Systems and methods for registration of a medical device using rapid pose search

• US 10,376,178 B2
• Filed: 05/13/2013
• Issued: 08/13/2019
• 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: Chopra, Prashant
• Primary Examiner(s): Chen, Tse W
• Assistant Examiner(s): Ip, Jason M
• Application Number:
  US13/892,924
• Publication Number:
  US 20130303891A1
• Time in Patent Office: 2,283 Days
• CPC Class Codes: A61B 2017/00809 Lung operations
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• 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 2034/303 specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
• CPC Class Codes: A61B 2090/3614 using optical fibre
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2505/05 Surgical care
• CPC Class Codes: A61B 2562/043 in a linear array
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/30 Surgical robots
• 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 5/062 using magnetic field
• 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

Abstract

A method comprises identifying linked anatomical structures in stored images of a patient anatomy and modeling a structure of linkage elements. Each linkage element corresponds to one of the linked anatomical structures. The method also includes modeling a portion of the patient anatomy as a plurality of search slabs and assigning each of the linkage elements to one of the plurality of search slabs. The method also includes receiving tracking data corresponding to a sensed instrument portion. The tracking data includes position information and orientation information for the sensed instrument portion. The method also includes identifying one of the plurality of search slabs which includes the position information for the sensed instrument portion and matching the sensed instrument portion to a matched linkage element from among the linkage elements assigned to the identified one of the plurality of search slabs.

Claims

1. A method comprising:

identifying linked anatomical structures in stored images of a patient anatomy;

modeling the linked anatomical structures as a three-dimensional structure of linkage elements, wherein each linkage element corresponds to one of the linked anatomical structures;

defining, within the three-dimensional structure of linkage elements, a portion of the three-dimensional structure of linkage elements as a plurality of search slabs dynamic in size, progressing between a first search slab having a first width along an axis of the three-dimensional structure of linkage elements in an area of low anatomical detail and a second search slab having a second width along the axis of the three-dimensional structure of linkage elements in an area of fine anatomical detail, wherein the first width is larger than the second width;

assigning each of the linkage elements of the three-dimensional structure of linkage elements to one of the plurality of search slabs;

receiving tracking data corresponding to a sensed instrument portion, wherein the tracking data includes position information and orientation information for the sensed instrument portion;

identifying one of the plurality of search slabs which corresponds to a location indicated by the position information for the sensed instrument portion; and

matching, within the identified search slab, the sensed instrument portion to a matched linkage element from among the linkage elements assigned to the identified search slab, wherein the identifying of the one of the plurality of search slabs confines the matching to the linkage elements assigned to the identified search slab.

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 assigning each of the linkage elements to one of the plurality of search slabs includes identifying a width dimension of each of the plurality of search slabs, and wherein each width dimension is greater than a resolution of the stored images.

4. The method of claim 1 wherein matching the sensed instrument portion to the matched linkage element from among the linkage elements includes matching the orientation information and the position information of the sensed instrument portion with orientation and position information for the matched linkage element.

5. The method of claim 1 further comprising:

generating corrected position information for the sensed instrument portion to match a location of the matched linkage element.

6. The method of claim 5 further comprising:

generating a composite image of the sensed instrument portion and the patient anatomy, including generating an image of the sensed instrument portion based upon the corrected position information.

7. The method of claim 1 further comprising generating a registry including the linkage elements sorted according to relative position along the axis.

