User interface for image-guided surgery system

Abstract

To provide an image guided surgery system.SOLUTION: A virtual camera may be positioned relative to a 3-D model of a patient anatomy in order to provide a virtual camera view of the surrounding anatomy and tracked surgical instruments being deployed to the anatomy. Visual context provided by the virtual camera may be limited in some cases, such as where a surgical instrument is being used within a very narrow anatomical passageway or cavity. To provide more placement flexibility, an IGS system providing a virtual camera receives inputs defining variable visual characteristics for different segments or regions of the 3-D model, which may include hiding certain segments or making certain segments semi-transparent. With such a system, the view of the 3-D model provided by the virtual camera view may be modified to remove or deemphasize less relevant segments, to display or emphasize more relevant segments (e.g., critical patient anatomy), or both.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] (Priority) This application claims priority to U.S. Provisional Application No. 63 / 007713, entitled "User Interface for Image Guided Surgery System," filed April 9, 2020, the disclosure of which is incorporated herein by reference. [Background technology]

[0002] Image-guided surgery (IGS) is a technique that uses a computer to obtain real-time correlation of the positions of instruments inserted within a patient's body to a set of preoperatively acquired images (e.g., CT or MRI scans, 3D maps, etc.), whereby the computer system overlays the current positions of the instruments onto the preoperatively acquired images. An example of an electromagnetic IGS navigation system that can be used in an IGS procedure is the CARTO® 3 System by Biosense-Webster, Inc. (Irvine, California). In some IGS procedures, a digital tomographic scan (e.g., CT or MRI, 3D maps, etc.) of the surgical field is obtained prior to the surgical procedure. A specially programmed computer is then used to convert the digital tomographic scan data into a digital map. During the surgical procedure, the procedure is performed using special instruments that have sensors (e.g., electromagnetic coils that generate electromagnetic fields and / or react to externally generated electromagnetic fields) while the sensors send data to the computer indicating the current position of each surgical instrument. The computer correlates the data received from the sensors with the digital map created from the preoperative tomographic scan. The tomographic scan images are displayed on a video monitor along with indicia (e.g., crosshairs or illuminated dots, etc.) showing the real-time location of each surgical instrument relative to the anatomical structures shown in the scan image. Thus, by viewing the video monitor, the surgeon can know the exact location of each sensor-equipped instrument, even if he or she cannot directly visualize the instrument itself in its current location within the body.

[0003] Some IGS systems can additionally display a three-dimensional rendering or 3D model of the patient's anatomy based on images or other data sources acquired prior to surgery. Such a 3D model can be displayed in addition to one or more two-dimensional image slices to provide the surgeon with additional tools for visualizing and navigating the patient's anatomy. One way the 3D model can be navigated is through the use of a virtual camera feature that provides a corresponding virtual endoscopic view. The virtual camera can be positioned and oriented relative to the 3D model to provide a virtual endoscopic view of the 3D model that simulates the view provided by a real endoscope positioned in the same position and orientation. This virtual endoscopic view can be combined with a representation of the real-time position of the sensor-equipped instrument to provide the surgeon with additional visual detail during the procedure.

[0004] While several systems and methods have been made and used in surgical procedures, it is believed that no one prior to the present inventors has made or used the invention as recited in the appended claims. [Brief description of the drawings]

[0005] While the specification concludes with claims which particularly set forth and distinctly claim the invention, it is believed that the invention will be better understood from the following description of specific embodiments taken in conjunction with the accompanying drawings, in which like reference numbers refer to like elements and in which: [Figure 1] 1 depicts a schematic diagram of an exemplary surgical navigation system for use with a patient. [Diagram 2] 1 illustrates an exemplary set of high-level steps that may be performed by or in conjunction with the surgical navigation system of FIG. 1 to position a virtual camera. [Diagram 3] 1 illustrates an exemplary interface that may be displayed during image-guided surgical navigation and that includes a virtual camera interface. [Figure 4]FIG. 1 shows a schematic diagram providing an example of visualization of a surgical site with a virtual camera. [Figure 5A] 4 illustrates an exemplary virtual camera view that can be displayed via the interface of FIG. 3. [Figure 5B] 5B shows an enlarged portion of the virtual camera field of view of FIG. 5A. [Figure 5C] 4 illustrates an exemplary modified virtual camera view that may be displayed via the interface of FIG. 3. [Figure 5D] 5D from a different perspective. FIG. [Figure 6] 2 illustrates an exemplary set of high-level steps that may be implemented by or in conjunction with the surgical navigation system of FIG. 1 for modifying a virtual camera view. [Figure 7] 1 illustrates an exemplary set of steps that may be implemented to determine filter inputs for a virtual camera view. [Figure 8] 1 illustrates an exemplary set of steps that may be performed to apply a filter input to a virtual camera view.

[0006] The drawings are not intended to be limiting in any manner, and it is contemplated that various embodiments of the invention may be embodied in other various ways, including those not necessarily depicted in the drawings. The accompanying drawings, which are incorporated in and form a part of this specification, illustrate several aspects of the invention and, together with the description, serve to explain the principles of the invention. It is understood, however, that the invention is not limited to the precise arrangements shown. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0007] The following description of specific examples of the present invention should not be used to limit the scope of the present invention. Other examples, features, aspects, embodiments, and advantages of the present invention will become apparent to those skilled in the art from the following description, which illustrates one of the best modes contemplated for carrying out the present invention. As will be understood, the present invention is capable of other different and obvious aspects, all without departing from the present invention. Thus, the drawings and description should be regarded as illustrative in nature, and not restrictive.

[0008] It will be understood that the terms "proximal" and "distal" are used herein relative to a clinician holding the hand piece assembly; i.e., the end effector is distal relative to the more proximal hand piece assembly. It will be further understood that for convenience and clarity, spatial terms such as "upper" and "lower" are also used herein relative to a clinician holding the hand piece assembly. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and absolute.

[0009] It is further understood that any one or more of the teachings, expressions, variations, examples, etc. described herein can be combined with any one or more of the other teachings, expressions, variations, examples, etc. described herein. Thus, the teachings, expressions, variations, examples, etc. described below should not be considered in isolation from one another. In light of the teachings herein, various suitable ways in which the teachings herein can be combined will be readily apparent to those skilled in the art. Such modifications and variations are intended to be included within the scope of the claims.

[0010] I. Exemplary Image-Guided Surgical Navigation System When performing a medical procedure within the head (H) of a patient (P), it may be desirable to have information regarding the location of an instrument within the head (H) of the patient (P), especially when the instrument is in a position where it is difficult or impossible to obtain an endoscopic view of the working elements of the instrument within the head (H) of the patient (P). Figure 1 illustrates an exemplary IGS navigation system (10) that enables performing an ENT procedure using image guidance. In addition to, or in lieu of, having the components and operability described herein, the IGS navigation system (10) may be constructed and operative in accordance with at least a portion of the teachings of the following documents: U.S. Pat. No. 7,720,521, entitled "Methods and Devices for Performing Procedures within the Ear, Nose, Throat and Paranasal Sinuses," issued May 18, 2010, the disclosure of which is incorporated herein by reference; and U.S. Patent Application Publication No. 2014 / 0364725, entitled "Systems and Methods for Performing Image Guided Procedures within the Ear, Nose, Throat and Paranasal Sinuses," published December 11, 2014, now abandoned, the disclosure of which is incorporated herein by reference.

