Systems, methods and devices for forming respiratory-gated point cloud for four dimensional soft tissue navigation
First Claim
1. A method of modifying a segmented image dataset for a region of a respiratory system to match the corresponding anatomy of a patient'"'"'s respiratory system, the method comprising:
- (i) forming a respiratory-gated point cloud of data that demarcates anatomical features in a region of a patient'"'"'s respiratory system at one or more discrete phases within a respiration cycle of the patient,(ii) density filtering the respiratory-gated point cloud to reduce the number of duplicate data points in the respiratory-gated point cloud,(iii) classifying data points of the density filtered respiratory-gated point cloud according to anatomical points of reference in a segmented image dataset for the region of the patient'"'"'s respiratory system, and(iv) modifying the segmented image dataset to correspond to the classified data points in the density filtered respiratory-gated point cloud.
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Abstract
A surgical instrument navigation system is provided that visually simulates a virtual volumetric scene of a body cavity of a patient from a point of view of a surgical instrument residing in the cavity of the patient, wherein the surgical instrument, as provided, may be a steerable surgical catheter with a biopsy device and/or a surgical catheter with a side-exiting medical instrument, among others. Additionally, systems, methods and devices are provided for forming a respiratory-gated point cloud of a patient'"'"'s respiratory system and for placing a localization element in an organ of a patient.
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Citations
19 Claims
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1. A method of modifying a segmented image dataset for a region of a respiratory system to match the corresponding anatomy of a patient'"'"'s respiratory system, the method comprising:
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(i) forming a respiratory-gated point cloud of data that demarcates anatomical features in a region of a patient'"'"'s respiratory system at one or more discrete phases within a respiration cycle of the patient, (ii) density filtering the respiratory-gated point cloud to reduce the number of duplicate data points in the respiratory-gated point cloud, (iii) classifying data points of the density filtered respiratory-gated point cloud according to anatomical points of reference in a segmented image dataset for the region of the patient'"'"'s respiratory system, and (iv) modifying the segmented image dataset to correspond to the classified data points in the density filtered respiratory-gated point cloud. - View Dependent Claims (2, 3, 4, 12, 18, 19)
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5. A method of simulating the movement of a patient'"'"'s respiratory system in the patient'"'"'s respiration cycle during respiration comprising:
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(i) forming a respiratory-gated point cloud of data that demarcates anatomical features in a region of a patient'"'"'s respiratory system at one or more discrete phases within a respiration cycle of a patient, (ii) density filtering the respiratory-gated point cloud to reduce the number of duplicate data points in the respiratory-gated point cloud, (iii) classifying data points of the density filtered respiratory-gated point cloud according to anatomical points of reference in a segmented image dataset for the region of the patient'"'"'s respiratory system, (iv) creating a cine loop comprising a plurality of modified segmented image datasets through multiple modifications of the segmented image dataset to correspond to a plurality of classified data points in the respiratory-gated point cloud over the respiration cycle, and (v) displaying the cine loop comprising the plurality of modified segmented image datasets over the patient'"'"'s respiration cycle. - View Dependent Claims (6, 13)
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7. A method of preparing a segmented image dataset to match the anatomy of a patient'"'"'s respiratory system, the method comprising:
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(i) forming a respiratory-gated point cloud of data that demarcates anatomical features in a region of a patient'"'"'s respiratory system at one or more discrete phases within a respiration cycle of the patient, (ii) density filtering the respiratory-gated point cloud to reduce the number of duplicate data points in the respiratory-gated point cloud, (iii) classifying data points of the density filtered respiratory-gated point cloud according to anatomical points of reference in a segmented image dataset for the region of the patient'"'"'s respiratory system, (iv) registering the classified respiratory-gated point cloud to the segmented image dataset, (v) comparing the classified respiratory-gated point cloud to a segmented image data set to determine the weighting of points comprised by the respiratory-gated point cloud, (vi) distinguishing regions of greater weighting from regions of lesser weighting, and (vii) modifying the registered segmented image dataset to correspond to the classified data points in the respiratory-gated point cloud. - View Dependent Claims (8, 9, 10, 11, 14, 15, 16, 17)
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Specification