Systems and methods for registration of a medical device using a reduced search space

• US 10,154,800 B2
• Filed: 05/13/2013
• Issued: 12/18/2018
• Est. Priority Date: 05/14/2012
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Duindam, Vincent, Chopra, Prashant
• Primary Examiner(s): TURCHEN, ROCHELLE DEANNA
• Application Number:
  US13/893,040
• Publication Number:
  US 20130303894A1
• Time in Patent Office: 2,045 Days
• CPC Class Codes: A61B 2017/00809 Lung operations
• CPC Class Codes: A61B 2034/108 Computer aided selection or customisation of medical implants or cutting guides
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 5/00 Measuring for diagnostic purposes radiation diagnosis A61B6/00; diagnosis by ultrasonic, sonic or infrasonic waves A61B8/00; Identification of persons
• CPC Class Codes: A61B 5/061 Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body A61B1/00158 takes precedence
• CPC Class Codes: A61B 5/065 Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
• CPC Class Codes: A61B 5/066 Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
• CPC Class Codes: G06T 7/0012 Biomedical image inspection

Abstract

A method comprises identifying connected anatomical structures in stored images of a patient anatomy and generating a plurality of cylindrical linkage elements representing the connected anatomical structures. The method also comprises receiving tracking data corresponding to a point on an instrument positioned within at least one of the connected anatomical structures; and matching the point on the instrument to one of the plurality of cylindrical linkage elements.

Claims

1. A method of registering a medical instrument to stored images of a patient anatomy, the method comprising:

identifying, by a processor, connected anatomical structures in stored images of the patient anatomy;

generating an anatomical centerline model from the identified connected anatomical structures;

selecting a set of points disposed on a set of anatomical centerlines of the anatomical centerline model, each anatomical centerline of the set of anatomical centerlines connecting a plurality of centerpoints of the connected anatomical structures;

generating, by the processor, a first plurality of cylindrical linkage elements representing the connected anatomical structures, wherein each of the first plurality of cylindrical linkage elements is defined by two end points from the set of points, the two end points being disposed on a respective anatomical centerline of the set of anatomical centerlines, a linkage element centerline of each of the cylindrical linkage elements spanning the shortest distance between the two end points, and wherein each of the first plurality of cylindrical linkage elements includes a radius from the linkage element centerline defining a cylindrical wall;

receiving tracking data from a tracking system having at least one sensor disposed on an elongate body of the instrument, the tracking data corresponding to a point on the elongate body of the instrument while positioned within at least one of the connected anatomical structures in the patient anatomy;

matching, by the processor, the point on the instrument to one of the first plurality of cylindrical linkage elements representing one of the connected anatomical structures in at least one of the stored images to register the instrument with respect to the stored images, wherein the matching includes;

identifying a second plurality of cylindrical linkage elements of the first plurality of cylindrical linkage elements in a region of the point on the instrument; and

determining, for each cylindrical linkage element in the second plurality of cylindrical linkage elements of the first plurality of cylindrical linkage elements, a distance between the point on the instrument and the respective anatomical centerline;

updating the matching of the point on the instrument to one of the first plurality of cylindrical linkage elements as the instrument is moved within the connected anatomical structures; and

displaying the stored images based on the registration of the instrument with respect to the stored images.

2. The method of claim 1 further comprising:

receiving preoperative medical images into a computer memory device to create the stored images of the patient anatomy.

3. The method of claim 1 wherein the connected anatomical structures include airways of a lung.

4. The method of claim 1 further comprising identifying a closest cylindrical linkage element in the second plurality of cylindrical linkage elements.

5. The method of claim 4 further comprising creating a projection of the point on the instrument to the linkage element centerline of the closest cylindrical linkage element.

6. The method of claim 5 further comprising identifying a snapping point along the projection defined by an intersection of the projection and a wall of the portion of anatomical structure modeled by the closest cylindrical linkage element.

7. The method of claim 5 further comprising determining whether the point on the instrument is closest to one of two points of the linkage element centerline through the closest cylindrical linkage element or is closest to a midpoint between the two points.

8. The method of claim 1, wherein matching the point on the instrument to one of the first plurality of cylindrical linkage elements comprises:

determining whether the point is within the cylindrical wall of the matched cylindrical linkage element.

9. The method of claim 8, further comprising:

generating a snapped data point at a wall of the connected anatomical structures, the snapped data point based on a projection between the point on the instrument, the linkage element centerline, and the wall as identified in the stored images; and

rendering at least one stored image with a representation of the instrument, the representation of the instrument being based on the snapped data point.

10. The method of claim 1, wherein a first end point of the two end points is located at a branch point along the anatomical centerline and wherein a second end point of the two end points is not located at a branch point.

11. The method of claim 1, wherein the at least one sensor disposed on the elongate body of the instrument is a fiber optic bend sensor extending along the elongate body.

12. The method of claim 1, wherein lengths of the first plurality of cylindrical linkage elements vary according to the connected anatomical structures.

13. The method of claim 1, wherein the second plurality of cylindrical linkage elements of the first plurality of cylindrical linkage elements is closer to the point on the instrument than each cylindrical linkage element in a remainder of the first plurality of cylindrical linkage elements.

14. The method of claim 1, wherein the identifying of the second plurality of cylindrical linkage elements of the first plurality of cylindrical linkage elements includes, for each cylindrical linkage element in the first plurality of cylindrical linkage elements, comparing a vector between the respective two end points and a vector between one of the respective two end points and the point on the instrument.