Method and apparatus for imaging subject

Abstract

A system for planning and positioning an implant in a subject is disclosed. The planned localization may be based on various features and structures identified in a group of subjects for the current subject. The implant may then be positioned in a selected location that includes a relative location and orientation of one or more electrodes on the implant, which may be identified as an optimal location for the selected current subject.

Description

Technical Field

[0001] This application incorporates subject matter related to U.S. Patent Application No. 18 / 066,640. The entire disclosure of the above application is incorporated herein by reference.

[0002] This disclosure relates to a system for assisting in a procedure on a subject (such as imaging a subject and tracking an imaging device and / or instrument). Background Art

[0003] This section provides background information related to the present disclosure, which is not necessarily prior art.

[0004] A subject (such as a human patient) may undergo a procedure. The procedure may include a surgical procedure for correcting or enhancing an anatomical structure of the subject. Enhancement of the anatomical structure may include various procedures, such as movement or enhancement of bone, insertion of an implant (i.e., an implantable device), or other suitable procedures.

[0005] A surgeon may use an image of a subject based on a projection of the subject to perform a procedure on the subject. One or more imaging systems, such as a magnetic resonance imaging (MRI) system, a computed tomography (CT) system, or fluoroscopy (e.g., a C-arm imaging system), may be used to generate the image. Summary of the Invention

[0006] This section provides an overview of the present disclosure and is not an exhaustive disclosure of its full scope or all of its features.

[0007] A portion of a subject (such as a portion of a human anatomy) may be imaged to generate image data of that portion, and a user may analyze and / or display the image data as data for the user to view. However, it should be understood that the subject may include non-human subjects and / or non-living subjects. Non-living subjects may include enclosed structures, such as wings, robotic systems, etc. When analyzing the image data, various features may be identified and / or used to identify various additional features. For example, anatomical landmarks may be capable of being identified in the selected image data.

[0008] The present subject matter disclosure relates to imaging a subject using one or more ultrasound transducers. The one or more ultrasound transducers may be positioned relative to the subject to image multiple portions of the subject. These ultrasound transducers may each operate individually and / or in concert to obtain image data of the subject. The image data may be used to generate an image of the subject.

[0009] The subject can include any suitable subject, such as a human subject, other living subjects, or non-living subjects. The ultrasound transducer can be used to image any suitable part of the subject. Images can be generated based on the ultrasound image data to generate an image of the internal part of the subject.

[0010] One or more ultrasound transducers can be tracked individually or as a group or unit to assist in determining the pose of the ultrasound transducer. Additionally, the subject can be tracked, and instruments relative to the subject and / or the ultrasound transducer can also be tracked. This tracking can assist in selecting which one or a few of the multiple ultrasound transducers to obtain image data from the subject.

[0011] A system such as a navigation system can guide one or more of the ultrasound transducer, the instrument, and the subject. The navigation system can generate an image based on the image data received from one or more of the ultrasound transducers. In various embodiments, for example, an image can be generated based on the image data received or obtained from only one of the ultrasound transducers. A single ultrasound transducer can be selected based on the trajectory or known positioning of the instrument relative to the subject and / or the ultrasound transducer.

[0012] Based on the description provided herein, additional fields of applicability will become apparent. The descriptions and specific examples in this summary are for illustrative purposes only and are not intended to limit the scope of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The drawings described herein are for illustrative purposes only of the selected embodiments and not all possible implementations, and are not intended to limit the scope of the present disclosure.

[0014] Figure 1 is an environmental view of the operating suite;

[0015] Figure 2 is a schematic diagram of an imaging system positioned relative to a subject according to various embodiments;

[0016] Figure 3A is a schematic diagram of an imaging system positioned relative to a subject according to various embodiments;

[0017] Figure 3B is according to various embodiments positioned relative to the subject Figure 3A of the imaging system;

[0018] Figure 4A is a schematic diagram of an imaging system positioned relative to a subject according to various embodiments;

[0019] Figure 4B is according to various embodiments positioned relative to the subjectFigure 4A Schematic diagram of an imaging system;

[0020] Figure 5 is a flowchart of the operation of an imaging system according to various embodiments;

[0021] Figure 6A is a schematic diagram of an imaging system positioned relative to a subject according to various embodiments;

[0022] Figure 6B is according to various embodiments positioned relative to a subject Figure 6A Schematic diagram of an imaging system;

[0023] Figure 7 is a flowchart of the operation of an imaging system according to various embodiments;

[0024] Figure 8A is a schematic diagram of an imaging system positioned relative to a subject according to various embodiments; and

[0025] Figure 8B is according to various embodiments positioned relative to a subject Figure 8A Schematic diagram of an imaging system.

[0026] In several views of all the figures, corresponding reference numerals indicate corresponding components. Detailed Description

[0027] Example embodiments will now be described more fully with reference to the accompanying drawings.

[0028] Initially referring to Figure 1 , subject 20 can be any suitable subject. Although the following discussion relates to a human subject, it should be understood that any suitable living or non-living subject can be provided, or within the scope of the present disclosure. For example, a non-human living subject can be evaluated and a selected protocol can be performed on it. In addition, various non-living subjects can have image data of their internal parts acquired, and protocols can be determined, planned, and performed within the external housing or body (such as a casing) of the non-living subject. Various non-living subjects include the internal parts of motors, casings, or other suitable subjects. In addition, although the following discussion exemplarily relates to performing a protocol relative to the spine of human subject 20, other suitable implants and / or therapies are also within the scope of the subject disclosure.

[0029] Subject 20 can be positioned in suite 24 for a selected procedure. The suite can include various systems, such as navigation system 26. Navigation system 26 can include various components, such as a selected processor module 50 that accesses selected memory and / or input from user 52. Processor module 50 can be a general-purpose processor and / or a dedicated processor module (e.g., an application-specific integrated circuit (ASIC)). Processor module 50 can be included in and / or accessed by an exemplary processor system 54, which can include processor module 50 and memory module 58. Output can also be performed, and the output section can include display device 62. The navigation system can also include one or more input sections 65, such as a keyboard, touchpad, touchscreen, mouse, etc.

[0030] According to various embodiments, navigation system 26 can include a surgical navigation system, such as those surgical navigation systems sold by Medtronic Navigation, Inc., like Stealth surgical navigation system. Briefly, in surgical navigation, a selected tracking device, such as subject tracking device 100, can be used to track subject 20. Subject tracking device 100 can be associated (such as fixed) to a part of subject 20, such as on and / or relative to the spine 30 of subject 20. An appropriate tracking system, such as electromagnetic tracking system 104 and / or optical tracking system 108, can be used to track subject tracking device 100. It should be understood that other appropriate tracking systems can be used, and the EM 104 and optical 108 tracking systems are merely exemplary.