[0011] The IGS navigation system (10) of this example includes a magnetic field generator assembly (20) that includes a set of magnetic field generators (24) integrated into a horseshoe-shaped frame (22). The magnetic field generators (24) are operable to generate alternating magnetic fields of different frequencies around the head (H) of a patient (P) to generate a tracked area to which the IGS navigation system (10) associates a coordinate system. In this embodiment, a navigation guidewire (40) is inserted into the head (H) of the patient (P). The navigation guidewire (40) may be a standalone device or may be positioned at an end effector of a medical instrument, such as a surgical cutting or dilating instrument, or at another location. In this example, the frame (22) is mounted on a chair (30) and the patient (P) sits in the chair (30) such that the frame (22) is positioned adjacent to the head (H) of the patient (P). By way of example only, the chair (30) and / or the magnetic field generator assembly (20) may be constructed and operable in accordance with at least a portion of the teachings of U.S. Pat. No. 10,561,370, entitled "Apparatus to Secure Field Generating Device to Chair," issued Feb. 18, 2020, the disclosure of which is incorporated herein by reference.

[0012] The IGS navigation system (10) of this example further comprises a processor (12) that controls the magnetic field generator (24) and other elements of the IGS navigation system (10). For example, the processor (12) is operable to drive the magnetic field generator (24) to generate an alternating electromagnetic field and to process signals from the navigation guidewire (40) to determine the position of a sensor in the navigation guidewire (40) within the head (H) of the patient (P). The processor (12) comprises a processing unit (e.g., a set of electronic circuitry configured to evaluate and execute software instructions using combinatorial logic or other similar circuitry) in communication with one or more memories. The processor (12) of this example is mounted in a console (18) that includes a motion control (14) that includes a keypad and / or a pointing device such as a mouse or trackball. A surgeon interacts with the processor (12) using the motion control (14) while performing a surgical procedure.

[0013] The navigation guidewire 40 includes a sensor (not shown) that is responsive to positioning within the alternating magnetic field generated by the magnetic field generator 24 and generates data usable to determine the position of the sensor within the magnetic field. A coupling unit 42 is secured to a proximal end of the navigation guidewire 40 and is configured to provide communication of data and other signals between the console 18 and the navigation guidewire 40. The coupling unit 42 may provide wired or wireless communication of data and other signals. In this example, a position sensor is located within the guidewire 40, but such position sensors may be integrated into a variety of other types of instruments, such as dilatation catheters, guide catheters, guide rails, suction instruments, pointer instruments, alignment probes, curettes, patient tracking devices, and other instruments, including those described in more detail below.

[0014] The processor (12) uses software stored in the memory of the processor (12) to calibrate and operate the IGS navigation system (10). Such operations include driving the magnetic field generator (24), processing data from the navigation guidewire (40), processing data from the motion control (14), and driving the display screen (16). The processor (12) is further operable to provide in real time via the display screen (16) a video camera image of the patient's head (H), a CT scan image of the patient's head (H), and / or a video showing the position of the distal end of the navigation guidewire (40) relative to a computer-generated three-dimensional model of the anatomical structures within and adjacent to the patient's nasal cavity. The display screen (16) can display such images simultaneously and / or overlaid on one another during a surgical procedure. Such displayed images can also include a graphical representation of an instrument inserted into the patient's head (H), such as the navigation guidewire (40), so that the operator can see a virtual rendering of the instrument in its actual position in real time. By way of example only, display screen (16) may provide images in accordance with at least some of the teachings of U.S. Patent No. 10,463,242, entitled "Guidewire Navigation for Sinuplasty," issued November 5, 2019, the disclosure of which is incorporated herein by reference. If the operator is also using an endoscope, endoscopic images may also be provided on display screen (16).

[0015] II. Exemplary Interfaces and Methods for Virtual Camera Navigation When placing and using a virtual camera or other endoscopic view, it may be advantageous to provide an improved interface and method that allows the user additional control and visual context. The virtual camera view provides a virtual endoscopic view that is semi-statically positioned by the user at a desired location within the patient model. The virtual camera view is semi-static in the sense that it can be repositioned and reoriented by the user, but maintains a set viewpoint and field of view despite the movement of other positionally tracked instruments or features.

[0016] As an example of another virtual endoscopic view, an alternative virtual endoscopic view can be provided based on the position and orientation of a tracked surgical instrument, such as a debridement tool, rather than being semi-statically positioned as a virtual camera. In this way, a surgical instrument that does not include a true endoscopic view can instead provide a virtual endoscopic view during use by navigating and displaying a portion of a 3D model based on the tracked position of the surgical instrument. The virtual endoscopic view can be switched between a semi-static virtual camera position, as may be desired by the user, and a virtual endoscopic position determined by the instrument. In some implementations, the virtual endoscopic position determined by the instrument can be switched to a virtual camera already positioned elsewhere such that the rendered viewpoint jumps between the two positions (e.g., between the already positioned virtual camera and the current position of the surgical instrument), or the position of the virtual camera can be determined based on the position of the tracked surgical instrument at the time of switching (e.g., the initial position of the virtual camera can be selected by navigating the surgical instrument in the virtual endoscopic view and then unbinding the view so that it remains in place as the virtual camera). The features described herein can be combined with a virtual camera view, a separate virtual endoscopic view, or both to provide flexible and useful virtual views.

[0017] 2 illustrates an exemplary set of high-level steps (50) that may be performed by or with a surgical navigation system, such as the IGS navigation system (10), to position a virtual camera. The IGS navigation system (10) may receive pre-operative image data (block 52) from one or more sources, such as a hospital information system or a procedure information system, which may store the pre-operative image data after it has been acquired. The pre-operative image data may be used by the IGS navigation system (10), which may include a virtual camera positioned to provide a virtual camera view via a device, such as a display (16), to provide IGS features during the surgical procedure. The IGS navigation system (10) may provide a positioning interface (block 54) via the display (16) that a clinician may use to provide inputs that define a virtual camera position and orientation via an input device, such as a motion control (14). Upon receiving positioning input from the clinician (block 56), the IGS navigation system (10) updates the positioning interface in real time to provide a virtual endoscopic view or preview (block 58) that can be used by the clinician to preview and provide additional positioning input prior to the procedure, to modify the positioning during the performance of the surgical procedure, or both.

[0018] FIG. 3 illustrates an exemplary interface (100) that may be displayed during image-guided surgical navigation and includes a virtual camera interface. The interface (100) includes a virtual camera pane (102) that may be used to assist in configuring and positioning a virtual camera, and may also display a virtual camera view after configuration. The interface (100) also includes additional views useful for IGS navigation, and is shown in FIG. 3 to include a first view (104) showing a coronal image slice of the patient, a second view (106) showing a sagittal image slice of the patient, a third view (108) showing an axial image slice of the patient, and a fourth view (110) that may show a rendered 3D model of the patient or other view. The particular image slices or viewpoints shown in each of the views may be selected by an operator of the system (10), may be automatically updated in response to movement of the navigation guidewire (40), or may be otherwise selected. The interface (100) also includes a set of controls (112) that can be interacted with to, for example, select one or more images of the field of view or change its viewpoint, or to position or otherwise configure a virtual camera.

[0019] A representation of the virtual camera (120) can also be seen positioned above each of the fields of view (104, 106, 108, 110), with a black dot indicating the location of the virtual camera and a shaded triangle or square indicating both the orientation and field of view of the virtual camera (120) in the case of the third field of view (108). As can be seen in FIG. 3, the virtual camera (120) is positioned within a cavity in the patient's head and oriented toward the sinus passages that provide access to the cavity. The resulting field of view is shown in the virtual camera pane (102). Although the unique viewpoint shown by the virtual camera pane (102) can provide additional information useful in aiding IGS navigation, such viewpoints may be limited in some cases as the virtual camera (120) functions similarly to a real camera, and thus is typically positioned within the cavity providing a clear line of sight to the area of ​​interest, as shown in FIG. 3.

