of said selected two-dimensional images, and wherein said display presents the result of said superimposing.

2. The system according to claim 1, wherein said visual representation is a three-dimensional reconstructed image produced from said selected two-dimensional images, according to the location and orientation information of said imaging transducer associated with each said selected two-dimensional images.

3. The system according to claim 2, wherein a renderer renders said visual representation according to reference coordinates.

4. The system according to claim 3, wherein said reference coordinates are selected from the list consisting of: surgical tool coordinates; inspected organ coordinates; and coordinates of the body of the patient.

5. The system according to claim 4, wherein said visual representation is two-dimensional.

6. The system according to claim 5, wherein said representation of said surgical tool comprises a projection of a three-dimensional representation of said representation of said surgical tool, on said two-dimensional visual representation.

7. The system according to claim 1, wherein said representation of said surgical tool indicates an estimated location of said surgical tool.

8. The system according to claim 1, wherein said representation of said surgical tool indicates the orientation of said surgical tool.

9. The system according to claim 1, wherein portions of said surgical tool which are located above, below and within a viewed plane, are presented in different colors.

10. The system according to claim 1, wherein said representation of said surgical tool is in the form of a cursor.

11. The system according to claim 1, wherein said representation of said surgical tool is a pseudo realistic visualization of said surgical tool.

12. The system according to claim 1, wherein said visual representation is a three-dimensional reconstruction produced from said selected two-dimensional images, according to the location and orientation information of said imaging transducer associated with said selected two-dimensional images, discarding portions in said selected two-dimensional images which represent said surgical tool.

13. The system according to claim 1, wherein said medical positioning system further includes a goggles MPS sensor, wherein said display includes semi-transparent goggles, being attached to said goggles MPS sensor, and wherein said processor selects a viewing plane for said visual representation, according to the location and orientation information received from said goggles MPS sensor.

14. The system according to claim 13, wherein said location and orientation of said goggles MPS sensor is provided within said coordinate system.

15. The system according to claim 1, wherein said database is volumetric.

16. The system according to claim 1, wherein said display includes goggles.

17. The system according to claim 16, wherein said goggles are semi-transparent.

18. The system according to claim 1, wherein said two-dimensional imaging system is selected from the list consisting of: ultra-sound; inner-vascular ultra-sound; X-ray; Nuclear magnetic resonance; Computerized tomography; Position-emission tomography; and Single-photon-emission tomography.

19. The system according to claim 1, wherein said surgical tool is selected from the list consisting of: clamp; laser cutter; brush; catheter; stent; balloon; pace maker electrode; solution dispensing unit; neuron electrode; substance collection unit; surgical delivery tool; gene delivery tool; drug delivery tool; and device delivery tool.

20. The system according to claim 1, wherein said medical positioning system further includes a body MPS sensor, for attaching to the body of the patient.

21. Medical imaging and navigation system comprising: a processor, connected to a display unit and to a database; a medical positioning system (MPS), connected to said processor, including a surgical tool MPS sensor being firmly attached to a surgical tool; an inspected organ monitor interface, connected to said processor and to an organ monitor, said organ monitor monitoring an organ timing signal associated with an inspected organ; and a superimposing processor, connected to said processor; wherein said processor receives: said organ timing signal from said inspected organ monitor interface, as detected by said organ monitor; and the location and orientation of said surgical tool, from said medical positioning system, as detected by said surgical tool MPS sensor in a coordinate system; wherein said processor selects images from said database, each said selected images having a stored organ timing signal substantially equal to a real-time detected organ timing signal, wherein said superimposing processor superimposes a representation of said surgical tool on said selected images, and wherein said display presents the result of said superimposing; wherein said medical positioning system further includes a goggles MPS sensor, wherein said display includes semi-transparent goggles, being attached to said goggles MPS sensor, and wherein said processor selects a viewing plane for said visual representation, according to the location and orientation information received from said goggles MPS sensor; so that said location and orientation information of said goggles MPS sensor is acquired within the coordinate system of said surgical tool MPS sensor, thereby eliminating computations for correlating said location and orientation of said goggles MPS sensor and said location and orientation of said surgical tool MPS sensor.

22. The system according to claim 21, wherein said selected images are three-dimensional.

23. The system according to claim 21, wherein said selected images are two-dimensional.

24. The system according to claim 21, wherein said representation of said surgical tool comprises a projection of a three-dimensional representation of said representation of said surgical tool, on said two-dimensional images.