[0031] The tracking system can track the position of patient tracker 100 and maintain the registration of the patient space with another selected space, such as the image space. The tracking system and / or navigation system 26 can track and determine the relative pose of patient tracking device 100 with respect to an image (such as image 110) displayed on display 62. Devices (also referred to as instruments) can also be tracked. Instrument tracker 120 can be used to track instrument 114. Based on the tracked position of device 114, a device representation, such as its graphical representation 114', can be displayed on display device 62 relative to subject image 110. As understood by those skilled in the art, tracking systems 104, 108 can be used to track the device tracking device or instrument tracker 120. Those skilled in the art should also understand that the tracked positioning and navigation positioning of device 114 can be performed based on the registration of the image or image space 110 with the subject or subject space of subject 20. As discussed herein, various registrations can also occur between subject image 110 and / or additional imaging portions (such as structures in various different imaging modalities).

[0032] The positioning of the device 114 can be performed in a selected suite 24, such as an operating suite. The operating suite 24 may include selected structures or components, such as a patient support 134 and an imaging system 138. The imaging system 138 can be used to generate or acquire image data of the subject 20 according to various embodiments. As is commonly understood by those skilled in the art, the imaging system 138 can also be tracked using an imaging system tracker 142. As discussed herein, the imaging system 138 can include one or more ultrasound transducers for obtaining image data of the subject 20. Additional and / or alternative imaging systems can include a C-arm x-ray imaging system 138' sold by Medtronic, Inc. and / or an imaging system 138”. The image data of the subject 20 can be acquired using any suitable imaging system, such as the imaging systems 138, 138', 138”, at any appropriate time, such as before, during, and / or after a procedure. Additionally, according to various embodiments, a tracking system and / or various tracking devices can be incorporated into the surgical navigation system.

[0033] The additional and / or alternative imaging system 138” can include an imaging system sold by Medtronic Navigation, Inc., which has a business location in Louisville, CO, USA. Including The imaging system 138” or other suitable imaging systems, including the imaging system, can be used during a selected procedure, such as the imaging systems described in the following U.S. patents: U.S. Patent No. 7,188,998; U.S. Patent No. 7,108,421; U.S. Patent No. 7,106,825; U.S. Patent No. 7,001,045; U.S. Patent No. 6,940,941; U.S. Patent No. 11,344,268; U.S. Patent No. 11,399,784; and U.S. Patent Application No. 13 / 016,718, which was published as U.S. Patent Application Publication No. 2012 / 0099768 on April 26, 2012. All of the above U.S. patents are incorporated herein by reference. Additionally, the imaging system can include various features and elements, such as a slotted filter, such as the slotted filters disclosed in U.S. Patent Nos. 10,881,371 and 11,071,507 to Helm et al., all of the above U.S. patents are incorporated herein by reference. Other suitable imaging systems can include a C-arm imaging system, including an opposing x-ray source and x-ray detector and associated processor modules and / or memory.

[0034] A navigation system that includes one or more of the tracking systems 104, 108 can be utilized to track the various tracking devices 100, 120, 142, 142', and this information can be used to permit the display of the pose of an article (e.g., a tool or instrument 114) on the display 62. For example, the instrument graphical representation 114' can be displayed alone and / or superimposed on any suitable image (such as an image of the subject 110). The instrument 114 can be operated, controlled, and / or held by the user 52. The user 52 can be one or more of a surgeon, a nurse, a welder, etc. In short, tracking devices such as the patient tracking device 100, the imaging device tracking device 142, and the instrument tracking device 120 allow for the tracking of selected portions of the operating room 24 relative to each other using a suitable tracking system (including the optical locator 108 and / or the EM locator 104). However, it should be understood that other tracking modalities, such as ultrasound, acoustics, radar, etc., can be used. Generally, tracking occurs within a selected reference frame, such as within a patient reference frame.

[0035] It should be understood that any of the tracking devices 100, 120, 142 can each be an optical EM tracking device or other suitable tracking device and / or more than one type of tracking device, depending on the tracking locator used to track the respective tracking device. It should be understood that the tracking devices 100, 120, 142 can all be similar or different and can all be interchangeable, but are selected or assigned a selected purpose during a navigation procedure. It should be further understood that any suitable tracking system (such as an alternative tracking system or in addition to the tracking system) can be used with the navigation system. Alternative tracking systems can include a radar tracking system, an acoustic tracking system, and an ultrasonic tracking system, etc.

[0036] An exemplary EM tracking system can include the AXIEM TM navigation system sold by Medtronic Navigation, Inc., having a place of business in Louisville, Colorado. Exemplary tracking systems are also disclosed in the following U.S. patents: U.S. Patent No. 7,751,865, issued July 6, 2010; U.S. Patent No. 5,913,820, issued June 22, 1999; and U.S. Patent No. 5,592,939, published January 14, 1997, all of which are incorporated herein by reference.

[0037] In addition, with respect to EM tracking systems, it may be necessary to provide a shielding or distortion compensation system to shield or compensate for distortion in the EM field generated by the EM locator 104. Exemplary shielding systems include the shielding systems in the following patents: U.S. Patent No. 7,797,032, published on September 14, 2010, and U.S. Patent No. 6,747,539, published on June 8, 2004; the distortion compensation system may include the distortion compensation systems disclosed in the following patent applications: U.S. Patent Application No. 10 / 649,214, filed on January 9, 2004, published as U.S. Patent Application Publication No. 2004 / 0116803, all of which U.S. Patent Application Publications are incorporated herein by reference.

[0038] With the EM tracking system, the locator 104 and various tracking devices may communicate through the EM controller 105. The EM controller may include various amplifiers, filters, electrical isolation, and other systems. The EM controller 105 may also control the coils of the locator 104 to transmit or receive an EM field for tracking. However, a wireless communication channel (such as the wireless communication channel disclosed in U.S. Patent No. 6,474,341, published on November 5, 2002, which is incorporated herein by reference) may be used instead of directly connecting it to the EM controller 105.

[0039] It should be understood that the tracking system may also be or include any suitable tracking system, including those having an optical locator (similar to the optical locator 108) sold by Medtronic Navigation, Inc., having a place of business in Louisville, Colorado and / or S7 TM navigation system. Additional alternative tracking systems are disclosed in U.S. Patent No. 5,983,126, issued on November 9, 1999, which is incorporated herein by reference. Other tracking systems include acoustic, radiation, radar, and other tracking or navigation systems.

[0040] The physical space of a subject (such as patient 20) and / or relative to the subject may be referred to as the subject or patient space. An image space is defined by the coordinate system of an image or images generated or reconstructed using image data from an imaging system (such as imaging systems 138, 138', 138''), and this image space may be referred to as the image space. The image space can be registered to the patient space by identifying matching or fiducial points in the patient space and corresponding or equivalent points in the image space. Imaging devices 138, 138', 138'' can be used to generate image data with precise and known positioning. This can allow image data that is automatically or "intrinsically registered" with patient 20 when the image data is acquired. In essence, due to the accurate positioning of imaging systems 138, 138', 138'' in the patient space, the positioning of patient 20 relative to imaging systems 138, 138', 138'' is precisely known. This allows points in the image data to be known relative to points on patient 20 due to the precisely known positions of imaging systems 138, 138', 138''. Similarly, it should be understood that an imaging system can be used to generate image data of subject 20 at any appropriate time. Additionally, the imaging system can include one or more of a magnetic resonance imaging (MRI) device, a computed tomography (CT) device, and the like.