[0020] Depending on factors such as the type of procedure being performed or the patient's physiology, the virtual camera (120) may be positioned to provide a visual context; there may be no readily available cavity, or the cavity may be too small or narrow to provide a useful visual context. This is especially true when surgical instruments or other positionally tracked objects or anatomical structures may occupy the same narrow cavity. Although the virtual camera (120) can be configured to nearly any scale, allowing it to virtually "fit" into nearly any space, no matter how small, the resulting scale of the image in the virtual camera pane (102) may be unhelpful or even misleading.

[0021] As an example, FIG. 4 shows a schematic diagram providing an example of visualization of a surgical site with a virtual camera. An opening (130) to an anatomical passage (e.g., a sinus passage, Eustachian tube, etc.) can be seen, and the wall (138) of the anatomical passage is roughly represented by an oval dot surrounding the opening (130). Other background anatomical surfaces surrounding the opening (130) are also shown (132, 134). In a scenario where a procedure (e.g., cutting or debridement of a fibroid mass on the wall (138)) is being performed within the anatomical passage, the current position of the virtual camera (120) may not be ideal, as the field of view is largely occupied by background anatomical structures (132, 134) that may not be critical to the procedure. Furthermore, the opening (130) may be narrower than the circumference of the wall (138), so the tissue of the opening (130) itself may wholly or partially obscure the treatment site.

[0022] The current position of the virtual camera (120) is also limited in what it can provide for other important anatomical structures. For example, FIG. 4 also includes dashed lines showing important anatomical structures, such as the ocular cavity (136), that are close to the surgical site but are not visible due to intervening structures, such as background tissue (134). A debridement procedure on the wall (138) may involve cutting or removing tissue that is close to the optic nerve, blood vessels, or other delicate anatomical structures in the ocular cavity (136), and thus an IGS navigation view that can provide some indication of the proximity to such important structures during the procedure may be advantageous. Moving the virtual camera (120) from the position of FIG. 4 may provide some advantages, but is still limited by issues of scale and intervening tissue or instruments.

[0023] These limitations of the virtual camera field of view can be addressed by providing a virtual camera system and interface that allows selective control over the rendering of anatomical structures within the virtual camera pane (102). Figures 5A-5D further illustrate the problems associated with positioning the virtual camera, as well as the advantages provided by selective rendering. Figure 5A also shows a similar field of view to that shown in Figure 4, but also includes an instrument tip (140) visible within the opening (130). The instrument tip (140) may represent the distal tip of a positionally tracked surgical instrument (e.g., a tissue debrider) that has been navigated to a surgical site for use in a procedure. The field of view of Figure 5A may be useful in initially navigating and positioning the instrument tip (140), but provides little visual context that would be useful during a tissue debridement procedure or other procedure within the anatomical passage.

[0024] FIG. 5B shows a close-up view of the opening (130), as may be achieved by repositioning the virtual camera (120) closer to the opening (130). From this perspective, it can be seen that the instrument tip (140) occupies most of the field of view, and that the tissue surrounding the instrument tip (140) and the opening (130) still partially obstructs the interior of the anatomical passageway. The surgical site (142) (e.g., fibroids on the wall (138) of the passageway) is partially visible, but is still obstructed to such an extent that it will not remain visible throughout the surgical procedure. The ocular cavity (136), which is proximate to the surgical site (142), is not visible in the close-up view. The virtual camera (120) could be positioned within the anatomical passageway (144) itself, but because the distance d between the instrument tip (140) and the wall (138) of the passageway (144) is narrow, the resulting scale of the field of view does not provide a useful visual context. As one example, a virtual view of the surgical site (142) from within the passage (144) may only show a portion of the surgical site (142) (e.g., the entire view may be focused on only a portion of the fibroid) or may be completely obstructed by the instrument tip (140) (e.g., particularly when the instrument tip (140) is in physical contact with the surgical site (142)).

[0025] An IGS navigation system configured to provide a virtual camera placement and field of view that selectively renders anatomical structures addresses these limitations by omitting anatomical structures that are determined to be irrelevant to the current procedure or that are otherwise determined to be undesirable for inclusion in the rendered virtual camera field of view. FIG. 5C illustrates an exemplary modified virtual camera field of view with a virtual camera placement similar to that of FIGS. 5A and 5B. The instrument tip (140) is still visible, positioned proximate to the surgical site (142). However, the orifice (130) and background anatomical structures (132, 134), as well as other intervening tissues or structures, are omitted, and thus the ocular cavity (136) is also visible. Such a view allows the surgeon to visually verify the position of the instrument tip (140) relative to the surgical site, and also to visually verify the position of the instrument tip (140) relative to the nearby ocular cavity (136) or other important structures. FIG. 5D illustrates the modified virtual camera field of FIG. 5D from a different perspective, such as may be shown after the virtual camera (120) has been repositioned. An IGS navigation system configured for such selective rendering enables additional location and visualization capabilities beyond the basic virtual camera, as described in more detail below.

[0026] A system, such as the IGS navigation system (10), can be configured to provide a selectively rendered virtual camera positioning and field of view, with one or more processors, such as the processor (12), configured to selectively render and display the virtual camera field of view via a display, such as a display screen (16). Figure 6 illustrates an exemplary set of high-level steps (200) that can be performed to modify the virtual camera field of view for selective rendering. Image data can be received (block 202) as a set of pre-operative images (e.g., image slices from an MRI scan), combined and segmented (block 204) to generate a segmented 3D model of the patient's anatomy (block 206). Segmentation (block 204) can include creating a voxel model of the patient's anatomy, associating specific regions of the model with specific patient anatomy, or both. As an example, a set of MRI image slices from several views (axial, coronal, sagittal) can be combined such that intersecting planes generate voxels that are spatially related to one another and can be associated with metadata indicative of signal intensity, tissue type, or other attributes of the voxels and the underlying image slice data. Further segmentation of the voxel model or other patient anatomical model can include identifying and classifying discrete anatomical structures. Identification of anatomical structures can be performed manually (e.g., by a user selecting regions of voxels or other 3D data and labeling them as ocular cavities) or automatically (e.g., by an automated process that searches for voxels or other 3D data associated with a particular tissue type of a particular shape or with a particular spatial relationship to other structures and labels them as ocular cavities), as will be apparent to those skilled in the art in light of this disclosure. The model created from the segmentation (block 206) can be used for IGS navigation, including, for example, storing and positioning a virtual camera to generate cross-sectional views, rotating and manipulating in 3D space, and stepping through image slices or voxel layers.

[0027] The IGS navigation system (10) may then receive a filter selection (block 208), which identifies one or more segments (e.g., voxels defining 3D regions within the model, segmented and identified anatomical structures, or other parameters) to be filtered out of the final rendered version of the model when used to provide the virtual camera view. The filtered segments may be identified in a variety of ways, such as by whitelist (e.g., all unlisted segments are filtered), blacklist (e.g., only listed segments are filtered), or other types of filtering or combinations thereof, as described in more detail below. Filter selection can be manual (e.g., by a user selecting segments to be included or excluded from what is rendered) or automatic, with automatic filtering selection being determined by factors such as the type of procedure (e.g., if IGS navigation is initiated for a particular type of procedure, filtering selection can be made automatically based on that procedure type) or the placement and orientation of the virtual camera (e.g., filtering selection can include all segments within a spherical range of a particular circumference centered on the virtual camera, or it can include all segments within a cone or cube resulting from the virtual camera).

