Visualization of anatomical cavities

• US 10,510,171 B2
• Filed: 11/29/2016
• Issued: 12/17/2019
• Est. Priority Date: 11/29/2016
• Status: Active Grant

• Current Assignee: Biosense Webster Incorporated (Johnson & Johnson)
• Original Assignee: Biosense Webster Incorporated (Johnson & Johnson)
• Inventors: Gliner, Vadim, Altmann, Andres Claudio, Mayer, Ram Bernard
• Primary Examiner(s): Patel, Jitesh
• Application Number:
  US15/364,144
• Publication Number:
  US 20180150983A1
• Time in Patent Office: 1,113 Days
• CPC Class Codes: A61B 17/24 for use in the oral cavity, larynx, bronchial passages or nose for medical inspection of cavities or tubes in the body A61B1/00; Tongue scrapers
• CPC Class Codes: A61B 2034/101 Computer-aided simulation of surgical 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 2034/252 indicating steps of a surgical procedure
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/3762 using computed tomography systems [CT]
• 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 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 6/025 Tomosynthesis
• CPC Class Codes: A61B 6/466 adapted to display 3D data
• CPC Class Codes: A61B 8/469 for selection of a region of interest
• CPC Class Codes: G01N 2223/419 computed tomograph
• CPC Class Codes: G01N 23/046 using tomography, e.g. computed tomography [CT]
• CPC Class Codes: G06F 2111/10 Numerical modelling
• CPC Class Codes: G06T 11/001 Texturing; Colouring; Generation of texture or colour inpainting G06T5/77
• CPC Class Codes: G06T 11/003 Reconstruction from projections, e.g. tomography
• CPC Class Codes: G06T 11/40 Filling a planar surface by adding surface attributes, e.g. colour or texture
• CPC Class Codes: G06T 11/60 : Editing figures and text; Combining figures or text
• CPC Class Codes: G06T 19/20 : Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
• CPC Class Codes: G06T 2210/41 : Medical
• CPC Class Codes: G06T 2219/2012 : Colour editing, changing, or manipulating; Use of colour codes
• CPC Class Codes: G06T 2219/2021 : Shape modification

Abstract

Described embodiments include a system that includes a display and a processor. The processor is configured to modify an image slice by filling a portion, of the image slice, that corresponds to an anatomical cavity with a representation of a wall of the anatomical cavity, and to display the modified image slice on the display. Other embodiments are also described.

Claims

1. A system for performing a procedure in a nasal cavity and/or sinus, comprising:

(a) a magnetic tracking system;

(b) an intrabody tool having one or more magnetic sensors;

(c) a display;

(d) a memory configured to store an image slice and a three-dimensional model of a patient anatomy, wherein the image slice is a two-dimensional image, and wherein a plane location from which the patient anatomy is shown in the image slice is present within the three-dimensional model;

(e) a processor, configured;

(i) to identify a portion of the image slice that corresponds to an anatomical cavity,

(ii) to identify a wall of the three-dimensional model that corresponds to the anatomical cavity, from the same plane location as that of the image slice,

(iii) to create a modified image slice by overlaying the wall on the anatomical cavity of the image slice,

(iv) to overlay an icon that represents the intrabody tool on a portion of the modified image slice that corresponds to a location of the intrabody tool within the anatomical cavity, and

(v) to display the modified image slice on the display.

2. The system according to claim 1, wherein the modified image slice is identical to the image slice, except for the area that corresponds to the anatomical cavity.

3. The system according to claim 1, wherein the processor is further configured to render the wall in three dimensions.

4. The system according to claim 3, wherein the processor is configured to render the wall in color, with varying shades of brightness, to provide an indication of depth.

5. The system according to claim 1, wherein the image slice is a computed tomography (CT) image slice.

6. The system according to claim 1, wherein the processor is further configured to overlay a marker on a portion of the wall that corresponds to a location at which the intrabody tool would meet the wall, were the intrabody tool to continue moving toward the wall in a direction in which the intrabody tool is pointing.