[0041] Alternatively and / or additionally, manual or automatic registration can occur by matching fiducial points in the image data with fiducial points on patient 20. For example, selected patient anatomical structures (such as ear portions, the tip of the nose, the eyebrow line, etc.) can be identified in the registration of the image space to the patient space, which allows for the generation of a translation map between the patient space and the image space. According to various embodiments, registration can occur by determining points that are substantially equivalent in the image space and the patient space. Equivalent points can include anatomical fiducial points or implanted fiducial points. Exemplary tracking and navigation systems and suitable registration techniques are disclosed in at least one of the following U.S. patents: U.S. Patent No. 9,737,235, issued August 22, 2017; U.S. Patent No. 7,751,865, issued July 6, 2010; U.S. Patent No. 6,474,341, issued November 5, 2002; U.S. Patent No. 5,913,820, issued June 22, 1999; U.S. Patent No. 5,592,939, issued January 14, 1997; and / or U.S. Patent No. 5,983,126, issued November 9, 1999, all of which U.S. patent applications are incorporated herein by reference.

[0042] Once registration has occurred, a navigation system including a tracking system 104, 108 having and / or including an imaging system 138, 138', 138'' can be used during the performance of a selected procedure. The selected procedure can use image data generated or acquired using the imaging system 138, 138', 138'', and the tracked pose of one or more tracked articles can be displayed relative to the image, such as superimposed on the image. The determined pose typically includes a selected number of degrees of freedom, such as six degrees of freedom. These can include position in at least three dimensions (x, y, and z-axis positions) and orientation (yaw, pitch, and roll). Additionally, the imaging system 138, 138', 138'' can be used to acquire image data at different times relative to the procedure. As discussed herein, image data of the patient 20 can be acquired after a selected portion of the procedure for various purposes, including confirmation of that portion of the procedure.

[0043] Given a navigation system 26 and various imaging systems 138, 138', 138'', the following disclosure relates to acquiring image data and displaying an image 110 on a display 62. Various instruments can be tracked relative to a subject 20, and various instruments can also be displayed on the display 62, such as using a graphical representation 114'. However, it should be understood that the various systems do not need to display the image 110 and can be used to perform a portion of a procedure using the image data. For example, a robotic system, such as a robotic arm 150, can be positioned relative to the subject 20. The robotic system 150 can include and / or Mazor one or more of the spinal robotic systems. The robotic arm 150 can include various parts, such as a base 152 and an articulated arm portion 156. The arm portion 156 can include an end effector 160. The end effector 160 can be moved relative to the subject 20, such as the spine 30, to assist in performing a procedure relative to the subject 20. For example, the end effector 160 can be a guide for an instrument, such as the instrument 104 described above. Thus, the instrument 114 can be positioned relative to the end effector 160 to perform a procedure on the subject 20. Accordingly, the pose of the end effector 160 can also be tracked and / or navigated relative to the spine or other part of the subject 20. The display 62 can display a graphical representation of the end effector 160, and the navigation system 26 can know or determine the pose of the end effector 160 relative to the subject 20, including a portion thereof such as the spine 30, to assist in performing the procedure.

[0044] Further as discussed herein, the imaging system 138 may be the primary imaging system under discussion. However, it should be understood that any suitable imaging system among other suitable imaging systems may also be used to acquire image data of the subject 20. However, in various embodiments, the imaging system 138 may include one or more ultrasound transducers 170. Unless otherwise specified herein, the discussion of one ultrasound transducer herein may refer to multiple ultrasound transducers operating independently and / or together. Additionally, the imaging system 138 may be used for robot-guided procedures, minimally invasive or less invasive procedures, or other suitable procedures on the subject 20. Such procedures may include spinal fusion, disc replacement, prosthesis implantation, and the like.

[0045] Continuing to refer Figure 1 and additionally referring Figure 2 to, the imaging system 138 will be described in more detail. The imaging system 138 may be positioned relative to the subject 20. For example, the imaging system 138 may be positioned to acquire image data of the spine 30 of the subject 20. However, it should be understood that the imaging system 130 may acquire image data of any suitable part of a human patient, non-human patient, or any suitable subject. Thus, the discussion of the spine 30 herein with respect to a human patient at the subject 20 is merely exemplary. Additionally, image data of any suitable part of any suitable subject (e.g., heart, brain, femur) may be acquired, and the image data tracking device 114 may be tracked relative to such image data.

[0046] The imaging system 138 may include a plurality of imaging elements, which include one or more ultrasound (US) transducers. These ultrasound transducers may include a selected number of ultrasound transducers and may be referred to herein as a set of ultrasound transducers 150 and / or individually as one of the ultrasound transducers referenced by 150 followed by a letter. The number of US transducers 150 may be selected for any suitable reason, such as imaging a region or volume to be imaged, the size of the subject, the cost of the imaging system 138, or other suitable purposes. The discussion of the US transducers 150 herein may include an initial or first ultrasound transducer 150a and a final ultrasound transducer 150n. The ultrasound transducer 150n may refer to any final or selected one of the ultrasound transducers and is intended to indicate that the imaging system 138 may include any suitable number of US transducers 150.

[0047] Imaging system 138 can be positioned relative to subject 20 using an appropriate system. For example, a holder or mounting assembly or portion 158 can be positioned relative to subject 20. Holder 158 can have all ultrasonic transducers 150 fixed relative thereto such that these ultrasonic transducers can be positioned relative to subject 20 as a unit (referred to herein as imaging system 138). According to various embodiments, holder 158 can be mounted to a mounting piece or arm 159. Mounting piece 159 can be positioned relative to subject 20. In various embodiments, mounting piece 159 can be a stand positioned on the floor relative to subject 20. Mounting piece 159 can also or alternatively be connected to patient support 134. However, in various embodiments, mounting piece 159 allows holder 158 to be fixed relative to subject 20. However, user 52 can selectively move mounting piece 159, holder 148, and / or ultrasonic transducer 150 relative to one another and / or relative to subject 20. As understood by those skilled in the art, tracker 142 can be used to maintain registration even if any of these are moved after an initial registration with subject 20.

[0048] Ultrasonic transducer 150 can be fixed relative to holder 148 and / or be capable of moving relative to holder 158. In various embodiments, ultrasonic transducer 150 can be fixed relative to holder 158 such that imaging system 138 is positioned relative to subject 20 in a substantially similar configuration during each use. It should also be understood that ultrasonic transducer 150 can be capable of moving relative to holder 158 to allow ultrasonic transducer 150 to move relative to holder 158 for a selected use. However, at a selected time, each ultrasonic transducer among ultrasonic transducers 150 can be held fixed relative to holder 158 for various purposes such as tracking imaging system 138, generating image data of subject 20, or other purposes.

[0049] As described above, tracker 142 can be used to track imaging system 138. Imaging system tracker 142 can be fixed relative to holder 158. Thus, tracking of imaging system tracker 142 allows tracking of the positioning of ultrasonic transducers 150 fixed relative thereto. The pose of each ultrasonic transducer among ultrasonic transducers 150 relative to holder 158 can be known. Thus, tracking imaging system tracker 142 allows determination of the pose of each ultrasonic transducer among ultrasonic transducers 150.