[0028] The system can then update the model properties based on the filter selections (block 210) to determine which segments should be included in the final rendered and which segments should be filtered out from the final rendered. The updated and filtered model can then be displayed (block 212) in one or more fields of view, such as the virtual camera pane (102) or a fourth field of view (110), and used to aid in navigation and performance of the procedure.

[0029] As an example of steps that may be performed when selecting a segment (e.g., a voxel, an identified anatomical structure, or other 3D region), FIG. 7 shows an exemplary set of steps (300) that may be performed to determine filter inputs for the virtual camera view. A manual filtering selection may be received pre- or during a procedure (block 302). Pre-procedure, a surgeon or other user may review a 3D model of the patient's anatomy and use a mouse, keyboard, or other input device to navigate the model and select segments to include or exclude from the virtual camera view. Manual selection may be made by interacting with the model itself (e.g., clicking on the model to remove the entire clicked segment) or by selecting from a listed or other set of data (e.g., clicking on a procedure type, a group of anatomical structures, or a specific anatomical structure). Selection may be made during a procedure, for example, by clicking on a displayed segment, or touching in the case of a touch screen display, to remove that segment from the rendered virtual camera view.

[0030] Instead of or in addition to manual filter selection (block 302), the system may also enable one or more types of automatic selection (block 306) to be performed. As has been described, the automatic selection may be performed based on procedure type or description. As an example, if the procedure is associated with debriding a fibroid on the wall (138) of an anatomical passageway as in FIG. 5A, the system may automatically filter out irrelevant segments to provide a view as shown in FIG. 5C. Such automatic filtering may be based on other factors such as the type of procedure and the particular surgeon associated with performing the procedure, such that each surgeon may preconfigure his or her own preferences regarding automatic filtering for that type of procedure. Other types of predefined or static automatic filter selection may be based on information (e.g., the instrument type used in the procedure, patient-specific information describing unique physiology or risks, or predefined positions of surgical instruments or other tracked objects during the procedure) (e.g., a set of automatically filtered segments may be changed or updated as the instrument tip (140) reaches various positions or milestones during the performance of the procedure). Once received or determined, the manual filter selection may be provided to a process or processor associated with rendering the model (block 304).

[0031] The automatic filter selection (block 306) may also be performed based on dynamic factors occurring during the procedure. This may include dynamically updating the filter selection based on data such as the position and orientation of the virtual camera (120), the position and orientation of the instrument tip (140), and the position and orientation of the patient's anatomical structures at or near the surgical site (142). One example of dynamic filtering includes receiving (block 308) coordinates describing the position and orientation of the virtual camera and the location of one or more other points of interest (POIs), such as the instrument tip (140), the ocular cavity (136), the surgical site (142), or nearby important anatomical structures such as other segments, regions, areas, or objects that may be relevant to the current procedure. The received (block 308) virtual camera and POI coordinates may then be used to determine one or more dynamic filtering selections (block 310) configured to provide better visibility between and around the POIs and the virtual camera. As an example, this may include filtering intervening segments that lie along the optical axis of the virtual camera and one or more POIs, such that the POI is visible to the virtual camera regardless of its placement. This may also include filtering segments that are within a configured distance range (e.g., a sphere of a few centimeters in diameter) from the instrument tip (140) to provide a clear line of sight to the instrument tip (140) when the virtual camera is positioned nearby. As with the previous example, once the parameters for dynamic or other automatic filtering have been determined (block 310), the parameters may be provided to a process or processor associated with rendering the model (block 304).

[0032] Dynamic filtering can be combined with other filtering choices to provide even more filtering control, with individual filters being given a priority or hierarchy to determine which filters to control. Building on the previous example, automatic filtering of intervening segments can be combined with a whitelist of segments that are never filtered, even if they are positioned within the virtual camera's field of view and intervene or block the visibility of a POI. With reference to Figures 5C and 5D, this can allow the eye cavity (136) and surgical site (142) to be whitelisted so that they are always rendered. The virtual camera can then be positioned anywhere in the 3D space of the model and oriented towards the surgical site (142) as a POI. All intervening segments are automatically filtered from the rendered, providing a clear line of sight to the surgical site (142) and instrument tip (140) through the virtual camera's field of view. As the virtual camera progresses in a circular motion while remaining oriented toward the surgical site (142), the filtered segments can be dynamically updated and either filtered or rendered to always provide a clear line of sight to the surgical site (142), except in the case of the eye cavity (136), which is always visible even if it completely or partially blocks the view of the surgical site (142) due to being configured on a whitelist of rendered segments.

[0033] Various configurations for dynamic filtering can provide a high level of control and visibility through the virtual camera field of view, allowing the virtual camera to orbit around the POI along various axes to gain a visual and spatial perspective of the relationship between the instrument tip (140) and various POIs. Such virtual camera movement can be implemented by a set of controls (112) or can be configured to be implemented automatically in response to various one-touch controls (e.g., a one-touch button that orbits the virtual camera around the POI along the X-axis with dynamic filtering of the rendered virtual camera field of view). Various pre-configured one-touch movements of the virtual camera can be triggered from the interface (100), can be triggered by voice input, or can be triggered by controls positioned on the surgical instrument being used during the procedure, as can be advantageously implemented in various applications.

[0034] 8 illustrates an exemplary set of steps (400) that may be performed to update a patient model based on one or more filter selections that are manually configured or automatically determined. If a set of filter selections is available, the system may determine one or more segments (e.g., voxels, segmented and identified anatomical structures, or other parameters that define 3D regions within the model) that are affected by the filter selections, and then modify model properties of the patient model (block 406) and display an updated virtual camera view based on the modified patient model (block 408). This may be performed pre- or during the procedure, in the case of manual selections made during the procedure or automatic selections applied or dynamically determined during the procedure.

[0035] Whether manual or automatic, filter selections can be configured and stored in the system as various types. When the system applies a filter selection, the segments identified for inclusion or exclusion can be determined by the filter type. As an example, some filter selections can directly identify a segment as a set of voxels, an identified anatomical structure, or other region (block 402). Identifying such a segment (block 404) can be performed by identifying the segment in the model based on the selection (e.g., by a range of voxels defining the region, by a unique identifier associated with the identified anatomical structure) and determining whether the filter selection indicates that the identified segment should be included and made visible in the model when displayed, or should be excluded and hidden from the model (block 408).

[0036] Some filter selections may indicate a type of segment rather than a particular segment (block 410). Identifying segments based on a selected type (block 412) may include searching the model and identifying all segments that match the specified type, and then determining whether the identified segments should be shown or hidden in the display field of view (block 408). As an example, a type selection may specify voxels associated with data indicative of a particular tissue type or density, such as "bone" or "soft tissue," and filtering in response to such a selection may result in a set of voxels or segments associated with soft tissue that are hidden, or a set of voxels or segments associated with bone that are visible. As another example, a type selection may specify segments associated with a particular procedure (e.g., sinus fibroid removal). Filtering based on procedure type may result in a set of segments associated with the procedure being visible, while hiding other segments that may not be related to the procedure or obstruct the virtual camera field of view of the procedure. Another type selection may identify a set of anatomical structures by grouping, such as organ system (e.g., circulatory system), and thus the filtering selection may reveal or hide all segmented and identified anatomical structures of a particular type, group, or organ system.

