Method and system for interactive percutaneous pre-operation surgical planning

• US 10,431,001 B2
• Filed: 11/21/2008
• Issued: 10/01/2019
• Est. Priority Date: 11/21/2007
• Status: Active Grant

• Current Assignee: EDDA Technology, Inc.
• Original Assignee: EDDA Technology, Inc.
• Inventors: Liang, Cheng-Chung, Wei, Guo-Qing, Fan, Li, Qian, Jianzhong, Chen, Hong, Ma, Feng, Zeng, Xiaolan
• Primary Examiner(s): Yip, Jack
• Application Number:
  US12/275,699
• Publication Number:
  US 20090142740A1
• Time in Patent Office: 3,966 Days
• Field of Search: 434219, 434262, 434267, 434272, 434323, 434365, 434403, 434429
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: G06T 19/00 Manipulating 3D models or images for computer graphics
• CPC Class Codes: G06T 2210/21 Collision detection, intersection
• CPC Class Codes: G06T 2210/41 Medical
• CPC Class Codes: G16H 50/50 for simulation or modelling of medical disorders

Abstract

The success of percutaneous radiofrequency ablation mainly depends on the accuracy of the needle insertion, making it possible to destroy the whole tumor, while avoiding damages on other organs and minimizing risks of a local recurrence. This invention presents a simulated 3D environment for user to interactively place a treatment probe to a target position.

Claims

1. A method implemented on a computer system having at least a processor, storage, and display for interactive percutaneous pre-operational surgical planning, the method comprising:

rendering, by the processor, a three dimensional (3D) volume and one or more 3D objects in the 3D volume on a two dimensional (2D) computer display screen, wherein the one or more 3D objects are one of a surgical target type and an obstacle type;

receiving, by the processor, information associated with a 3D location specified with respect to one of the one or more 3D objects in the surgical target type;

rendering, by the processor, a 3D virtual probe at the 3D location;

receiving, directly through a physical computer input device operating in a 2D space, information associated with an operation in the 2D space performed by a user via the physical computer input device;

dynamically adjusting, by the processor, a 3D pose of the 3D virtual probe in the 3D volume, wherein the 3D pose is dynamically transformed from a 2D location on the 2D computer display screen and the information associated with the operation in the 2D space;

rendering, by the processor, a 2D image of the surgical target type 3D object, the 2D image being centered at the tip of the 3D virtual probe and displayed orthogonally, along a length of the 3D virtual probe;

dynamically detecting, by the processor, a collision between the 3D virtual probe and one of the one or more 3D objects of the obstacle type during the dynamic adjustment of the 3D pose of the 3D virtual probe; and

providing a notification of the detected collision to the user, wherein dynamically adjusting the 3D pose of the 3D virtual probe comprises

rotating the 3D virtual probe based on a movement of a part of the 3D virtual probe, wherein the part of the 3D virtual probe is adapted to move in an unrestricted manner along any direction on a surface of a half sphere of the 3D volume, wherein a size of the half sphere is determined based on the 3D location and a length of the 3D virtual probe.

2. The method according to claim 1, wherein the part of the 3D virtual probe includes at least one of a probe end, a probe body, and a probe handle.

3. The method according to claim 2, wherein the 3D pose of the 3D virtual probe can be adjusted via at least one of the handle and the body of the 3D virtual probe.

4. The method according to claim 1, wherein the 3D virtual probe is placed so that the tip of the virtual probe is placed at the 3D location.

5. The method according to claim 1, wherein the 3D pose of the 3D virtual probe includes a coordinate of the tip of the 3D virtual probe and the 3D orientation of the 3D virtual probe.

6. The method according to claim 1, wherein

the one or more 3D objects include a tumor, an organ, bone, and tissue;

and

the boundary of the 3D volume corresponds to skin.

7. The method according to claim 1, wherein the surgical target type includes a tumor of a pre-defined type.

8. The method according to claim 1, further comprising generating information that describes a spatial relationship between the 3D virtual probe and the 3D object in the surgical target type.

9. The method according to claim 8, wherein the spatial relationship includes within, outside, or touch.

10. The method according to claim 1, wherein the 3D volume is rendered in an opaque mode so that the one or more 3D objects in the 3D volume are not visible.

11. The method according to claim 1, wherein the 3D volume is rendered in a transparent mode so that the one or more 3D objects in the 3D volume can be made visible.