[0050] As described above, the ultrasound transducer 150 can be fixed relative to the holder 158. Thus, the predetermined or pre-known pose of each ultrasound transducer in the ultrasound transducer 150 relative to the holder 158 can be known. If the ultrasound transducer 150 is an immovable counterpart of the holder 158, the pose of each ultrasound transducer in the ultrasound transducer 150 can be input into the corresponding navigation system 26 or measured using an appropriate sensor. For example, a positioning sensor can be used to determine the positioning of the mounting portion of the ultrasound transducer 150 relative to the holder 158. In any case, the pose of the ultrasound transducer relative to the holder 158 can be determined.

[0051] In addition and / or additionally, a selected image system tracker can be used to individually track each ultrasound transducer in the ultrasound transducer 150 such that each ultrasound transducer in the ultrasound transducer 150 includes an individual tracker. Thus, for example, the ultrasound transducer 150a can have a tracker 142a connected thereto. Each ultrasound transducer in the ultrasound transducer can have a tracker connected thereto to allow tracking of the individual tracker during a selected procedure. Thus, the imaging system 138 can be tracked as a unit and / or individual trackers 142n can be used to individually track each individual transducer in the individual transducer 150.

[0052] The imaging system 138 can include one or more ultrasound transducers in the ultrasound transducer 150 that can image the subject 20. As will be understood by those skilled in the art, each ultrasound transducer in the ultrasound transducer can generate an imaging plane or planes. The imaging plane or space of each US transducer 150 can be referred to as a transducer space, as further discussed herein. Thus, each ultrasound transducer in the ultrasound transducer can include a corresponding ultrasound imaging plane or space 162. Similarly, as described herein, each ultrasound transducer in the ultrasound transducer can generate planes, and thus these planes can be referred to together as planes 162 and / or individually as planes 162a to 162n. The imaging plane 162 of the corresponding ultrasound transducer 150 can be operated in a selected manner, such as further discussed herein. As discussed herein, the ultrasound transducers 150 can be operated together and / or individually based on a selected purpose and imaging. Thus, the imaging system 138 can generate an image of the subject 20 that can include a longer length or span than a single ultrasound transducer without moving any of the ultrasound transducers in the ultrasound transducer 150 of the imaging system 138.

[0053] Each ultrasonic transducer in ultrasonic transducer 150 can communicate with imaging system processor 172. Imaging system processor 172 can be an independent processor and / or combined with processor 50 of navigation system 26. However, imaging system processor 170 can allow operation and / or receive image data from each of the ultrasonic transducers in ultrasonic transducers 150 of imaging system 130. Processor module 170 can operate as a multiplexer for US transducers 150 of imaging system 138. In various embodiments, multiple US transducers 150 can be multiplexed in an automatic and / or manual manner to operate only a selected one or more of US transducers 150 to generate image data of a subject.

[0054] In various embodiments, for example, a switch 174 can be provided for each of the ultrasonic transducers in ultrasonic transducer 150. The switch can be a mechanical switch and / or an electronic switch. Additionally, the switch can be separate from and / or incorporated within imaging processor 170. In various embodiments, the switch can be an operation instruction for any selected one of the selected US transducers 150.

[0055] Switch 174 can allow each individual ultrasonic transducer in individual ultrasonic transducers 150 to be operated independently or separately. If the ultrasonic transducers are operated close to each other simultaneously, this can reduce crosstalk and interference between these ultrasonic transducers, etc. Additionally, as further discussed herein, switch 174 can allow individual operation of ultrasonic transducers 150 to allow imaging of a selected portion of subject 20 based on the tracking pose of one or more of ultrasonic transducers 150, imaging system 138, or other components (such as tracked device 114). As discussed herein, multiplexing of US transducers 150 can be automatic, manual, or a combination thereof.

[0056] The communication or connection between ultrasonic transducer 150 and processor 170 can be any suitable connection. For example, a wired connection can be provided between each of the ultrasonic transducers in ultrasonic transducer 150 and processor 170. Additionally or alternatively, a wireless connection can be provided between each of the transducers in transducer 150 and processor 170. Thus, communication for operating and receiving image data from each of the ultrasonic transducers in ultrasonic transducer 150 can be provided between ultrasonic transducer 150 and processor 170 in any suitable manner.

[0057] One or more selected US transducers in the US transducer can be operated to selectively acquire image data based on the tracked pose of device 114. In operation, for various purposes, one or more locator systems including the EM locator 104, the optical locator 108, or other suitable locators can be used to track device 114 including the device tracker 120. The locator can be used to track or determine the pose information of the tracking device 120 associated with device 114. Then, the pose of device 114 (including at least a part thereof) can be determined based on the tracked pose of the tracking device 120. Similarly, the transducer 150 can be tracked using the associated tracking device 142. Then, the relative positioning of the transducer 150 of the imaging system 138 with respect to device 120 can be determined. This determination can be based on the tracked poses of both the device tracking device 120 and the imaging tracking device 142. This determination can be made by the navigation system including the navigation processor 50 to determine the relative pose of one or more of device 114 and the transducer 150. Based on the relative pose of one or more of device 114 and the transducer 150, one or more selected ultrasonic transducers in the ultrasonic transducer 150 can be operated to acquire image data of the subject 20. For example, as discussed above, multiple US transducers 150 can be positioned relative to the subject 20 to acquire image data with respect to each corresponding ultrasonic transducer in the corresponding ultrasonic transducers 150. As described above, one or more of the ultrasonic transducers can be operated substantially independently to acquire substantially real-time data during operation.

[0058] The imaging system 130 can be operated in various ways to image the subject 20 during a procedure. For example, the instrument or device 114 can be moved relative to the subject 20 to perform or assist in performing a procedure on the subject 20. The imaging system 138 can be used to image the subject 20 relative to device 114 or at least a part of device 114. Device 114 can also include various implants, such as spinal implants or screws, etc. Thus, the imaging system 138 can be operated to image the volume or region of the subject 20 on which the surgery is currently being performed. Thus, real-time or current switching between each of the ultrasonic transducers 150a to 150n among the multiple ultrasonic transducers 150 can be selected and performed. This switching can only allow a single or several ultrasonic transducers in the ultrasonic transducer 150 to operate to reduce crosstalk and interference between the ultrasonic transducers 150. However, integrating multiple ultrasonic transducers 150 into the imaging system 138 can reduce the amount of movement of the ultrasonic transducers or the continuous monitoring of the positioning of the ultrasonic transducers when attempting to acquire real-time image data with respect to device 114 within the subject 20.

[0059] Thus, the ultrasound transducer 150 can be positioned relative to the subject 20, which is the imaging system 138. Thus, the imaging system 138 can be operated to ensure that only one or a selected plurality of the ultrasound transducers 150 are operating to acquire image data relative to the subject 20. According to various embodiments, including those disclosed herein, the switching and / or operation can be manual, automatic, or a combination thereof.

