Method, system and apparatus for displaying surgical engagement paths

• US 10,074,176 B2
• Filed: 11/22/2016
• Issued: 09/11/2018
• Est. Priority Date: 11/27/2014
• Status: Active Grant

• Current Assignee: Synaptive Medical (Barbados) Inc.
• Original Assignee: Synaptive Medical (Barbados) Inc.
• Inventors: Sela, Gal, Witcomb, Neil, Gallop, David, Dyer, Kelly Noel, Hodges, Wes
• Primary Examiner(s): Bitar, Nancy
• Application Number:
  US15/358,796
• Publication Number:
  US 20170076450A1
• Time in Patent Office: 658 Days
• Field of Search: None
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: G06F 18/24 Classification techniques
• CPC Class Codes: G06T 19/003 Navigation within 3D models or images
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/10048 Infrared image
• CPC Class Codes: G06T 2207/30016 Brain
• CPC Class Codes: G06T 2207/30096 Tumor; Lesion
• CPC Class Codes: G06T 2207/30101 Blood vessel; Artery; Vein; Vascular
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 2210/41 Medical
• CPC Class Codes: G06T 7/0012 Biomedical image inspection
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G16H 20/40 relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 30/20 for handling medical images, e.g. DICOM, HL7 or PACS

Abstract

A method and computing device for displaying surgical path data are provided. The computing device includes an input device, a display, a memory and a processor. The memory stores (i) an image of a volume of patient tissue having an outer surface, and (ii) anatomical data defining anatomical features of the volume. The processor receives an identifier of a target location within the volume; generates a plurality of paths from the outer surface to the target location, each path having a start point located on the outer surface, and an end point at the target location; for each of the plurality of paths, determines a score based on a comparison between the path and the anatomical data; and controls the display to present the outer surface and, at the locations of the start points, indications of the respective scores of the paths corresponding to the start points.

Claims

1. A method of displaying surgical path data in a computing device having an input device, a display, a memory and a processor interconnected with the input device, the display, and the memory, the method comprising:

storing, in the memory, (i) an image of a volume of patient tissue having an outer surface, and (ii) anatomical data defining a plurality of anatomical features of the volume, the anatomical features including a plurality of sulci and a plurality of additional anatomical features;

receiving, at the processor, an identifier of a target location within the volume;

at the processor, generating a plurality of paths from the outer surface to the target location, each path having a start point located on the outer surface, and an end point at the target location;

for each of the plurality of paths, determining a score at the processor by;

identifying a nearest one of the sulci to the respective path, and determining a first score for the respective path that is inversely proportional to a distance between the respective path and the nearest sulcus;

determining a second score that is inversely proportional to a number of the additional anatomical features intersected by the path; and

combining the first score and the second score; and

controlling the display to present the outer surface and, at the locations of the start points, indications of the respective scores of the paths corresponding to the start points.

2. The method of claim 1, wherein the additional anatomical features include a plurality of blood vessels, and wherein determining the second score comprises identifying, at the processor, a volume of the blood vessels intersected by the path.

3. The method of claim 1, wherein determining the score comprises determining a third score respective to further anatomical features, and combining the third score with the first and second scores.

4. The method of claim 1, wherein controlling the display comprises converting the scores to display values, and presenting the display values as the indications of the scores.

5. The method of claim 4, wherein the display values comprise at least one of a brightness and a colour.

6. A computing device for displaying surgical path data, comprising:

an input device;

a display;

a memory storing (i) an image of a volume of patient tissue having an outer surface, and (ii) anatomical data defining anatomical features of the volume, the anatomical features including a plurality of sulci and a plurality of additional anatomical features; and

a processor interconnected with the input device, the display, and the memory, the processor configured to;

receive an identifier of a target location within the volume;

generate a plurality of paths from the outer surface to the target location, each path having a start point located on the outer surface, and an end point at the target location;

for each of the plurality of paths, determine a score by;

identifying a nearest one of the sulci to the respective path, and determining a first score for the respective path that is inversely proportional to a distance between the respective path and the nearest sulcus;

determining a second score that is inversely proportional to a number of the additional anatomical features intersected by the path; and

combining the first score and the second score; and

control the display to present the outer surface and, at the locations of the start points, indications of the respective scores of the paths corresponding to the start points.

7. The computing device of claim 6, wherein the additional anatomical features include a plurality of blood vessels, and wherein the processor is configured to determine the second score by identifying a volume of the blood vessels intersected by the path.

8. The computing device of claim 6, wherein the processor is configured to determine the score by determining a third score respective to further anatomical features, and combining the third score with the first and second scores.

9. The computing device of claim 6, wherein controlling the display comprises converting the scores to display values, and presenting the display values as the indications of the scores.

10. The computing device of claim 9, wherein the display values comprise at least one of a brightness and a colour.

11. A non-transitory computer-readable medium storing a plurality of computer-readable instructions for execution by a processor of a computing device having an input device, a display, and a memory connected to the processor, to perform a method comprising:

storing, in the memory, (i) an image of a volume of patient tissue having an outer surface, and (ii) anatomical data defining anatomical features of the volume, the anatomical features including a plurality of sulci and a plurality of additional anatomical features;

receiving, at the processor, an identifier of a target location within the volume;

at the processor, generating a plurality of paths from the outer surface to the target location, each path having a start point located on the outer surface, and an end point at the target location;

for each of the plurality of paths, determining a score at the processor by;

identifying a nearest one of the sulci to the respective path, and determining a first score for the respective path that is inversely proportional to a distance between the respective path and the nearest sulcus;

determining a second score that is inversely proportional to a number of the additional anatomical features intersected by the path; and

combining the first score and the second score; and

controlling the display to present the outer surface and, at the locations of the start points, indications of the respective scores of the paths corresponding to the start points.

12. The non-transitory computer-readable medium of claim 11, wherein the additional anatomical features include a plurality of blood vessels, and wherein determining the second score comprises identifying, at the processor, a volume of the blood vessels intersected by the path.

13. The non-transitory computer-readable medium of claim 11, wherein determining the score comprises determining a third score respective to further anatomical features, and combining the third score with the first and second scores.

14. The non-transitory computer-readable medium of claim 11, wherein controlling the display comprises converting the scores to display values, and presenting the display values as the indications of the scores.

15. The non-transitory computer-readable medium of claim 11, wherein the display values comprise at least one of a brightness and a colour.