8. The method of claim 1 wherein the axis corresponds to a caudal-cranio axis.

9. The method of claim 1 wherein the axis is along a planned access path through the patient anatomy.

10. A medical system comprising:

a memory storing images of a patient anatomy; and

a processor configured for

identifying linked anatomical structures in the stored images of the patient anatomy;

generating a model of the linked anatomical structures as a structure containing linkage elements;

dividing the model into a plurality of search slabs arranged along an axis, wherein each search slab is arranged along the axis of the model and contains a subset of the linkage elements and wherein the plurality of search slabs are dynamic in size, progressing between a first search slab having a first width along the axis of the model in an area of low anatomical detail and a second search slab having a second width along the axis of the model in an area of fine anatomical detail, wherein the first width is larger than the second width;

receiving tracking data from a sensed instrument, wherein the tracking data includes position information and orientation information for a sensed instrument portion;

determining an identified search slab from the plurality of search slabs corresponding to the sensed instrument portion based on the position information;

comparing the position information and the orientation information to each linkage element of the subset of the linkage elements contained in the identified search slab to determine a matched linkage element of the subset of the linkage elements that is associated with the sensed instrument portion, wherein the determining of the identified search slab narrows the comparing to the subset of the linkage elements contained in the identified search slab;

modifying the position information and orientation information to snap the position information and orientation information for the sensed instrument portion from a sensed location to a matched location in the identified search slab of the model to generate snapped position and snapped orientation information for the sensed instrument portion; and

rendering a composite medical image, wherein the composite medical image includes an image of at least a portion of the linked anatomical structures and an image of the sensed instrument portion in the snapped position and snapped orientation.

11. The medical system of claim 10 wherein the stored images of the patient anatomy include preoperatively recorded medical images.

12. The medical system of claim 10 wherein the linked anatomical structures include an anatomical system from a group consisting of:

airways of a lung, a cardiovascular system, and a brain circulatory system.

13. The medical system of claim 10 further comprising an instrument including the sensed instrument portion and a sensor adapted to provide tracking data for the sensed instrument portion.

14. The medical system claim 10 wherein dividing the model into the plurality of search slabs includes identifying a width dimension of each of the plurality of search slabs.

15. The medical system of claim 10 wherein determining the matched linkage element associated with the sensed instrument portion includes matching the orientation information and the position information of the sensed instrument portion with orientation and position information for the matched linkage element.

16. The medical system of claim 10 wherein modifying the position information and orientation information of the tracking data to generate the snapped position and snapped orientation information for the sensed instrument portion includes generating the snapped position information to match a location of the matched linkage element.

17. The medical system of claim 10 wherein the memory further comprises a registry including each linkage element sorted according to relative position along the axis.

18. The medical system of claim 17 wherein the axis corresponds to a caudal-cranio axis.

19. A method comprising:

rendering a composite medical image, wherein the composite medical image includes an image of a plurality of passageways in a patient anatomy and an image of a medical instrument; and

correcting the image of the medical instrument to position a point on the medical instrument within one of the plurality of passageways in the composite medical image, wherein correcting the image includes;

generating a model of the plurality of passageways that includes linkage elements,

defining a plurality of subsets of the linkage elements along an axis of the model wherein the plurality of subsets of the linkage elements are determined by a plurality of search slabs arranged along the axis, the plurality of search slabs dynamic in size, progressing between a first search slab having a first width along the axis in an area of low anatomical detail and a second search slab having a second width along the axis in an area of fine anatomical detail, wherein the first width is larger than the second width;

based on position information of the medical instrument, identifying a first subset of the linkage elements of the model corresponding to a location that includes a position of the point on the medical instrument, and

matching, within the first subset, a first linkage element to the point on the medical instrument to match a pose of a first candidate match point in one of the plurality of passageways to a pose of the point on the medical instrument, wherein the identifying of the first subset of the linkage elements based on the position information of the medical instrument focuses the matching on the first subset of the linkage elements.

20. The method of claim 19 further comprising displaying the corrected image of the medical instrument with the point on the medical instrument snapped to the matched one of the plurality of passageways.

21. The method of claim 19 wherein the step of correcting the image further includes assigning each of the plurality of passageways to one of the plurality of subsets of the model, wherein each of the plurality of subsets is defined by a width along the axis of the model.

22. The method of claim 19 wherein the step of matching the pose of the first candidate match point in one of the plurality of passageways in the first subset to the point on the medical instrument includes matching orientation information for the point on the medical instrument to one of the plurality of passageways in the first subset.