[0060] For example, as Figure 3A illustrated, according to various embodiments, the imaging system 138 is illustrated as the imaging system 138a and can be positioned relative to the subject 20. The imaging system 138a can be substantially similar to the above-described imaging system, with variations discussed below. The US transducer 150 can be positioned relative to the holder 158 of the imaging system 138a. Then, each of the ultrasound transducers 150 can be manually operated or selected by the user 52. As discussed herein, the operation can include selection for acquiring image data.

[0061] For example, if the device 114 is moved relative to the patient 20 near the first ultrasound transducer 150a, the user 52 can manually turn on or operate the ultrasound transducer 150a. In various embodiments, for example, the switch 174 can be a manual switch 174m. The manual switch 174m can include a toggle portion 200 such that the user 52 can toggle between an on position and an off position. Then, the US transducer 150a can acquire image data in a single transducer space 162a. Similarly, if the device 114 is moved away from the US transducer 150a, the user can toggle the toggle switch 200 to the off position.

[0062] In a similar manner, as Figure 3B illustrated, if the device 114 is moved relative to the ultrasound transducer 150n, the user 52 can toggle the toggle switch portion 202 to turn on the ultrasound transducer 150n. Thus, image data is collected using the US transducer 150n in the plane 162n. Thus, only the selected transducer among the US transducers is operated at a selected time.

[0063] In this way, only the US transducers 150a to 150n near the position of the device 114 can be operated to generate image data. In various embodiments, the instrument 114 is near one or more of the selected US transducers, and the US transducers can image the instrument 114 and / or the portion affected by the instrument 114. The image data generated using the operated ultrasound transducers can be used to generate an image 110 displayed on the display device 62. Thus, the image on the display device 62 can be based on the real-time selection of one or more of the ultrasound transducers 150 that can be manually performed by the user 52.

[0064] Although user 52 may manually operate or activate one or more of the ultrasonic transducers 150 in the ultrasonic transducer, it should be understood that the manual switching operation may not utilize a manual toggle switch. For example, the input 65 of the processing system 54 may be used for operations such as activating and deactivating the ultrasonic transducers 150. Similarly or alternatively, the input 220 may be connected to the ultrasonic transducers 150 (such as through or by using the processor system 170). The user 52 may, for example, use a screen or a pedal, etc. to selectively operate one or more of the ultrasonic transducers 150. Thus, the user 52 may manually select which of the ultrasonic transducers to operate based on the selection of the user 52 during the procedure.

[0065] It should be understood that the individual of the mobile device 114 may be the same user who operates the ultrasonic transducer and / or may be a different user. For example, a surgeon may move the mobile device 114 and provide oral instructions to an assistant to activate or deactivate a selected one or more of the ultrasonic transducers 150.

[0066] Although manual switching may be performed between the ultrasonic transducers 150, substantially automatic switching may also be performed. Refer to Figure 4A and Figure 4B , as further discussed herein, the corresponding ultrasonic transducers 150 may be switched substantially automatically based on a process to operate (e.g., activate) and acquire image data using a corresponding one of the corresponding transducers 150. As Figure 4A illustrated, the corresponding locators (such as the EM locator 104 and / or the optical locator 108) may track the imaging system 138 and the device 114. When the device 114 is moved relative to the imaging system 138, the relative pose of the device 114 with respect to the imaging system 138 may be determined.

[0067] For example, when the device 114 is moved relative to the first transducer 150a, the ultrasonic transducer 150a may be operated to acquire image data in the transducer space or collect image data in the transducer space 162a. The US transducer 150a may be the only US transducer operated when it is determined that the device 114 is near the US transducer 150a. The determination may be made based on the tracked pose of the device 114 relative to the imaging system 138.

[0068] Turning to reference Figure 4B, device 114 can be moved relative to transducer 150n. It should be understood that device 114 can be moved relative to any of the US transducers in US transducer 150, and US transducer 150n is merely exemplary. However, the tracked pose of device 114 can be used to determine its positioning relative to US transducer 150n. Thus, imaging system 138 can then disconnect the operation of US transducer 150a and operate US transducer 150n to acquire image data in transducer space 160n. Thus, if US transducer 150n can operate substantially alone without operating US transducer 150a.

[0069] Thus, as discussed above, when it is determined that device 114 is in a selected relative pose with respect to one or more corresponding US transducers in the corresponding US transducer 150 of imaging system 138, the operations of the corresponding US transducers 150 can be performed substantially alone and independently to acquire image data of subject 20. Similarly, this can allow operation of only one or less than all of the US transducers in US transducer 150 based on the determined tracked pose of device 114 relative to imaging system 138.

[0070] Thus, imaging system 138 can be operated to acquire image data of subject 20 based on the determined pose of device 114. The pose of device 114 can include position and orientation information. Thus, the pose of device 114 can allow determination of the appropriate one or more ultrasonic transducers in ultrasonic transducer 150, and the appropriate one or more ultrasonic transducers are to be operated to acquire image data of the appropriate part of subject 20 to be displayed on display device 62. Since the image data is typically acquired substantially in real time, user 52 can view real-time images of subject 20 and instrument 114 relative to this part of subject 20. Continuing to refer Figure 4A and Figure 4B and additionally referring Figure 5 , method or process 200 is illustrated. Process 200 involves Figure 4A and Figure 4B , and can be executed by executing selected instructions on any one of the processing modules disclosed herein (including processing module 50 of the navigation system and / or imaging processor 170).

[0071] Process 200 can start in start box 204. Process 200 can include sub-process 210, which includes various steps or processes presented to assist in determining the pose of device 114. The pose of the US transducer is executed at block 220. The pose of device 114 is determined at block 224. As described above, the poses of US transducer 150 and device 114 can include various information for determining position and orientation. Additionally, the poses of the US transducer and the device can occur in any appropriate order, and Figure 5The illustrated order is merely exemplary.

[0072] In block 230, it is determined whether the device 114 is in a selected pose relative to the US transducer 150. The selected pose of the device relative to one or more of the transducers 150 may include a distance from it, an orientation relative to it, or a positioning relative to the imaging portion of the subject 20, etc. For example, the selected relative pose may include that the device 114 or a selected portion thereof is less than 1 cm from a plane defined by a selected one of the US transducers 150. Other suitable selected relative poses of the device 114 may also be used. However, if it is determined that the device 114 is not in the selected pose relative to any of the transducers 150, the "No" path 234 may be followed. When following the "No" path 234, the determination of the pose of the US transducer in block 220 and the pose of the device 114 in block 224 may be repeated. Thus, the process 200 may allow a cyclic process to continuously update the determined poses of the US transducer 150 and the device 114.

[0073] If it is determined that the device is in the selected pose relative to the US transducer, the "Yes" path 238 may be followed. After following the "Yes" path 238, the US transducer in the selected pose relative to the device is operated in block 250. Operating the US transducer includes acquiring image data using the selected US transducer (such as the first transducer 150a). As described above, the imaging device 138 may include a plurality of US transducers 150. Thus, operating the selected US transducer includes operating one US transducer 150 or an appropriate number of US transducers 150 to acquire image data using the imaging system 138.

