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

• US 10,299,698 B2
• Filed: 05/13/2013
• Issued: 05/28/2019
• 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 D
• Application Number:
  US13/892,871
• Publication Number:
  US 20130303890A1
• Time in Patent Office: 2,206 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 first three-dimensional model of anatomic passageways including a set of anatomical centerlines of the anatomic passageways, and generating a second three-dimensional model of the anatomic passageways including a plurality of linkage elements each including two base points defining a linkage element centerline spanning a shortest distance between the two base points. The method also comprises receiving tracking data corresponding to a point on an instrument positioned within the connected anatomical structures, matching the point on the instrument to one of the plurality of linkage elements representing one of the connected anatomical structures to locate the instrument relative to the connected anatomical structures in the stored images of the patient anatomy, and updating the matching of the point on the instrument to one of the plurality of 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 interior structures of the patient anatomy;

generating, by the processor, a first three-dimensional model of anatomic passageways included in the connected anatomical structures, the first three-dimensional model including a set of anatomical centerlines of the anatomic passageways;

generating, by the processor, a second three-dimensional model of the anatomic passageways, the second three-dimensional model including a plurality of linkage elements with each linkage element including two base points disposed on a first anatomical centerline of the set of anatomical centerlines, the two base points defining a linkage element centerline spanning a shortest distance between the two base points;

receiving tracking data from a tracking system, the tracking data corresponding to a point on the medical instrument while positioned within the connected anatomical structures, the medical instrument being sized for insertion within the connected anatomical structures;

matching, by the processor, the point on the medical instrument to one of the plurality of linkage elements representing one of the connected anatomical structures to locate the medical instrument relative to the connected anatomical structures in the stored images of the patient anatomy, wherein the matching includes;

determining, from the second three-dimensional model, a subset of the plurality of linkage elements closer to the point on the medical instrument than each linkage element in a remainder of the plurality of linkage elements based on a plurality of vectors between the point on the medical instrument and one of the two base points of each of the plurality of linkage elements; and

for each linkage element of the subset, determining a distance between the point on the medical instrument and the respective anatomical centerline extending through the linkage element; and

updating the matching of the point on the medical instrument to one of the plurality of linkage elements as the medical instrument is moved within the anatomic passageways.

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; and

displaying, in a display system, one stored image of the stored images of the patient anatomy, wherein the one stored image is selected for display based on a location of the medical instrument as determined based on the matching of the point on the medical instrument to the one of the plurality of linkage elements.

3. The method of claim 1 wherein the two base points are derived from a centerline model of the connected anatomical structures.

4. The method of claim 1 further comprising identifying a closest linkage element in the subset.

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

6. The method of claim 5 further comprising identifying a snapping point along the projection at a radial distance from the linkage element centerline.

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

16. The method of claim 1 wherein each linkage element defines a volume based on the two base points and the linkage element centerline.

17. The method of claim 16 wherein the volume is defined by a radius having a first radial component based on a maximum deviation between the linkage element centerline and an anatomical centerline between the two base points.

18. The method of claim 16 wherein the volume is defined by a radius that varies along the linkage element centerline.

21. The method of claim 1, wherein the determining of the subset of the plurality of linkage elements includes, for each linkage element in the plurality of linkage elements, comparing a vector between a respective two base points and a vector of the plurality of vectors that is between one of the respective two base points and the point on the medical instrument.

23. The method of claim 4 further comprising determining whether the point on the medical instrument is outside the closest linkage element.

24. The method of claim 6, wherein the identifying of the snapping point is based on determining that the point on the medical instrument is outside the closest linkage element.

8. A medical system comprising:

a flexible instrument including a sensor adapted to provide tracking data for a point on the flexible instrument while the flexible instrument is disposed within connected anatomical structures of a patient anatomy, the flexible instrument being sized for positioning within the connected anatomical structures;

a memory storing images of the patient anatomy; and

a processor configured for;

identifying the connected anatomical structures in the stored images of the patient anatomy to generate a set of anatomical centerlines characterizing the connected anatomical structures;

generating, from the set of anatomical centerlines, a plurality of linkage elements representing the connected anatomical structures, each linkage element including two base points disposed on an anatomical centerline from the set of anatomical centerlines, the two base points defining a linkage element centerline extending therebetween, wherein the linkage element centerline is different than the anatomical centerline in that the linkage element centerline is a straight line between the two base points;

receiving the tracking data corresponding to the point on the flexible instrument positioned within at least one of the connected anatomical structures;

matching the point on the flexible instrument to one of the plurality of linkage elements by;

determining a plurality of vectors between the point on the flexible instrument and one of the two base points of each of the plurality of linkage elements;

identifying a subset of the plurality of linkage elements in a region of the point on the flexible instrument based on the plurality of vectors; and

for each element of the subset of the plurality of linkage elements, determining a distance between the point on the flexible instrument and a respective anatomical centerline; and

updating the matched point on the flexible instrument to another of the plurality of linkage elements as the flexible instrument is moved within the connected anatomical structures.

9. The medical system of claim 8 wherein the stored images of the patient anatomy include preoperatively recorded medical images.

10. The medical system of claim 8 each of the plurality of linkage elements includes two points derived from a centerline model of the connected anatomical structures.

11. The medical system of claim 8 wherein the processor is further configured to identify a closest linkage element in the subset.

12. The medical system of claim 11 wherein the processor is further configured to create a projection of the point on the flexible instrument to the linkage element centerline associated with the closest linkage element.

13. The medical system of claim 12 wherein the processor is further configured to identify a snapping point along the projection at a radial distance from the linkage element centerline.

14. The medical system of claim 12 wherein the processor is further configured to determine whether the point on the flexible instrument is closest to one of the two base points of the anatomical centerline through the closest linkage element or is closest to a midpoint on the linkage element centerline between the two base points.

15. The medical system of claim 8 wherein the processor is further configured to generate a composite image including an image of the connected anatomical structures and an image of the point on the flexible instrument within the patient anatomy.

19. The medical system of claim 8 wherein the flexible instrument further includes an electromagnetic sensor system having one or more conductive coils disposed along a flexible body of the flexible instrument.

20. The medical system of claim 8 wherein the processor is configured for receiving the tracking data from a fiber optic bend sensor to determine coordinates of the point on the flexible instrument while positioned within the at least one of the connected anatomical structures.

22. The medical system of claim 8 wherein the processor is further configured to, for each linkage element in the plurality of linkage elements, compare a vector extending from a first of a respective two base points to a second of the respective two base points with a vector of the plurality of vectors that extends from the first of the respective two base points to the point on the flexible instrument.