[0037] Some filter selections may provide coordinates associated with a coordinate system in which the patient model resides, but not with a particular segmented anatomical structure (block 414). This may include selecting a single coordinate with the mouse, clicking and dragging a two-dimensional array of coordinates with the mouse, or another set of coordinates that defines a region in a 3D coordinate system (e.g., a 3D cube, sphere, or any defined shape). Identifying affected segments (block 416) may include associating a coordinate set with the coordinate system of the patient model and then identifying any segments that touch or are contained within (e.g., either in whole or in part) the coordinate set. In this way, clicking a mouse associated with a single coordinate may only obscure a single segmented anatomical structure, while clicking and then dragging a mouse to expand a 3D sphere or cube from an initial point may obscure multiple segments. Preconfiguring coordinate sets may also be used to define 3D regions or segments to include or exclude from the displayed field of view (block 408).

[0038] As described, some filter selections can be in the form of a segment whitelist (block 418) or a segment blacklist (block 422). Identifying whitelisted segments (block 420) can include associating the listed segments as visible and all other segments as hidden, while identifying blacklisted segments (block 424) can include associating the listed segments as hidden and all other segments as visible. Filter selection based on intervening segments (block 426) has also been described, but can also include identifying any segments in the coordinate system that are between two or more points in the system (e.g., between a first coordinate associated with the virtual camera and a second coordinate associated with a point of interest or a tracked surgical instrument) (block 428). The identified (block 428) intervening segments can then be made visible or hidden depending on the filter selection.

[0039] As described, different types of filter selections can be combined and prioritized relative to one another, such as a whitelisted set of segments that are always visible even if the segments are determined to be intervening (block 428) segments that occlude the point of interest. As another example, a whitelisted set of segments may always remain visible even if they are within a coordinate space defined by a mouse selection or other input that causes surrounding segments to be excluded from the displayed (block 408) rendered. As will be apparent, there are other combinations and priorities of filter selections beyond those described.

[0040] When modifying the characteristics of the patient model based on the filtering selection (block 406), various types of visually distinct characteristics can be used beyond simply hiding or revealing segments. By way of example, this can include highlighting segments, making segments semi-transparent, displaying segments with dynamic transparency so that they fade in and out of view, configuring segments to project light fields or particle clusters into the 3D space of the model such that the projected light or projected particles are visible to the virtual camera even if the original segment is occluded by other anatomical structures, or other visual characteristics.

[0041] In light of this disclosure, variations of the above systems, methods, and interfaces exist and will be apparent to those skilled in the art. For example, while some of the above discussions describe the first point as being the position of the virtual camera, it should be understood that in some implementations, the first point can be the orientation of the virtual camera. This may be advantageous when a clinician determines a location within the surgical area of ​​interest and wishes to select it as a point of orientation (i.e., the second point), and then previews several camera positions (e.g., the first point) using a real-time virtual endoscopy preview and associated fly-through before making a selection. It may be advantageous to select the position of the virtual camera as the first point when the clinician can use his or her experience to first determine the best position of the virtual camera, and then use a real-time virtual endoscopy preview and associated fly-through to select a point in the surgical area where the clinician wants to focus the virtual camera.

[0042] III. Exemplary Combinations The following examples relate to various non-exhaustive methods in which the teachings herein may be combined or applied. It will be understood that the following examples are not intended to limit the scope of any claims that may be presented at any time in this application or in a later application of this application. No disclaimer is intended. The following examples are provided for illustrative purposes only. It is contemplated that the various teachings herein may be configured and applied in many other ways. It is also contemplated that certain features mentioned in the following examples may be omitted in some variations. Thus, none of the aspects or features mentioned below should be considered as critical unless expressly indicated to be so at a later date by the inventor or the inventor's successor in interest. If a claim including additional features other than those mentioned below is presented in this application or in a later application related to this application, those additional features should not be assumed to have been added for any reason related to patentability. EXAMPLES

[0043] 1. An image-guided surgery system comprising: (a) a display; (b) a set of pre-operative images associated with a patient; and (c) a tracked surgical instrument configured to generate a set of instrument position information associated with a coordinate system; and (d) a processor configured to: (i) segment the set of pre-operative images to generate a patient model and associate the patient model with a coordinate system, the patient model comprising a three-dimensional model of the patient's anatomical structure comprised of a plurality of segments; (ii) classify the plurality of segments into two or more segment groups based on a filter selection, each of the two or more segment groups being associated with a different visual characteristic; (iii) render a modified patient model based on the different visual characteristics of each of the two or more segment groups; (iv) receive a set of virtual camera configurations that define a position and orientation of a virtual camera within the coordinate system; and (v) cause a display to display a virtual camera view of the modified patient model based on the set of virtual camera configurations and the set of instrument position information. EXAMPLES

[0044] The system of Example 1, wherein (i) a first visual characteristic associated with a first group of the two or more segment groups is configured to cause a segment in the first group to be included in the modified patient model, and (ii) a second visual characteristic associated with a second group of the two or more segment groups is configured to cause a segment in the second group to be excluded from the modified patient model. EXAMPLES

[0045] The system of Example 2, wherein the filter selection includes identification information of the segments included in the second group, and the processor is further configured to: (i) receive the filter selection prior to a surgical procedure associated with the patient; and (ii) receive the filter selection via a user input device of the image-guided surgery system during the surgical procedure associated with the patient. EXAMPLES

[0046] The system of any one of Examples 2 to 3, wherein the filter selection includes a treatment type, and the processor is further configured to identify a second group within the plurality of segments based on a treatment type associated with such segments. EXAMPLES

[0047] The system of any one or more of Examples 2-4, wherein the filter selection includes tissue type, and the processor is further configured to identify a second group within the plurality of segments based on tissue types matching tissue type characteristics associated with each of the plurality of segments. EXAMPLES

[0048] The system of any one or more of Examples 1 to 5, wherein the processor is further configured to determine the filter selection by: (i) identifying a set of nearby segments from a plurality of segments within a configured distance range from the position of the virtual camera in the coordinate system; and (ii) associating the set of nearby segments with a first group of two or more segment groups, wherein different visual characteristics of the first group are configured to cause the segments in the first group to be excluded from the modified patient model. EXAMPLES

[0049] The system of any one or more of Examples 1 to 6, wherein the processor is further configured to determine the filter selection by: (i) identifying a set of adjacent segments from the plurality of segments that are within a configured distance range from the position of the tracked surgical instrument in the coordinate system; and (ii) associating the set of adjacent segments with a first group of two or more segment groups, wherein different visual characteristics of the first group are configured to cause the segments in the first group to be excluded from the modified patient model. EXAMPLES

[0050] The system of any one or more of Examples 1-7, wherein the processor is further configured to determine the filter selection by: (i) identifying a set of intervening segments from the plurality of segments positioned along an axis between the virtual camera and a position in a coordinate system associated with the point of interest; and (ii) associating the set of intervening segments with a first group of two or more segment groups, wherein different visual characteristics of the first group are configured to cause the segments in the first group to be excluded from the modified patient model. EXAMPLES

[0051] The system of Example 8, wherein the points of interest include a surgical site associated with a procedure being performed on the patient. EXAMPLES

[0052] The system of Example 9, wherein the filter selection further comprises a segment whitelist describing one or more whitelisted segments of the plurality of segments, and the processor is further configured to prevent the whitelisted segments from being associated with the first group and excluded from the modified patient model. EXAMPLES