[0074] In block 258, the acquired image data may be used to display an image, such as image 110, on the display device 62. The display of the image 110 is optional and may be displayed for the user 52 or may be used for the display of the analysis of the positioning of the device 114 relative to the subject 20. Similarly, in block 262, the display of the pose of the device 114 may be displayed, such as using the graphical representation 114'. Again, the display of the pose of the device on the display device 62 is optional and not necessary.

[0075] Then, the process 200 may stop in block 270. Thus, the process 200 may allow the determination of using one or more of the transducers 150, and the one or more transducers to be operated to acquire image data of the subject 20 based on the determined pose of the device 114 relative to one or more of the US transducers 150. Then, the acquired image data may be selectively and / or optionally displayed on the display device 62 alone or using the graphical representation of the device 114.

[0076] Continue to refer to Figure 1 FIG. 3 and additionally refer to Figure 6A 、 Figure 6B and Figure 7 ,the imaging system 138 can be operated to selectively image various parts of the subject 20 substantially automatically and / or with minimal manual intervention. Similarly, the imaging system 138 can be positioned relative to the subject 20. The device 114 can be moved relative to the subject 20 and also relative to the imaging system 138. As discussed above, the imaging system 138 includes a plurality of US transducers 150. Each of the US transducers 150 in the US transducers 150 can image an area or volume that they can also be referred to as a transducer plane or space 162. Each of the US transducers 150 in the US transducers 150 generates image data in the area 162 and can include the device 114. When the device 114 is moved within the space 162 and / or the device is moved a selected distance relative to the space, a selected one of the US transducers can be operated.

[0077] For example, the imaging system 138 can be positioned relative to the subject 20. Each of the ultrasonic transducers 150 in the imaging system 138 can be used for positioning or an initial scan to predetermine the transducer space 162 of each of the US transducers 150 relative to the subject 20. These can then be saved for later invocation to determine which of the US transducers 150 can be operated to image the subject when the device 114 is determined relative to the subject 20. The positioning scan can include sequentially operating each of the US transducers 150 in the US transducers 150 and / or operating them in any suitable manner to obtain an initial scan. Then, the initial scan images in the volume 162 can be used to determine the area of the subject 20 that can be imaged using each of the corresponding US transducers 150 in the corresponding US transducers 150.

[0078] Figure 7 Illustrates a process 300 that can be used to determine which of the US transducers 150 to operate to image the subject 20 based at least on the relative pose of the device 114, as Figure 6A and Figure 6Billustrated by the system of. Process 300 can be executed by executing instructions using one or more processing modules in the processing module, such as processor module 50. Process 300 can start at block 304. Process 300 can enter sub-process 310. Sub-process 310 can operate to selectively determine which of the US transducers in US transducer 150 to operate. In sub-process 310, at block 314, a localization scan can be performed using imaging system 138. As described above, the localization scan can initially use each of the US transducers in US transducer 150 to acquire image data. In short, the localization scan acquired at block 314 allows determination of the volume or transducer space of each of the US transducers in US transducer 150.

[0079] Once the localization scan is created, the transducer space 162 of each of the US transducers in US transducer 150 is determined, and at block 320, a determination of the selected range or volume of each of the US transducers in US transducer 150 of imaging system 138 is made. Thus, acquiring the localization scan of the scan of subject 20 for each of the US transducers allows the acquired image data to be analyzed to determine the selected volume or transducer space of each of the US transducers in US transducer 150. Determination of the transducer space 162 of each of the US transducers in US transducer 150 allows the transducer space 162 to be analyzed or have a determined range that is optimal or best for imaging the subject when device 114 is in a selected pose relative to subject 20. As described above, imaging system tracker 142 can be used to track imaging system 138 and / or each of the US transducers in US transducer 150 can be tracked. Thus, the transducer space 162 can also be tracked based on the known volume or image space relative to US transducer 150, such as disclosed in U.S. Patent No. 9,138,204 or U.S. Patent No. 8,320,653, both of which are incorporated herein by reference. The transducer space can also be referred to as the field of view (FOV) of each of the US transducers in US transducer 150.

[0080] Once the transducer space or field of view has been determined for each US transducer in block 320 for the US transducers, the pose of device 114 relative to the field of view can be determined in block 324 for selecting a US transducer. As discussed above, when device 114 is in a selected orientation relative to subject 20, real-time image data of subject 20 can be acquired. Since real-time image data can be acquired using a selected one of US transducers 150, a selected FOV can be made in block 324 to acquire the most appropriate image data relative to device 114. For example, the transducer space determined in block 320 can be used to determine the volume or patient space that is optimally imaged using a selected one of US transducers 150. Thus, when tracked relative to subject 20, device 114 can be determined to be in a selected pose relative to the transducer space of the selected US transducer 150. When in a pre-determined mapping pose, the selected US transducer can be operated to acquire image data of the subject and / or device 114. As described above, the mapping can be substantially automatic based on the volume of the FOV of US transducer 150, which volume is based on the determined FOV.

[0081] Once sub-process 310 has determined the appropriate pose for operating in a selected US transducer 150 to acquire appropriate image data relative to device 114, the pose of the device can be determined in block 330. Similarly, the transducer space or field of view 162 of the determined US transducer 150 can be determined in block 320 and tracked or registered relative to subject 20, as is known in the art and as discussed above. Thus, based on the tracked pose of device 114 relative to subject 20, the determined pose that is suitable for operating one or more of US transducers 150 to appropriately image subject 20 or selectively image the subject relative to the tracked device 114 is known. During use, determining the pose of the device in block 330 can be determining the pose of device 114 relative to any field of view within the field of view of transducer 150. Which US transducer field of view within the US transducer field of view is suitable for imaging the subject and / or the determination within the pose of device 114 can be determined in block 334.

[0082] Once the determined US transducer FOV has been formed in block 334, the determined US transducer can be operated in block 338 to acquire real-time image data. As described above, once it is determined that device 114 is within the field of view of a selected one of US transducers 150, that US transducer can be operated to acquire image data of subject 20. The image data acquired using the selected US transducer 150 can be substantially real-time image data, and if selected, the image data can be displayed in block 342.

[0083] The image data can be displayed as Image 110 on the display device 62. Optionally, in block 348, the display of the determined pose of the device 114 can be displayed as a graphical representation 114'.

[0084] Then, process 300 can end in block 352. Thus, process 300 can allow for the substantially automatic selection of the US transducer 150 that is optimally or best positioned relative to the device 114 for imaging. Also, the optimal positioning can be based on the selection of the user 52, which is based on the determined pose or other suitable determination of the device 114 relative to one or more of the US transducers of the subject 20 and / or the US transducer 150. Process 300 can allow for the use of only the selected transducer space 162 of a selected one of the US transducers to acquire image data at a given time to eliminate the interference and / or other difficulties of operating multiple US transducers that are close to each other and / or close to the subject 20 simultaneously. Additionally, the multiplexing or switching of the imaging device or system 138 is substantially automatic and does not require movement of the imaging system 138 during the procedure.