12. The method according to claim 1, further comprising generating information associated with an estimated effect on the 3D object in the surgical target type caused by insertion of the 3D virtual probe into the 3D object in the surgical target type.

13. The method according to claim 1, wherein the 3D virtual probe can be further adjusted in terms of its length.

14. The method according to claim 1, wherein

dynamically adjusting the 3D pose of the 3D virtual probe further comprises moving at least a part of the 3D virtual probe in the 3D volume by allowing the user to, directly through the operation in the 2D space performed via the physical computer input device, grab the part of the 3D virtual probe and drag the part of the 3D virtual probe along a direction.

15. The method of claim 1, further comprising:

rendering another 3D virtual probe at the 3D location; and

dynamically adjusting a 3D pose of the other 3D virtual probe in the 3D volume directly through the physical computer input device operating in the 2D space, wherein

dynamically adjusting the 3D pose of the other 3D virtual probe comprises;

moving at least a part of the other 3D virtual probe in the 3D volume by allowing the user to, directly through the operation in the 2D space performed via the physical computer input device, grab the part of the other 3D virtual probe and drag the part of the other 3D virtual probe along a direction, and

rotating the other 3D virtual probe by allowing the user to, directly through the operation in the 2D space performed via the physical computer input device, grab a part of the other 3D virtual probe and rotate the part of the other 3D virtual probe with a movement confined onto a surface of a half sphere of the 3D volume with respect to a tip of the 3D virtual probe such that a 3D orientation of the 3D virtual probe is changed and a relative position between the other 3D virtual probe and the one or more 3D objects is changed.

16. The method of claim 1, wherein the notification of the detected collision is provided by one of a visual effect and an audible signal, the notification being determined based on the 3D object.

17. The method of claim 1, wherein the 2D image is slidable along the length of the virtual probe.

18. A system for interactive percutaneous pre-operational surgical planning, comprising:

a 3D rendering mechanism implemented on a processor of a computer and configured for rendering a 3D volume and one or more 3D objects in the 3D volume on a 2D computer display screen, wherein the one or more 3D objects are one of a surgical target type and an obstacle type;

a user interface controller implemented on the processor and configured for receiving, directly through a physical computer input device operating in a 2D space, first information from a user specifying a 3D location with respect to one of the one or more 3D objects in the surgical target type and second information associated with an operation in the 2D space performed by the user via the physical computer input device;

a probe manipulation mechanism implemented on the processor and configured for

rendering a 2D image of the surgical target type 3D object, the 2D image being centered at the tip of the 3D virtual probe and displayed orthogonally, along a length of the 3D virtual probe, and

rendering the 3D virtual probe at the 3D location and dynamically adjusting a 3D pose of the 3D virtual probe in the 3D volume, wherein the 3D pose is dynamically transformed from a 2D location on the 2D computer display screen and the second information associated with the operation in the 2D space;

a collision detection mechanism implemented on the processor and configured for dynamically detecting a collision between the 3D virtual probe and one of the one or more 3D objects of the obstacle type during the dynamic adjustment of the 3D pose of the 3D virtual probe; and

an information generation mechanism implemented on the processor and configured for providing a notification of the detected collision to the user, wherein

the probe manipulation mechanism is further configured for

rotating the 3D virtual probe based on a movement of a part of the 3D virtual probe, wherein the part of the 3D virtual probe is adapted to move in an unrestricted manner along any direction on a surface of a half sphere of the 3D volume, wherein a size of the half sphere is determined based on the 3D location and a length of the 3D virtual probe.

19. The system according to claim 18, wherein the information generation mechanism comprises a constraint calculation module configured for identifying one or more zones in the 3D volume in accordance with the 3D pose of the virtual 3D probe.

20. The system according to claim 19, wherein the one or more zones include a zone that represents an obstacle for the virtual 3D probe to enter.

21. The system according to claim 20, wherein the obstacle includes an object corresponding to a bone.

22. The system according to claim 19, wherein the one or more zones include a zone that represents a prohibited region where the virtual 3D probe is not permitted to enter.

23. The system according to claim 22, wherein the prohibited region includes a 3D object corresponding to an artery.

24. The system according to claim 18, wherein

dynamically adjusting the 3D pose of the 3D virtual probe further comprises moving at least a part of the 3D virtual probe in the 3D volume by allowing the user to, directly through the operation in the 2D space performed via the physical computer input device, grab the part of the 3D virtual probe and drag the part of the 3D virtual probe along a direction.