25. The system according to claim 21, wherein said database is volumetric.

26. The system according to claim 21, wherein said database is further coupled to an image acquisition system.

27. The system according to claim 21, wherein said display includes goggles.

28. The system according to claim 21, wherein said goggles are semi-transparent.

29. The system according to claim 21, wherein said location and orientation information of said goggles MPS sensor is provided within the coordinate system of said selected images.

30. The system according to claim 21, wherein said two-dimensional imaging system is selected from the list consisting of: ultra-sound; inner-vascular ultra-sound; X-ray; Nuclear magnetic resonance; Computerized tomography; Position-emission tomography; and Single-photon-emission tomography.

31. The system according to claim 21, wherein said surgical tool is selected from the list consisting of: clamp; laser cutter; brush; catheter; stent; balloon; pace maker electrode; solution dispensing unit; neuron electrode; substance collection unit; surgical delivery tool; gene delivery tool; drug delivery tool; and device delivery tool.

32. The system according to claim 21, wherein said medical positioning system further includes a body MPS sensor, for attaching to the body of the patient.

33. Method for displaying an image sequence of a moving inspected organ, the method comprising the steps of: detecting an organ timing signal of said inspected organ, said organ timing signal defining an organ timing signal cycle; detecting a plurality of two-dimensional images of said inspected organ, using an image detector; detecting the location and orientation of said image detector; associating each of said two-dimensional images with said image detector location and orientation and with said detected organ timing signal; reconstructing a plurality of three-dimensional images from said two-dimensional images, each said three-dimensional images being reconstructed from two-dimensional images selected from said two-dimensional images, said selected two-dimensional images corresponding to a selected position within said organ timing signal cycle; selecting one of said three-dimensional images according to a real-time reading of said organ timing signal; and displaying said selected three-dimensional image; prior to said step of reconstructing: detecting the location and orientation of a surgical tool; and modifying at least one of said two-dimensional images, by discarding a portion of at least one of said two-dimensional images, said portion representing at least a portion of said surgical tool; detecting the location and orientation of a surgical tool; and modifying at least one of said two-dimensional images, by discarding a portion of at least one of said two-dimensional images, said portion representing at least a portion of said surgical tool; wherein said detected location and orientation of said surgical tool and said detected location and orientation of said image detector, are acquired in a single coordinate system, thereby eliminating computations for correlating said location and orientation of said transducer MPS sensor and said location and orientation of said surgical MPS sensor.

34. The method according to claim 33, further comprising the step of superimposing a representation of said surgical tool onto said selected three-dimensional image, prior to said step of displaying.

35. The method according to claim 34, wherein said representation of said surgical tool indicates an estimated an estimated location of said surgical tool.

36. The method according to claim 34, wherein said representation of said surgical tool indicates the orientation of said surgical tool.

37. The method according to claim 34, wherein portions of said surgical tool which are located above, below and within a viewed plane, are presented in different colors.

38. The method according to claim 34, wherein said representation of said surgical tool is in the form of a cursor.

39. The method according to claim 34, wherein said representation of said surgical tool is a pseudo relistic visualization of said surgical tool.

40. The method according to claim 34, wherein said representation of said surgical tool comprises a projection of a three-dimensional representation of said representation of said surgical tool, on each of said two-dimensional images.

41. The method according to claim 33, further comprising the following steps, prior to said step of displaying: detecting the location and orientation of a surgical tool; and superimposing a representation of said surgical tool onto said selected three-dimensional image, according to said detected location and orientation of said surgical tool.

42. The method according to claim 33, further comprising the following steps prior to said step of displaying: detecting the location and orientation of a surgical tool; and superimposing a representation of said detected location and orientation of said surgical tool, onto said selected three-dimensional image.

43. The method according to claim 33, further comprising, the following steps, after said step of selecting: detecting the location and orientation of a point of view of a user; and rendering said selected three-dimensional image according to said detected location and orientation of said point of view.

44. The method according to claim 43, further comprising the following steps prior to said step of rendering: detecting the location and orientation a surgical tool; and superimposing a representation of said surgical tool onto said selected three-dimensional image.

45. The method according to claim 43, further comprising the following steps, prior to said step of rendering: detecting the location and orientation of a surgical tool; and superimposing a representation of said detected location and orientation of said surgical tool onto said selected three-dimensional image.