[0085] Continuing to refer Figure 1 to FIG. 3 and additionally referring Figure 8A and Figure 8B to, the imaging system 138 can be operated to selectively operate one or more of the US transducers 150 substantially individually and / or in selected smaller groups to image the subject 20 relative to the device 114. As discussed above, the imaging system 138 can be tracked and the transducer space of each of the US transducers 150 can be registered relative to the subject 20. Each of the US transducers 150 acquires image data within the respective transducer space 162.

[0086] The US transducer 150 can sense the device 114 in a suitable manner. For example, all US transducers 150 can be utilized to generate pulsed images or selected imaging pulses at a selected rate. For example, each US transducer in the US transducer 150 can image the subject 20 sequentially or in a suitable order at a selected rate (such as once per second, once every 5 seconds, once every 30 seconds, or any suitable rate). Generally, the rate can include from once every 0.5 seconds to about once every 30 seconds. The image data acquired using each US transducer in the US transducer 150 during pulsed image data collection can be used to determine the positioning of a selected portion of the device 114. If a selected portion of the device 114 is sensed within the transducer space of a selected one or more transducers in the transducer, the transducer can be operated to generate image data of the subject. Similarly, the image data can be acquired and analyzed to determine that the device 114 has left the transducer space of a selected one transducer in the transducer. An adjacent transducer can be operated to determine the positioning of the device 114, and thereafter generate image data of the subject 22, which images the subject 20 relative to the device 114. In other words, the collection of the image data can be switched from one US transducer in the US transducers to another US transducer.

[0087] Other sensors can also be provided, such as proximity sensors or material sensors, etc. For example, the device 114 can include a selected sensing portion, such as a radio frequency (RF) transmitter. The imaging system 138 can include a receiver for sensing the positioning of the device 114 relative to a selected one US transducer in the US transducers based on the sensed portion. The sensed portion can include an RF tag 370, which can be sensed by or sensed relative to one or more US transducers in the US transducer 150 on the imaging system 138. For example, the sensor 372 can be integrated into each US transducer in the US transducer 150 to sense the proximity of the sensor portion 370. Similarly, then the appropriate US transducer can be used to generate image data of the subject 20 based on the sensed positioning of the device 114.

[0088] In a similar manner, the tracking system can sense the proximity pose of the US transducer, including a specific one US transducer in the US transducer 150 and the device 114. As described above, the tracking system can track the device tracking device 120 to determine the pose of the device 114. The pose of the US transducer 150 can also be determined. In both cases, the corresponding tracking devices 142, 120 are sensed. A suitable processor (such as the navigation system processor 50) can calculate or determine that the pose of the device 114 is within the FOV of at least one US transducer in the US transducer 150, and the US transducer can be operated to acquire image data including the device 114.

[0089] Other selected sensing mechanisms may also be used to sense the positioning of the sensing device 114 relative to the US transducer that is to be operated to acquire image data of the subject 20. However, sensing of the device 114 may permit a selected one of the US transducers in the US transducer to operate substantially alone or individually to generate image data of the subject 20 relative to the device 114. Thus, as discussed above, image data may be acquired without disturbing the operation of the other US transducers.

[0090] According to various embodiments, including those described above, the image data acquired using the imaging system 138 may be used to generate the image 110 displayed on the display 62. The image may be generated based on a plurality of image data acquired using the plurality of US transducers 150 of the imaging system 138. The plurality of image data from the plurality of US transducers 150 may be analyzed to generate a long image or a mosaic image of the subject 120. The mosaic image data may be mosaicked in any suitable manner (such as those understood by those skilled in the art). The mosaicking may be based on detecting at least one anatomical landmark in the plurality of images, such as based on the positioning of the many US transducers 150 that produced such images. The at least one anatomical landmark may be the same landmark identified in each image from each corresponding transducer 150 in the corresponding transducer. The identification method may include machine learning algorithms and / or based on matching preoperative images and intraoperative image segments as described herein.

[0091] In various embodiments, features within the image data may be identified. The identified features may be based on a selected algorithm and / or a machine learning system. For example, a learning randomness algorithm may be used to identify various thresholds and / or features in the image. Similarly, various machine learning systems may include artificial intelligence or neural networks that are used to identify features in the image data. The selected machine learning system may be trained using the acquired image data to assist in identifying features in the image data acquired using the imaging system 138. These systems may be trained to automatically identify selected features (e.g., spinal spinous processes or fiducial points) in the corresponding images to permit mosaicking of the plurality of images.

[0092] As described above, the image tracker 142 can be utilized to track the imaging system 138. Similarly, the subject tracker 100 can be utilized to track the subject 20. Thus, the image data obtained using the imaging system 138 can be registered to the subject 20. Additionally, even if one or more of the subject and / or the imaging system 138 are removed, the simultaneous tracking of the subject 20 and the imaging system 138 can allow the registration to be maintained during the procedure. As will be understood by those skilled in the art, pre-acquired image data can be registered to real-time image data or other image data obtained using the imaging system 138 to assist in various procedures. For example, computed tomography and / or magnetic resonance imaging image data can be registered to the image data obtained using the imaging system 138. The registered image data can also be displayed using the display device 62 and / or any suitable imaging device to display information from pre-acquired or alternatively acquired image data.

[0093] Exemplary embodiments are provided so that this disclosure will be thorough, and will fully convey the scope of this disclosure to those skilled in the art. Numerous specific details are set forth such as examples of specific components, devices, and methods to provide a thorough understanding of embodiments of this disclosure. It will be apparent to those skilled in the art that specific details need not be employed, that the exemplary embodiments may be embodied in many different forms and should not be construed as limiting the scope of this disclosure. In some exemplary embodiments, well-known processes, well-known device structures, and well-known technologies have not been described in detail.

[0094] Instructions can be executed by a processor and can include software, firmware, and / or microcode, and can refer to programs, routines, functions, classes, data structures, and / or objects. The term shared processor circuit encompasses a single processor circuit that executes some or all of the code from multiple modules. The term grouped processor circuits encompasses a processor circuit that, in combination with additional processor circuits, executes some or all of the code from one or more modules. References to multiple processor circuits encompass multiple processor circuits on discrete dies, multiple processor circuits on a single die, multiple cores of a single processor circuit, multiple threads of a single processor circuit, or combinations of the above. The term shared memory circuit encompasses a single memory circuit that stores some or all of the code from multiple modules. The term grouped memory circuits encompasses a memory circuit that, in combination with additional memory, stores some or all of the code from one or more modules.

[0095] The devices and methods described in this application can be implemented in part or in whole by a processor (also referred to as a processor module), which can include a dedicated computer (e.g., created by configuring a processor) and / or a general-purpose computer for performing one or more specific functions embodied in a computer program. The computer program includes processor-executable instructions stored on at least one non-transitory, tangible computer-readable medium. The computer program may also include or rely on stored data. The computer program can include a basic input / output system (BIOS) that interacts with the hardware of the dedicated computer, device drivers that interact with specific devices of the dedicated computer, one or more operating systems, user applications, background services, background applications, etc.