[0053] The system of Example 10, wherein the processor is further configured to: (i) receive user input configured to cause one-touch virtual camera movement; (ii) determine a path in a coordinate system based on the user input; (iii) move the virtual camera from an origin along the path while maintaining an orientation of the virtual camera on the surgical site until the virtual camera returns to the origin; and (iv) update the patient model based on changes in the set of intervening segments during movement of the virtual camera along the path. EXAMPLES

[0054] The system of any one or more of Examples 1-11, wherein the multiple segments include one or more of: (i) a voxel, (ii) a set of adjacent voxels, or (iii) an anatomical structure identified based on its shape and location within a patient model. EXAMPLES

[0055] The system of any one or more of Examples 1-12, wherein each different visual characteristic is selected from a set of visual characteristics including: (i) opaque, (ii) partially translucent, (iii) transparent, and (iv) gradual increases and decreases in opacity. EXAMPLES

[0056] 11. A method for selectively controlling segments displayed by a virtual camera, the method comprising: (a) segmenting, by a processor, a set of pre-operative images to generate a patient model and associating the patient model with a coordinate system, the patient model comprising a three-dimensional model of a patient's anatomical structure comprised of a plurality of segments; (b) classifying the plurality of segments into two or more segment groups based on a filter selection, each of the two or more segment groups being associated with a different visual characteristic; (c) rendering a modified patient model based on the different visual characteristics of each of the two or more segment groups; (d) receiving a set of virtual camera configurations defining a position and orientation of a virtual camera within the coordinate system; (e) receiving a set of instrument position information indicative of a tracked surgical instrument within the coordinate system; and (e) causing a display to display a virtual camera view of the modified patient model based on the set of virtual camera configurations and the set of instrument position information. EXAMPLES

[0057] The method of example 14, further comprising receiving a filter selection prior to a surgical procedure associated with the patient, wherein (i) a first visual characteristic associated with a first group of the two or more groups of segments is configured to cause a segment in the first group to be included in the modified patient model, (ii) a second visual characteristic associated with a second group of the two or more groups of segments is configured to cause a segment in the second group to be excluded from the modified patient model, and (iii) the filter selection includes an identification of one of the plurality of segments included in the second group of the two or more groups of segments. EXAMPLES

[0058] The method of any one of Examples 14 to 15, further comprising: (a) determining a treatment type based on the filter selection; and (b) classifying the plurality of segments into included segment groups and excluded segment groups based on the treatment type. EXAMPLES

[0059] The method of any one or more of Examples 14-16, further comprising: (a) determining a filtered tissue type based on the filter selection; and (b) classifying the plurality of segments into included and excluded segment groups based on the filtered tissue type that matches a tissue type characteristic associated with each of the plurality of segments. EXAMPLES

[0060] The method of any one or more of Examples 14-17, further comprising determining the filter selection by: (i) identifying a set of adjacent segments from the plurality of segments that are within a configured distance from a position of the virtual camera in a coordinate system; and (ii) associating the set of adjacent segments with a first group of two or more segment groups, wherein different visual characteristics of the first group are configured to cause the segments in the first group to be excluded from the modified patient model. EXAMPLES

[0061] The method of any one or more of Examples 14-18, further comprising determining the filter selection by: (i) identifying a set of intervening segments from the plurality of segments, the intervening segments being positioned along an axis between the virtual camera and the surgical site in the coordinate system; and (ii) associating the set of intervening segments with a first group of two or more segment groups, wherein different visual characteristics of the first group are configured to cause the segments in the first group to be excluded from the modified patient model. EXAMPLES

[0062] 1. An image-guided surgery system comprising: one or more processors configured to: (i) maintain a coordinate system; (ii) segment a set of pre-operative images to generate a patient model and associate the patient model with the coordinate system, the patient model comprising a three-dimensional model of a patient's anatomy composed of a plurality of segments; (iii) classify the plurality of segments into two or more segment groups based on a filter selection, each of the two or more segment groups being associated with a different visual characteristic; (iv) render a modified patient model based on the different visual characteristics of each of the two or more segment groups; (v) receive a set of virtual camera configurations defining a position and orientation of a virtual camera within the coordinate system; (vi) receive a set of instrument position information indicating a tracked surgical instrument within the coordinate system; and (vii) cause a display to display a virtual camera view of the modified patient model based on the set of virtual camera configurations and the set of instrument position information.

[0063] IV.Other It should be understood that any of the embodiments described herein may include various other features in addition to or in place of those described above. By way of example only, any of the embodiments described herein may also include one or more of the various features disclosed in any of the various references incorporated herein by reference.

[0064] It should be understood that any one or more of the teachings, expressions, embodiments, examples, etc. described herein can be combined with any one or more of the other teachings, expressions, embodiments, examples, etc. described herein. Thus, the above teachings, expressions, embodiments, examples, etc. should not be considered independently of each other. In light of the teachings herein, various suitable ways in which the teachings herein can be combined will be readily apparent to those skilled in the art. Such modifications and variations are intended to be included within the scope of the claims.

[0065] Any patent, publication, or other disclosure referred to herein as being incorporated by reference should be understood to be incorporated herein, in whole or in part, only to the extent that the incorporated content does not contradict the current definitions, opinions, or other disclosures described in this disclosure. As such, and to the extent necessary, the disclosures explicitly described herein shall take precedence over any conflicting statements incorporated herein by reference. Any content, or portions thereof, referred to herein as being incorporated by reference, that contradicts the current definitions, opinions, or other disclosures described herein shall be incorporated only to the extent that no conflict occurs between the incorporated content and the current disclosures.

[0066] The device variations disclosed herein can be designed to be disposed of after a single use or designed to be used multiple times. The variations, in either or both cases, can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular parts, and subsequent reassembly. In particular, the device variations can be disassembled and any number of the particular parts or portions of the device can be selectively replaced or removed in any combination. Upon cleaning and / or replacement of particular parts, the device variations can be reassembled for subsequent use either at a reconditioning facility or by a surgical team immediately prior to a surgical procedure. One of ordinary skill in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning / replacement, and reassembly. The use of such techniques, and the resulting reconditioned device, are all within the scope of the present invention.

[0067] As merely an example, the variations described herein can be processed prior to surgery. First, new or used instruments can be obtained and cleaned as necessary. The instruments can then be sterilized. In one sterilization technique, the instruments are placed in a closed and sealed container, such as a plastic bag or a TYVEK bag. The container and instruments can then be placed in a radiation field that can penetrate the container, such as gamma radiation, X-rays, or high-energy electrons. The radiation can kill bacteria on the instruments and in the container. The sterilized instruments can then be stored in the sterile container. The sealed container can keep the instruments sterile until they are opened at the surgical facility. Any other technique known in the art can be used to sterilize the device, including but not limited to beta or gamma radiation, ethylene oxide, or steam.

[0068] Although various variations of the present invention have been shown and described, further applications of the methods and systems described herein can be realized by appropriate modifications by those skilled in the art without departing from the scope of the present invention. Although some of such possible modifications have been mentioned, other modifications will be apparent to those skilled in the art. For example, the above-mentioned embodiments, variations, geometries, materials, dimensions, ratios, steps, etc. are exemplary and not required. Therefore, the scope of the present invention should be considered in terms of the following claims and should not be understood to be limited to the details of structure and operation shown and described in this specification and drawings.