46. The method according to claim 43, wherein said step of detecting said location and orientation of said point of view of said user, is performed using a location and orientation sensor attached to user worn goggles.

47. The method according to claim 46, wherein the information respective of said location and orientation sensor is provided with the coordinate system of a surgical tool.

48. The method according to claim 46, wherein the information respective of said location and orientation sensor is provided within the coordinate system of said inspected organ.

49. The method according to claim 46, wherein the information respective of said location and orientation sensor is provided within the coordinate system of the body of the patient.

50. The method according to claim 43, wherein said step of detecting said location and orientation of said point of view of said user, is performed using a location and orientation sensor attached to user worn semi-transparent goggles.

51. The method according to claim 33, wherein said surgical tool is selected from the list consisting of: clamp; laser cutter; brush; catheter; stent; balloon; pace maker electrode; solution dispensing unit; neuron electrode; substance collection unit; surgical delivery tool; gene delivery tool; drug delivery tool; and device delivery tool.

52. The method according to claim 33, further comprising the step of discarding portions in said selected two-dimensional images which represent a surgical tool, prior to said step of reconstructing.

53. The method according to claim 33, wherein said representation of said surgical tool comprises a projection of a three-dimensional representation of said representation of said surgical tool, on each of said two-dimensional images.

54. Method for displaying an image sequence of a moving inspected organ, the method comprising the steps of: detecting an organ timing signal of said inspected organ, said organ timing signal defining an organ timing signal cycle; selecting one of a previously stored three-dimensional images according to a real-time reading of said organ timing signal; detecting the location and orientation of a surgical tool; superimposing a representation of said surgical tool onto said selected three-dimensional image; and displaying said superimposed three-dimensional image; further comprising the following steps prior to said step of selecting: detecting a plurality of two-dimensional images of said inspected organ, using an image detector; detecting the location and orientation of said image detector; associating each of said two-dimensional images with said location and orientation of said two-dimensional image and with a reading of said organ timing signal detected at the time of acquiring said two-dimensional image; and reconstructing a plurality of three-dimensional images from said two-dimensional images, each said three-dimensional images being reconstructed from two-dimensional images selected from said two-dimensional images, said selected two-dimensional images corresponding to a selected position within said organ timing signal cycle; wherein said detected location and orientation of said surgical tool and said detected location and orientation of said image detector, are acquired in a single coordinate system, thereby eliminating computations for correlating said detected location and orientation of said surgical tool and said detected location and orientation of said image detector.

55. The method according to claim 54, further comprising a step of modifying at least one of said two-dimensional images, by discarding a portion thereof which represents at least a portion of said surgical tool, wherein said step of modifying is performed following said step of associating, and following said step of detecting said surgical tool location and orientation.

56. The method according to claim 54, further comprising the following steps, before said step of displaying: detecting the location and orientation of a point of view of user; and rendering said selected three-dimensional image according to said detected location and orientation of said point of view.

57. The method according to claim 56, wherein said step of detecting said location and orientation of said point of view of said user, is performed using a location and orientation sensor attached to user worn goggles.

58. The method according to claim 57, wherein the information respective of said location and orientation sensor is provided within the coordinate system of said surgical tool.

59. The method according to claim 57, wherein the information respective of said location and orientation sensor is provided within the coordinate system of said inspected organ.

60. The method according to claim 57, wherein the information respective of said location and orientation sensor is provided within the coordinate system of the body of the patient.

61. The method according to claim 56, wherein said step of detecting said location and orientation of said point of view of said user, is performed using a location and orientation sensor attached to user worn semi-transparent goggles.

62. The method according to claim 54, wherein said surgical tool is selected from the list consisting of: clamp; laser cutter; brush; catheter; stent; balloon; pace maker electrode; solution dispensing unit; neuron electrode; substance collection unit; surgical delivery tool; gene delivery tool; drug delivery tool; and device delivery tool.

63. The method according to claim 54, wherein said representation of said surgical tool indicates an estimated location of said surgical tool.

64. The method according to claim 54, wherein said representation of said surgical tool indicates the orientation of said surgical tool.

65. The method according to claim 54, wherein portions of said surgical tool which are located above, below and within a viewed plane, are presented in different colors.

66. The method according to claim 54, wherein said representation of said surgical tool is in the form of a cursor.

67. The method according to claim 54, wherein said representation of said surgical tool is a pseudo realistic visualization of said surgical tool.