[0096] The computer program can include: (i) assembly code; (ii) object code generated from source code by a compiler; (iii) source code for execution by an interpreter; (iv) source code for compilation and execution by a just-in-time compiler, (v) descriptive text for parsing, such as HTML (HyperText Markup Language) or XML (eXtensible Markup Language), etc. By way of example only, the source code can be written in C, C++, C#, Objective-C, Haskell, Go, SQL, Lisp, ASP, Perl, HTML5, Ada, Active Server Pages (ASP), Perl, Scala, Erlang, Ruby, Visual Lua or to write.

[0097] The communication can include the wireless communication described in this disclosure, which can be carried out in whole or in part in accordance with IEEE Standard 802.11-2012, IEEE Standard 802.16-2009, and / or IEEE Standard 802.20-2008. In various specific implementations, IEEE 802.11-2012 can be supplemented by Draft IEEE Standard 802.11ac, Draft IEEE Standard 802.11ad, and / or Draft IEEE Standard 802.11ah.

[0098] The terms "processor," "processor module," "module," or "controller" are used interchangeably herein (unless otherwise specifically noted), and each can be replaced by the term "circuit." Any of these terms can refer to, be part of, or include the following: application specific integrated circuit (ASIC); digital, analog, or mixed analog / digital discrete circuits; digital, analog, or mixed analog / digital integrated circuits; combinational logic circuits; field programmable gate array (FPGA); processor circuits that execute code (shared, dedicated, or grouped); memory circuits that store code executed by the processor circuits (shared, dedicated, or grouped); other suitable hardware components that provide the described functionality; or some or all combinations of the foregoing, such as in a system-on-chip.

[0099] For purposes of illustration and description, the foregoing description of the embodiments has been provided. The above description is not intended to be exhaustive or to limit the invention. The individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but, where applicable, are interchangeable and can also be used in the selected embodiments, even if not specifically shown or described. The same element or feature can be varied in many ways. Such variations are not to be regarded as a departure from the invention, and all such modifications are intended to be included within the scope of the invention.

Claims

1. A method for imaging a subject, the method comprising: Providing a plurality of ultrasound transducers relative to the subject; Determining a pose of a device relative to at least one of the plurality of ultrasound transducers or the subject; Determining at least one ultrasound transducer of the plurality of ultrasound transducers for acquiring image data of the subject, based at least on the determined pose of the device relative to at least one of the plurality of ultrasound transducers or the subject; And Utilizing the determined at least one ultrasound transducer to acquire image data.

2. The method according to claim 1, the method further comprising: Providing the plurality of ultrasound transducers relative to the subject.

3. The method according to claim 2, the method further comprising: Providing the plurality of ultrasound transducers fixed relative to each other.

4. The method according to claim 1, wherein utilizing the determined at least one ultrasound transducer to acquire image data comprises acquiring real-time image data.

5. The method according to claim 1, the method further comprising: Multiplexing the plurality of ultrasound transducers to utilize the determined at least one ultrasound transducer to acquire the image data.

6. The method according to claim 5, wherein the multiplexing comprises at least manually operating the determined at least one ultrasound transducer.

7. The method according to claim 6, the method further comprising: Operating a switch to operate the determined at least one ultrasound transducer.

8. The method according to claim 5, wherein the multiplexing comprises: Tracking the device to determine the pose of the device; Determining that a selected part of the device is within a selected proximity of the at least one ultrasound transducer of the ultrasound transducers of the plurality of ultrasound transducers; And Operating the at least one ultrasound transducer to acquire the image data.

9. The method according to claim 5, wherein the multiplexing comprises: Utilizing the plurality of ultrasound transducers to generate an initial scan of the subject; Determining a field of view of each ultrasound transducer of the plurality of ultrasound transducers; Tracking the device to determine the pose of the device; Determining the field of view within which or within a selected proximity of which the selected part of the device is located; And Operating the ultrasound transducer having the determined field of view to acquire the image data.

10. The method according to claim 5, wherein the multiplexing comprises: Sensing a proximity of the device relative to the at least one ultrasound transducer of the ultrasound transducers of the plurality of ultrasound transducers; And Operating the at least one ultrasound transducer to acquire the image data.

11. A system for imaging a subject, the system comprising: A plurality of ultrasound transducers configured to be positioned relative to a subject; A device configured to be positioned relative to at least one of the plurality of ultrasound transducers or the subject; A multiplexer configured to operate at least one of the plurality of ultrasound transducers for acquiring image data of the subject, based at least on a pose of the device relative to at least one of the plurality of ultrasound transducers or the subject; and acquire image data using the determined at least one ultrasound transducer.

12. The system according to claim 11, further comprising: A tracking system including a device tracker and at least one ultrasound transducer tracker; wherein the tracking system is configured to determine the pose of the device relative to the at least one ultrasound transducer.

13. The system according to claim 11, wherein the multiplexer includes a manual switch configured to allow manual operation of the determined at least one ultrasound transducer.

14. The system according to claim 13, wherein the manual switch includes an electronic switch manually selected by a user.

15. The system according to claim 12, further comprising: A processor module configured to execute instructions to: Determine the pose of the device based at least on tracking the device tracker; and wherein the multiplexer is configured to execute instructions to: Determine that a selected portion of the device is within a selected proximity of the at least one ultrasound transducer among the plurality of ultrasound transducers; and Operate the at least one ultrasound transducer to acquire the image data.

16. The system according to claim 12, further comprising: A processor module configured to execute instructions to: Evaluate an initial scan of the subject using the plurality of ultrasound transducers to determine a field of view of each of the plurality of ultrasound transducers; Determine a field of view within which or within a selected proximity of which the selected portion of the device is located, based at least on the determined pose of the device; and wherein the multiplexer is configured to execute instructions to operate the ultrasound transducer having the determined field of view to acquire the image data.

17. The system according to claim 11, further comprising: A proximity sensor integrated in at least one of the ultrasound transducers among the plurality of ultrasound transducers; A sensing portion integrated in the device; wherein the proximity sensor is configured to sense the sensing portion to determine a proximity of the device relative to at least one of the ultrasound transducers among the plurality of ultrasound transducers; and wherein the multiplexer is configured to execute instructions to operate the at least one ultrasound transducer to acquire the image data.

18. A system for imaging a subject, the system comprising: An imaging system including: A placement member; A plurality of ultrasound transducers configured to be positioned relative to a subject; and A multiplexer configured to selectively operate, based at least on a pose of the device relative to at least one of the plurality of ultrasonic transducers or the subject, one ultrasonic transducer of the plurality of ultrasonic transducers for acquiring image data of the subject; wherein the one ultrasonic transducer being operated is configured to acquire image data.

19. The system according to claim 18, the system further comprising: A display device for displaying an image based on the acquired image data.

20. The system according to claim 18, the system further comprising: A device configured to be positioned relative to at least one of the plurality of ultrasonic transducers or the subject; wherein the multiplexer selectively operates the one ultrasonic transducer based on the positioning of the device.

Images