[0069] [Embodiment] (1) An image-guided surgery system, comprising: (a) a display; (b) a set of pre-operative images associated with the patient; (c) a tracked surgical instrument configured to generate a set of instrument position information associated with a coordinate system; and (d) a processor comprising: (i) segmenting the set of pre-operative images to generate a patient model and associating the patient model with the coordinate system, the patient model comprising a three-dimensional model of the patient's anatomy comprised of a plurality of segments; (ii) classifying the plurality of segments into two or more segment groups based on a filter selection, each of the two or more segment groups being associated with a different visual characteristic; (iii) rendering a modified patient model based on the different visual characteristics of each of the two or more segments; and (iv) receiving a set of virtual camera configurations defining a position and orientation of a virtual camera within the coordinate system; (v) causing the display to display a virtual camera view of the modified patient model based on the set of virtual camera configurations and the set of instrument position information. (2) (i) a first visual characteristic associated with a first group of the two or more groups of segments is configured to cause the segments in the first group to be included in the modified patient model; (ii) a second visual characteristic associated with a second group of the two or more groups of segments is configured to cause segments in the second group to be excluded from the modified patient model. (3) the filter selection includes identification information of segments included in the second group, and the processor: (i) receiving the filter selection prior to a surgical procedure associated with the patient; (ii) receiving the filter selection via a user input device of the image-guided surgery system during the surgical procedure associated with the patient. (4) The system of embodiment 2, wherein the filter selection includes a treatment type, and the processor is further configured to identify the second group within the plurality of segments based on the treatment type associated with such segments. (5) The system of embodiment 2, wherein the filter selection includes tissue type, and the processor is further configured to identify the second group within the plurality of segments based on the tissue type matching a tissue type characteristic associated with each of the plurality of segments.

[0070] (6) The processor: (i) identifying a set of proximate segments from the plurality of segments that are within a configured distance from the position of the virtual camera in the coordinate system; and (ii) determining the filter selection by associating the set of adjacent segments with a first group of the two or more segment groups, the different visual characteristics of the first group being configured to cause segments in the first group to be excluded from the modified patient model. (7) The processor: (i) identifying a set of adjacent segments from the plurality of segments that are within a configured distance from the position of the tracked surgical instrument in the coordinate system; and (ii) determining the filter selection by associating the set of adjacent segments with a first group of the two or more segment groups, the different visual characteristics of the first group being configured to cause segments in the first group to be excluded from the modified patient model. (8) The processor: (i) identifying a set of intervening segments from the plurality of segments positioned along an axis between the virtual camera and a location in the coordinate system associated with a point of interest; and (ii) determining the filter selection by associating the set of intervening segments with a first group of the two or more groups of segments, the different visual characteristics of the first group being configured to cause segments in the first group to be excluded from the modified patient model. (9) The system of claim 8, wherein the point of interest includes a surgical site associated with a procedure being performed on the patient. (10) The system of embodiment 9, wherein the filter selection further comprises a segment whitelist describing one or more whitelisted segments of the plurality of segments, and the processor is further configured to associate the whitelisted segments with the first group to prevent them from being excluded from the modified patient model.

[0071] (11) The processor: (i) receiving a user input configured to cause a one-touch virtual camera movement; (ii) determining a path within the coordinate system based on the user input; and (iii) moving the virtual camera from the origin along the path while maintaining an orientation of the virtual camera over the surgical site until the virtual camera returns to the origin; (iv) updating the patient model based on changes in the set of intervening segments during movement of the virtual camera along the path. (12) The plurality of segments include (i) a voxel, (ii) multiple pairs of adjacent voxels; or (iii) anatomical structures identified based on their shape and position within the patient model. (13) Each different visual characteristic is (i) opaque; (ii) partially translucent; (iii) transparent; and (iv) a gradual increase and decrease in opacity. (14) A method for selectively controlling segments displayed by a virtual camera, comprising: (a) segmenting, by a processor, a set of pre-operative images to generate a patient model and associating the patient model with a coordinate system, the patient model comprising a three-dimensional model of a patient's anatomy comprised of a plurality of segments; (b) classifying the plurality of segments into two or more segment groups based on a filter selection, each of the two or more segment groups being associated with a different visual characteristic; and (c) rendering a modified patient model based on the different visual characteristics of each of the two or more segments; and (d) receiving a set of virtual camera configurations defining a position and orientation of the virtual camera within the coordinate system; (e) receiving a set of instrument position information indicative of a tracked surgical instrument within the coordinate system; (f) causing a display to display a virtual camera view of the modified patient model based on the set of virtual camera configurations and the set of instrument position information. (15) further comprising receiving the filter selection prior to a surgical procedure associated with the patient; (i) a first visual characteristic associated with a first group of the two or more groups of segments is configured to cause segments in the first group to be included in the modified patient model; (ii) a second visual characteristic associated with a second group of the two or more groups of segments is configured to cause segments in the second group to be excluded from the modified patient model; (iii) The method of embodiment 14, wherein the filter selection includes identification information of one of the plurality of segments included in the second group of the two or more segment groups.

[0072] (16) (a) determining a treatment type based on the filter selection; 15. The method of claim 14, further comprising: (b) classifying the plurality of segments into included and excluded segment groups based on the treatment type. (17) (a) determining a filtered tissue type based on the filter selection; 15. The method of claim 14, further comprising: (b) classifying the plurality of segments into included and excluded segment groups based on the filtered tissue type that matches a tissue type characteristic associated with each of the plurality of segments. (i) identifying a set of adjacent segments from the plurality of segments that are within a configured distance from the position of the virtual camera in the coordinate system; and 15. The method of claim 14, further comprising determining the filter selection by: (ii) associating the set of adjacent segments with a first group of the two or more groups of segments, the different visual characteristics of the first group being configured to cause segments in the first group to be excluded from the modified patient model. (19) (i) identifying a set of intervening segments from the plurality of segments positioned along an axis between the virtual camera and a surgical site in the coordinate system; and 15. The method of claim 14, further comprising determining the filter selection by: (ii) associating the set of intervening segments with a first group of the two or more groups of segments, the different visual characteristics of the first group being configured to cause segments in the first group to be excluded from the modified patient model. (20) An image-guided surgery system, comprising: (i) maintaining a coordinate system; and (ii) segmenting a set of pre-operative images to generate a patient model and associating the patient model with the coordinate system, the patient model comprising a three-dimensional model of the patient's anatomy comprised of a plurality of segments; (iii) classifying the plurality of segments into two or more segment groups based on a filter selection, each of the two or more segment groups being associated with a different visual characteristic; (iv) rendering a modified patient model based on the different visual characteristics of each of the two or more segments; and (v) receiving a set of virtual camera configurations defining a position and orientation of a virtual camera within the coordinate system; (vi) receiving a set of instrument position information indicative of a tracked surgical instrument within said coordinate system; (vii) causing a display to display a virtual camera view of the modified patient model based on the set of virtual camera configurations and the set of instrument position information.

Claims

1. 1. An image-guided surgery system, comprising: (a) a display; and (b) a set of pre-operative images associated with the patient; and (c) a tracked surgical instrument configured to generate a set of instrument position information associated with a coordinate system; and (d) a processor, (i) segmenting the set of pre-operative images to generate a patient model and associating the patient model with the coordinate system, the patient model comprising a three-dimensional model of the patient's anatomy composed of a plurality of segments; (ii) classifying the plurality of segments into two or more segment groups based on a filter selection, each of the two or more segment groups being associated with a different visual characteristic; (iii) rendering a modified patient model based on the different visual characteristics of each of the two or more segments; and (iv) receiving a set of virtual camera configurations defining a position and orientation of a virtual camera within the coordinate system; (v) causing the display to display a virtual camera view of the modified patient model based on the set of virtual camera configurations and the set of instrument position information; The processor, (i) identifying a set of intervening segments from the plurality of segments positioned along an axis between the virtual camera and a location in the coordinate system associated with a point of interest; and (ii) determining the filter selection by associating the set of intervening segments with a first group of the two or more groups of segments, the different visual characteristics of the first group being configured to cause segments in the first group to be excluded from the modified patient model; the point of interest includes a surgical site associated with a procedure being performed on the patient; The image-guided surgery system, wherein the filter selection further comprises a segment whitelist describing one or more whitelisted segments of the plurality of segments, and the processor is further configured to associate the whitelisted segments with the first group to prevent them from being excluded from the modified patient model.