68. The method according to claim 54, wherein said step of reconstruction is performed according to the location and orientation information associated with each said selected two-dimensional images.

69. The method according to claim 54, further comprising the step of discarding portions in said selected two-dimensional images which represent said surgical tool, prior to said step of reconstructing.

70. The method according to claim 54, wherein said representation of said surgical tool comprises a projection of a three-dimensional representation of said representation of said surgical tool, on each of said two-dimensional images.

71. Method for displaying an image sequence of a moving inspected organ, the method comprising the steps of: detecting an organ timing signal of said inspected organ, said organ timing signal defining an organ timing signal cycle; detecting the location and orientation of a point of view of a user; selecting one of a previously stored three-dimensional images according to a real-time reading of said organ timing signal; rendering said selected three-dimensional image according to said detected location and orientation of said point of view; and displaying said selected three-dimensional image; further comprising the following steps prior to said step of selecting: detecting a plurality of two-dimensional images of said inspected organ, using an image detector; detecting the location and orientation of said image detector; associating each of said two-dimensional images with said location and orientation of said two-dimensional image and with a reading of said organ timing signal detected at the time of acquiring said two-dimensional image; and reconstructing a plurality of three-dimensional images from said two-dimensional images, each said three-dimensional images being reconstructed from two-dimensional images selected from said two-dimensional images, said selected two-dimensional images corresponding to a selected position within said organ timing signal cycle; further comprising the following steps prior to said step of reconstructing; detecting the location and orientation of a surgical tool; and modifying at least one of said two-dimensional images, by discarding a portion of at least one of said two-dimensional images, said portion representing at least a portion of said surgical tool; wherein said detected location and orientation of said surgical tool and said detected location and orientation of said image detector, are acquired in a single coordinate system, thereby eliminating computations for correlating said detected location and orientation of said surgical tool and said detected location and orientation of said image detector.

72. The method according to claim 71, further comprising the step of superimposing a representation of said surgical tool onto said selected three-dimensional image, prior to said step of displaying.

73. The method according to claim 72, wherein said representation of said surgical tool indicates an estimated location of said surgical tool.

74. The method according to claim 72, wherein said representation of said surgical tool indicates the orientation of said surgical tool.

75. The method according to claim 72, wherein portions of said surgical tool which are located above, below and within a viewed plane, are presented in different colors.

76. The method according to claim 72, wherein said representation of said surgical tool is in the form of a cursor.

77. The method according to claim 72, wherein said representation of said surgical tool is a pseudo realistic visualization of said surgical tool.

78. The method according to claim 72, wherein said representation of said surgical tool comprises a projection of a three-dimensional representation of said representation of said surgical tool, on each of said two-dimensional images.

79. The method according to claim 71, further comprising the following steps, after said step of associating: detecting the location and orientation of a surgical tool; modifying at least one of said two-dimensional images, by discarding a portion of at least one of said two-dimensional images, which represents said surgical tool; and superimposing a representation of said surgical tool onto said selected three-dimensional image.

80. The method according to claim 71, wherein said step of detecting said location and orientation of said point of view of said user, is performed using a location and orientation sensor attached to user worn goggles.

81. The method according to claim 80, wherein the information respective of said location and orientation sensor is provided within the coordinate system of a surgical tool.

82. The method according to claim 80, wherein the information respective of said location and orientation sensor is provided within the coordinate system of said inspected organ.

83. The method according to claim 80, wherein the information respective of said location and orientation sensor is provided within the coordinate system of the body of the patient.

84. The method according to claim 71, wherein said step of detecting said location and orientation of said point of view of said user, is performed using a location and orientation sensor attached to user worn semi-transparent goggles.

85. The method according to claim 71, wherein said surgical tool is selected from the list consisting of: clamp; laser cutter; brush; catheter; stent; balloon; peace maker electrode; solution dispensing unit; neuron electrode; substance collection unit; surgical delivery tool; gene delivery tool; drug delivery tool; and device delivery tool.

86. The method according to claim 71, further comprising the step of discarding portions in said selected two-dimensional images which represent a surgical tool, prior to said step of reconstructing.

