Apparatus and method for airway registration and navigation
First Claim
1. A method for modifying a patient'"'"'s inspiration scans to the patient'"'"'s expiration cycle for navigation comprising:
- a) creating an image dataset of a lung lobe, the main carina and an airway within the lung lobe of a lung of a patient, the image dataset comprising an inspiration image at a first time depicting the lung lobe, main carina and the airway at inspiration, an expiration image at a second time different from the first time depicting the lung lobe, main carina and the airway at expiration, wherein at least a portion of the airway depicted in the inspiration image is not depicted in the expiration image and at least a portion of the lung lobe and airway change in shape and size between inspiration and expiration; and
b) creating a fused inspiration to expiration airway model in which the airway depicted in the inspiration image from the first time is mapped to a spatial representation of the airway at expiration at the second time, comprising the steps of;
i) segmenting the inspiration image to form an inspiration segmented lung lobe model;
ii) segmenting the expiration image to form an expiration segmented lung lobe model;
iii) segmenting the inspiration image to form an inspiration segmented airway model;
iv) determining a volume difference between the volume of the lung lobe in the inspiration segmented lung lobe model and the volume of the lung lobe in the expiration segmented lung lobe model;
v) using the determined volume difference, shrinking the size of the inspiration segmented airway model from its size in the inspiration image to fit within the expiration image;
vi) determining the centroid of the lung lobe for each of the inspiration segmented lung lobe model and the expiration segmented lung lobe model;
vii) determining a vector change of motion of the centroid of the lung lobe from the main carina between the inspiration segmented lung lobe model and the expiration segmented lung lobe model; and
viii) translating the shrunken inspiration segmented airway model from a position at inspiration to a position at expiration using the determined vector change of motion, wherein the translation is a shift in position of the airway depicted in the inspiration image at the first time to a location in the expiration image at the second time different from the position in the inspiration image;
c) inserting an instrument into the airway of the patient; and
d) navigating the instrument through the airway of the patient using the fused inspiration to expiration airway model.
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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. The surgical instrument navigation system includes: a surgical instrument; an imaging device which is operable to capture scan data representative of an internal region of interest within a given patient; a tracking subsystem that employs electro-magnetic sensing to capture in real-time position data indicative of the position of the surgical instrument; a data processor which is operable to render a volumetric, perspective image of the internal region of interest from a point of view of the surgical instrument; and a display which is operable to display the volumetric perspective image of the patient.
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Citations
8 Claims
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1. A method for modifying a patient'"'"'s inspiration scans to the patient'"'"'s expiration cycle for navigation comprising:
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a) creating an image dataset of a lung lobe, the main carina and an airway within the lung lobe of a lung of a patient, the image dataset comprising an inspiration image at a first time depicting the lung lobe, main carina and the airway at inspiration, an expiration image at a second time different from the first time depicting the lung lobe, main carina and the airway at expiration, wherein at least a portion of the airway depicted in the inspiration image is not depicted in the expiration image and at least a portion of the lung lobe and airway change in shape and size between inspiration and expiration; and b) creating a fused inspiration to expiration airway model in which the airway depicted in the inspiration image from the first time is mapped to a spatial representation of the airway at expiration at the second time, comprising the steps of; i) segmenting the inspiration image to form an inspiration segmented lung lobe model; ii) segmenting the expiration image to form an expiration segmented lung lobe model; iii) segmenting the inspiration image to form an inspiration segmented airway model; iv) determining a volume difference between the volume of the lung lobe in the inspiration segmented lung lobe model and the volume of the lung lobe in the expiration segmented lung lobe model; v) using the determined volume difference, shrinking the size of the inspiration segmented airway model from its size in the inspiration image to fit within the expiration image; vi) determining the centroid of the lung lobe for each of the inspiration segmented lung lobe model and the expiration segmented lung lobe model; vii) determining a vector change of motion of the centroid of the lung lobe from the main carina between the inspiration segmented lung lobe model and the expiration segmented lung lobe model; and viii) translating the shrunken inspiration segmented airway model from a position at inspiration to a position at expiration using the determined vector change of motion, wherein the translation is a shift in position of the airway depicted in the inspiration image at the first time to a location in the expiration image at the second time different from the position in the inspiration image; c) inserting an instrument into the airway of the patient; and d) navigating the instrument through the airway of the patient using the fused inspiration to expiration airway model. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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Specification