2. (i) a first visual characteristic associated with the first group of the two or more groups of segments is configured to cause segments in the first group to be included in the modified patient model; 2. The system of claim 1, wherein (ii) a second visual characteristic associated with a second group of the two or more groups of segments is configured to cause segments in the second group to be excluded from the modified patient model.

3. The filter selection includes identification information of segments included in the second group, and the processor: (i) receiving the filter selection prior to a surgical procedure associated with the patient; 3. The system of claim 2, further configured to: (ii) receive the filter selection via a user input device of the image-guided surgery system during the surgical procedure associated with the patient.

4. 3. The system of claim 2, wherein the filter selection includes a procedure type, and the processor is further configured to identify the second group within the plurality of segments based on the procedure type associated with such segments.

5. 3. The system of claim 2, wherein the filter selection includes tissue type, and the processor is further configured to identify the second group within the plurality of segments based on the tissue type matching a tissue type characteristic associated with each of the plurality of segments.

6. The processor, (i) identifying a set of proximate segments from the plurality of segments that are within a configured distance from the position of the virtual camera in the coordinate system; and 2. The system of claim 1, further configured to determine the filter selection by: (ii) associating the set of proximal segments with the first group of the two or more groupings of segments, the different visual characteristics of the first group being configured to cause segments in the first group to be excluded from the modified patient model.

7. The processor, (i) identifying a set of adjacent segments from the plurality of segments that are within a configured distance from the position of the tracked surgical instrument in the coordinate system; and 2. The system of claim 1, further configured to determine the filter selection by: (ii) associating the set of proximal segments with the first group of the two or more groupings of segments, the different visual characteristics of the first group being configured to cause segments in the first group to be excluded from the modified patient model.

8. The processor, (i) receiving a user input configured to cause a one-touch virtual camera movement; (ii) determining a path within the coordinate system based on the user input; and (iii) moving the virtual camera from the origin along the path while maintaining an orientation of the virtual camera over the surgical site until the virtual camera returns to the origin; 2. The system of claim 1, further configured to: (iv) update the patient model based on changes in the set of intervening segments during movement of the virtual camera along the path.

9. The plurality of segments include: (i) a voxel; (ii) pairs of adjacent voxels; or (iii) anatomical structures identified based on their shape and position within the patient model.

10. Each different visual characteristic is (i) opaque; (ii) partially translucent; (iii) transparent; and (iv) gradual increases and decreases in opacity.

11. 1. A method for selectively controlling segments displayed by a virtual camera, comprising: (a) segmenting, by a processor, a set of pre-operative images to generate a patient model and associating the patient model with a coordinate system, the patient model comprising a three-dimensional model of a patient's anatomy comprised of a plurality of segments; (b) classifying the plurality of segments into two or more segment groups based on a filter selection, each of the two or more segment groups being associated with a different visual characteristic; and (c) rendering a modified patient model based on the different visual characteristics of each of the two or more segments; and (d) receiving a set of virtual camera configurations defining a position and orientation of the virtual camera within the coordinate system; (e) receiving a set of instrument position information indicative of a tracked surgical instrument within the coordinate system; (f) causing a display to display a virtual camera view of the modified patient model based on the set of virtual camera configurations and the set of instrument position information; by the processor (i) identifying a set of intervening segments from the plurality of segments positioned along an axis between the virtual camera and a location in the coordinate system associated with a point of interest; and (ii) determining the filter selection by associating the set of intervening segments with a first group of the two or more groups of segments, the different visual characteristics of the first group being configured to cause segments in the first group to be excluded from the modified patient model; the point of interest includes a surgical site associated with a procedure being performed on the patient; The method of claim 1, wherein the filter selection further comprises a segment whitelist describing one or more whitelisted segments of the plurality of segments, the whitelisted segments being associated by the processor with the first group to prevent them from being excluded from the modified patient model.

12. receiving the filter selection prior to a surgical procedure associated with the patient; (i) a first visual characteristic associated with the first group of the two or more groups of segments is configured to cause segments in the first group to be included in the modified patient model; (ii) a second visual characteristic associated with a second group of the two or more groups of segments is configured to cause segments in the second group to be excluded from the modified patient model; The method of claim 11 , wherein (iii) the filter selection includes an identity of one of the plurality of segments that is included in the second group of the two or more groups of segments.

13. (a) determining a treatment type based on the filter selection; The method of claim 11 , further comprising: (b) classifying the plurality of segments into included and excluded segment groups based on the procedure type.

14. (a) determining a filtered tissue type based on the filter selection; 12. The method of claim 11, further comprising: (b) classifying the plurality of segments into included and excluded segment groups based on the filtered tissue type matching a tissue type characteristic associated with each of the plurality of segments.

15. (i) identifying a set of proximate segments from the plurality of segments that are within a configured distance from the position of the virtual camera in the coordinate system; and 12. The method of claim 11, further comprising determining the filter selection by: (ii) associating the set of adjacent segments with the first group of the two or more groupings of segments, the different visual characteristics of the first group being configured to cause segments in the first group to be excluded from the modified patient model.

16. (i) identifying a set of intervening segments from the plurality of segments positioned along an axis between the virtual camera and a surgical site in the coordinate system; and 12. The method of claim 11, further comprising determining the filter selection by: (ii) associating the set of intervening segments with the first group of the two or more segment groups, the different visual characteristics of the first group being configured to cause segments in the first group to be excluded from the modified patient model.

17. 1. An image-guided surgery system, comprising: (i) maintaining a coordinate system; (ii) segmenting a set of pre-operative images associated with a patient to generate a patient model and associating the patient model with the coordinate system, the patient model comprising a three-dimensional model of the patient's anatomy comprised of a plurality of segments; (iii) classifying the plurality of segments into two or more segment groups based on a filter selection, each of the two or more segment groups being associated with a different visual characteristic; (iv) rendering a modified patient model based on the different visual characteristics of each of the two or more segments; and (v) receiving a set of virtual camera configurations defining a position and orientation of a virtual camera within the coordinate system; (vi) receiving a set of instrument position information indicative of a tracked surgical instrument within said coordinate system; (vii) causing a display to display a virtual camera view of the modified patient model based on the set of virtual camera configurations and the set of instrument position information; The processor, (i) identifying a set of intervening segments from the plurality of segments positioned along an axis between the virtual camera and a location in the coordinate system associated with a point of interest; and (ii) determining the filter selection by associating the set of intervening segments with a first group of the two or more groups of segments, the different visual characteristics of the first group being configured to cause segments in the first group to be excluded from the modified patient model; the point of interest includes a surgical site associated with a procedure being performed on the patient; The system, wherein the filter selection further comprises a segment whitelist describing one or more whitelisted segments of the plurality of segments, and the processor is further configured to associate the whitelisted segments with the first group to prevent them from being excluded from the modified patient model.

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