87. Method for displaying an image sequence of a moving inspected organ, each image in said image sequence being associated with the location and orientation thereof within a predetermined coordinate system, the method comprising the steps of: detecting an organ timing signal of said inspected organ; selecting one of a previously stored two-dimensional images according to a real-time reading of said organ timing signal; and displaying said selected two-dimensional image; further comprising the following steps, before said step of displaying: detecting the location and orientation of a surgical tool; and projecting a representation of said surgical tool onto said selected two-dimensional image; wherein said detected location and orientation of said surgical tool and said detected location and orientation of said image detector, are acquired in a single coordinate system, thereby eliminating computations for correlating said detected location and orientation of said surgical tool and said detected location and orientation of said image detector.

88. The method according to claim 87, further comprising the preliminary steps of: detecting a plurality of two-dimensional images of said inspected organ, using an image detector; and detecting the location and orientation of said image detector for each said two-dimensional images.

89. The method according to claim 87, further comprising the preliminary step of storing said two-dimensional images and the respective said detected locations and orientations of said image detector, in a database.

90. The method according to claim 87, further comprising the preliminary steps of: determining if at least one of said two-dimensional images deviates from a selected plane; and reporting said deviation.

91. The method according to claim 87, further comprising the step of detecting the location and orientation of a point of view of a user, before said step of displaying, wherein said stored two-dimensional image is selected according to said detected location and orientation of said point of view.

92. The method according to claim 91, further comprising the preliminary steps of: detecting a plurality of two-dimensional images of said inspected organ, using an image detector; detecting the location and orientation of said image detector, respective of each of said two-dimensional images; and storing said two-dimensional images and the respective said detected locations and orientations of said image detector, in a database.

93. The method according to claim 91, wherein said step of detecting said location and orientation of said point of view of said user, is performed using a location and orientation sensor attached to user worn goggles.

94. The method according to claim 87, wherein the information respective of said location and orientation sensor is provided within the coordinate system of a surgical tool.

95. The method according to claim 87, wherein the information respective of said location and orientation sensor is provided within the coordinate system of said inspected organ.

96. The method according to claim 87, wherein the information respective of said location and orientation sensor is provided within the coordinate system of the body of the patient.

97. The method according to claim 87, wherein said surgical tool is selected from the list consisting of: clamp; laser cutter; brush; catheter; stent; balloon; pace maker electrode; solution dispensing unit; neuron electrode; substance collection unit; surgical delivery tool; gene delivery tool; drug delivery tool; and device delivery tool.

98. The method according to claim 87, wherein said representation of said surgical tool indicates an estimated location of said surgical tool.

99. The method according to claim 87, wherein said representation of said surgical tool indicates the orientation of said surgical tool.

100. The method according to claim 87, wherein portions of said surgical tool which are located above, below and within said selected two-dimensional image, are presented in different colors.

101. The method according to claim 87, wherein said representation of said surgical tool is in the form of cursor.

102. The method according to claim 87, wherein said representation of said surgical tool is a pseudo realistic visualization of said surgical tool.

Description

FIELD OF THE INVENTION

The present invention relates to medical diagnostic and surgery systems and methods in general, and to methods and systems for three-dimensional medical imaging and navigation, in particular.

BACKGROUND OF THE INVENTION

Methods and systems for acquiring and presenting two-dimensional and three-dimensional images are known in an art. Three-dimensional imaging enhances modern diagnostics, therapy and surgery procedures.

A two-dimensional imaging system processes and represents two-dimensional internal body slices in static or in dynamic form on a display. A conventional two-dimensional ultrasound imaging system includes an ultrasound transducer, an image capturing module and an image-processing unit.

The ultrasound transducer is placed in close proximity to the tissue to be examined. The ultrasound transducer converts an electrical signal to ultrasonic waves and directs the waves toward the examined tissue. The ultrasonic waves are in part absorbed, dispersed, refracted and reflected. The ultrasound transducer detects the ultrasonic reflections. The ultrasound transducer converts the reflected ultrasonic waves to an electrical signal and provides it to the image-processing unit.

The image-processing unit processes the received electrical signal, thereby producing a plurality of two-dimensional images of slices of the inspected tissue. The image-capturing module captures each two-dimensional image and can provide each of them to a display or a printer.

U.S. Pat. No. 5,152,290 to Freeland, entitled "Method for recording ultrasound images to diagnose heart and coronary artery disease" is directed to a method for capturing and displaying two-dimensional ultrasound images of the heart for diagnosing heart disease, such as coronary artery disease. The method disclosed by Freeland includes the steps of detecting an electrocardiogram (ECG) signal after peak exercise, detecting the two-dimensional images of the heart, storing selected images, each with the ECG reading at the time that the image was taken and displaying a quad-image group. The system detects and records a two-dimensional image sequence continuously at a rate of at least eight images per heartbeat.