7. The system according to claim 6, wherein the processor is further configured to:

(i) identify the location at which the intrabody tool would meet the wall, by projecting a virtual ray from a distal tip of the intrabody tool, and

(ii) overlay a graphical representation of the virtual ray on the modified image that begins at the icon and terminates at the marker.

8. The system of claim 1, wherein the processor is further configured to:

(i) direct a virtual light source at a portion of the modified image that corresponds to the wall,

(ii) direct a virtual camera at the portion of the modified image, and

(iii) render the portion in accordance with the view of the virtual camera.

9. The system of claim 8, wherein the processor is further configured to, when rendering the portion in accordance with the view of the virtual camera, render the portion in varying shades of brightness.

10. The system of claim 9, wherein the processor is further configured to render the portion in color and render other portions of the modified image in grayscale.

11. The system of claim 8, wherein the virtual camera is positioned proximate to the virtual light source.

12. The system of claim 1, wherein the processor is configured to display a subsequent modified image in response to a change in the location of the intrabody tool.

13. The system of claim 12, wherein the processor is configured to create the modified image and the subsequent modified image in real-time, during a procedure, in response to changes in the location of the intrabody tool.

14. A method for performing a procedure in a nasal cavity and/or sinus using a magnetic tracking system and an intrabody tool having one or more magnetic sensors, the method comprising:

(a) using a processor, identifying a portion of the image slice that corresponds to an anatomical cavity;

(b) storing, on a memory, an image slice and a three-dimensional model of a patient anatomy, wherein the image slice is a two-dimensional image, and wherein a plane location from which the patient anatomy is shown in the image slice is present within the three-dimensional model;

(c) identifying a wall of the three-dimensional model that corresponds to the anatomical cavity, from the same plane location as that of the image slice;

(d) creating a modified image slice by overlaying the wall on the anatomical cavity of the image slice;

(e) overlaying an icon that represents the intrabody tool on a portion of the modified image slice that corresponds to a location of the intrabody tool within the anatomical cavity; and

(f) displaying the modified image slice.

15. The method according to claim 14, further comprising rendering the wall in three dimensions.

16. The method according to claim 15, wherein rendering the wall in three dimensions comprises rendering the wall of the cavity in color, with varying shades of brightness, to provide an indication of depth.

17. The method according to claim 14, wherein the image slice is a computed tomography (CT) image slice.

18. The method according to claim 14, further comprising overlaying a marker on a portion of the wall that corresponds to a location at which the intrabody tool would meet the wall, were the intrabody tool to continue moving toward the wall in a direction in which the intrabody tool is pointing.

19. The method according to claim 18, further comprising:

(a) identifying the location at which the intrabody tool would meet the wall, by projecting a virtual ray from a distal tip of the intrabody tool; and

(b) overlaying a graphical representation of the virtual ray on the modified image that begins at the icon and terminates at the marker.

20. A method for performing a procedure in a nasal cavity using an intrabody tool having one or more position sensors, the method comprising:

(a) storing, on a memory, an image slice and a three-dimensional model of a patient anatomy, wherein the image slice is a two-dimensional image, and wherein a plane location from which the patient anatomy is shown in the image slice is present within the three-dimensional model;

(b) using a processor, modifying the image slice by filling a portion of the image slice that corresponds to the nasal cavity with a three-dimensional representation of a wall of the nasal cavity from the three dimensional model, wherein the wall of the nasal cavity is located behind a plane location at which the image slice was acquired;

(c) identifying the portion of the image slice that corresponds to a real-time location of the intrabody tool the nasal cavity, wherein the real-time location of the intrabody tool in the nasal cavity is determined based on the one or more position sensors of the intrabody tool;

(d) overlaying an indicator on a portion of the modified image slice, wherein the indicator corresponds to a real-time location of the intrabody tool within the nasal cavity; and

(e) displaying the modified image slice, wherein the modified image slice comprises;

(i) a two-dimensional representation of the plane location,

(ii) the three-dimensional representation of the wall of the nasal cavity, and

(iii) the indicator indicating the real-time location of the intrabody tool within the nasal cavity.