U.S. Pat. No. 5,690,113, issued to Sliwa, Jr. et al., entitled "Method and apparatus for two-dimensional ultrasonic imaging" is directed to a method and apparatus for generating a two-dimensional ultrasonic image using a hand-held single element transducer probe, having a fixed scan-line. The system provides displaying two-dimensional ultrasonic images of the body of a patient. This system detects two-dimensional ultrasonic images, and determines the spatial location and orientation of the ultrasound transducer, at the same time. The system includes a probe with an ultrasound transducer, capable of imaging a single scan-line and a means for tracking the spatial location and orientation of the ultrasound transducer. The scan-line is fixed in an orientation and spatial position relative to the movable transducer. The system further includes a computing means, which computes the spatial location and the orientation of each scan-line as the transducer is moved. Thereby, the scan-lines are presented as a complete image. Alternatively, an electromagnetic transmitter and receiving sensor determine the spatial orientation and position of each scan-line in free space.

A typical three-dimensional ultrasound imaging system includes a conventional two-dimensional ultrasound imaging system, a location and orientation detection system, an image processing system and a displaying system. Such systems provide three-dimensional imaging of internal organs such as the liver, kidneys, gallbladder, breast, eyes, brain, and the like.

The location and orientation detection system provides the location and orientation of ultrasound transducer. The location and orientation of each of the captured two-dimensional images are determined from the location and orientation of the transducer.

The image processing system reconstructs a three-dimensional image of the inspected organ, by processing the captured two-dimensional images, each according to the location and orientation thereof. Finally, the displaying system displays the received three-dimensional image of the inspected organ.

U.S. Pat. No. 5,787,889 issued to Edwards et al., and entitled "Ultrasound imaging with real time 3D image reconstruction and visualization" is directed to generation and visualization of three-dimensional ultrasound images. The method disclosed by Edwards includes the following steps: acquiring data, reconstructing a volume, and visualizing an image. The system provides for achieving and visualizing three-dimensional ultrasound images with a two-dimensional ultrasound medical imaging system included therein. An operator can perform various visualization tasks on the reconstructed three-dimensional image, such as rotating the image in different viewing angles and plans.

Another type of three-dimensional imaging system, which is known in the art, is operative to produce a motion picture of the heart or the lungs. This system includes a conventional two-dimensional ultrasound imaging system, an ECG monitor, a location and orientation detection system, an image processor and a display system. The ECG monitor detects the timing signal of the heart. The ECG timing signal is used to synchronize or trigger the recording of the two-dimensional images representative of selected points in the ECG timing signal. The ultrasound transducer detects two-dimensional ultrasound images of the heart at any given moment (e.g., at a selected point of time on ECG timing signal). Each two-dimensional image represents a specific slice of the heart according to the specific activity-state thereof. The location and orientation of each of the two-dimensional images are directly determined from the location and orientation of the transducer.

The image processor reconstructs a three-dimensional image of the heart from captured two-dimensional images having the same activity-state. Finally, the display system displays a sequence of the reconstructed images, thereby presenting a three-dimensional motion picture of the heart.

U.S. Pat. No. 5,924,989 issued to Polz, and entitled "Method and device for capturing diagnostically acceptable three-dimensional ultrasound image data records", is directed to a method and a system for generating a three-dimensional image sequence of the heart. This system includes a three-dimensional ultrasound imaging system, combined with an echocardiograph. The system detects two-dimensional ultrasound images and stores each of them together with the location and orientation thereof and with the organ cycle location as provided by the echocardiogram, at the time that the image was acquired.

Utilizing a special algorithm, the system reconstructs a three-dimensional image from all of the two-dimensional images having the same organ cycle location, and displays a sequence of the reconstructed three-dimensional images.

SUMMARY OF THE PRESENT INVENTION

It is an object of the present invention to provide a novel method and system for medical in-vivo invasive probing. In accordance with the present invention, there is thus provided a medical imaging and navigation system. The system includes a processor, a display unit, a database, a medical positioning system (MPS), a two-dimensional imaging system, an inspected organ monitor interface, and a superimposing processor.

The MPS includes a transducer MPS sensor and a surgical tool MPS sensor. The two-dimensional imaging system includes an imaging transducer. The processor is connected to the display unit, the database, the MPS, the two-dimensional imaging system, the inspected organ monitor interface, and to the superimposing processor. The inspected organ monitor interface is further connected to an organ monitor. The surgical tool MPS sensor is firmly attached to a surgical tool. The transducer MPS sensor is firmly attached to the imaging transducer. The organ monitor monitors an organ timing signal associated with an inspected organ. The system reconstructs a plurality of three-dimensional images from a plurality of detected two-dimensional images, according to the respective location and orientation of each two-dimensional image and its position within the inspected organ timing signal. Since the all of the MPS sensors belong to the same MPS system, the system provides the location and orientation of the surgical tool, within the same coordinate system of the detected two-dimensional images.

In accordance with another aspect of the present invention, there is thus provided a medical imaging and navigation system. The system includes a processor, a display unit, a database, an MPS, an inspected organ monitor interface and a superimposing processor. The processor is connected to the display unit, the database, the MPS, the inspected organ monitor interface and to the superimposing processor. The inspected organ monitor interface is connected to an organ monitor. The MPS includes a surgical tool MPS sensor being firmly attached to a surgical tool. The organ monitor monitors an organ timing signal associated with an inspected organ. This system is adapted to operate on pre-stored images.

In accordance with a further aspect of the present invention, there is thus provided a method for displaying an image sequence of a moving inspected organ. The method includes the steps of detecting an organ timing signal of the inspected organ, detecting a plurality of two-dimensional images of the inspected organ using an image detector, and detecting the location and orientation of the image detector. The method further includes the steps of associating each of the two-dimensional images with the image detector location and orientation and with the detected organ timing signal, and reconstructing a plurality of three-dimensional images from the two-dimensional images. The method further includes the steps of selecting one of the three-dimensional images according to a real-time reading of the organ timing signal, and displaying the selected three-dimensional image.

In accordance with another aspect of the present invention, there is thus provided a method for displaying an image sequence of a moving inspected organ. The method includes the steps of detecting an organ timing signal of the inspected organ, and selecting one of a previously stored three-dimensional images according to a real-time reading of the organ timing signal. The method further includes the steps of detecting the location and orientation of a surgical tool, superimposing a representation of the surgical tool onto the selected three-dimensional image, and displaying the superimposed three-dimensional image.

In accordance with a further aspect of the present invention, there is thus provided a method for displaying an image sequence of a moving inspected organ. The method includes the steps of detecting an organ timing signal of the inspected organ, detecting the location and orientation of a point of view of a user and selecting one of a previously stored three-dimensional images according to a real-time reading of the organ timing signal. The method further includes the steps of rendering the selected three-dimensional image according to the detected location and orientation of the point of view and displaying the selected three-dimensional image.

In accordance with another aspect of the present invention, there is thus provided a method for displaying an image sequence of a moving inspected organ. Each image in the image sequence is associated with the location and orientation of the image within a predetermined coordinate system. The method includes the steps of detecting an organ timing signal of the inspected organ, selecting one of a previously stored two-dimensional images according to a real-time reading of the organ timing signal and displaying the selected two-dimensional image. This system is adapted for a two-dimensional imaging and displaying environment.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will be understood and appreciated more fully from the following detailed description taken in conjunction with the drawings in which:

FIG. 1 is a schematic illustration of a multi functional three-dimensional imaging system, constructed and operative in accordance with a preferred embodiment of the present invention;

FIG. 2A is an illustration in perspective of an inner-body radial ultrasound imaging system, constructed and operative in accordance with another preferred embodiment of the present invention;

FIG. 2B is an illustration in perspective of a plurality of radial two-dimensional images of the walls of an inspected vessel;

FIG. 2C is a schematic illustration in detail of the MPS system of FIG. 1, constructed and operative in accordance with a further preferred embodiment of the present invention;

FIG. 3 is a schematic illustration of a two-dimensional image in a given coordinate system;

FIG. 4 is an illustration in perspective of a plurality of two-dimensional images and an organ timing signal;

FIG. 5A is a schematic illustration of a plurality of three-dimensional volumes, according to another preferred embodiment of the present invention;

FIG. 5B is a schematic illustration of some of the three-dimensional volumes of FIG. 5A, at a later stage of image reconstruction;

FIG. 5C is a schematic illustration of a selected three-dimen