Fissural assessment and surgical and interventional planning

• US 10,542,953 B2
• Filed: 09/11/2017
• Issued: 01/28/2020
• Est. Priority Date: 09/27/2016
• Status: Active Grant

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Covidien LP (Medtronic Plc)
• Inventors: Krimsky, William S.
• Primary Examiner(s): Maung, Nay A
• Assistant Examiner(s): Torres, Jose
• Application Number:
  US15/700,329
• Publication Number:
  US 20180085079A1
• Time in Patent Office: 869 Days
• CPC Class Codes: A61B 10/04 Endoscopic instruments
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 2010/0061 Alimentary tract secretions, e.g. biliary, gastric, intestinal, pancreatic secretions
• CPC Class Codes: A61B 2017/00809 Lung operations
• CPC Class Codes: A61B 2018/00541 Lung or bronchi
• CPC Class Codes: A61B 2018/00577 Ablation
• CPC Class Codes: A61B 2018/1861 with an instrument inserted into a body lumen or cavity, e.g. a catheter
• 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 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/252 indicating steps of a surgical procedure
• CPC Class Codes: A61B 2034/256 having a database of accessory information, e.g. including context sensitive help or scientific articles
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/50 specially adapted for specific body parts; specially adapted for specific clinical applications
• CPC Class Codes: A61B 6/5205 involving processing of raw data to produce diagnostic data
• CPC Class Codes: A61B 6/5217 : extracting a diagnostic or physiological parameter from medical diagnostic data
• CPC Class Codes: G06T 19/003 : Navigation within 3D models or images
• CPC Class Codes: G06T 2200/04 : involving 3D image data
• CPC Class Codes: G06T 2207/10081 : Computed x-ray tomography [CT]
• CPC Class Codes: G06T 2207/30061 : Lung
• CPC Class Codes: G06T 7/0012 : Biomedical image inspection
• CPC Class Codes: G16H 30/40 : for processing medical images, e.g. editing
• CPC Class Codes: G16H 40/63 : for local operation
• CPC Class Codes: G16H 50/50 : for simulation or modelling of medical disorders

Abstract

Provided are systems, devices, and methods of planning a medical procedure. An exemplary method includes receiving image data of a patient'"'"'s chest, identifying the patient'"'"'s lungs in the image data, determining locations of fissures of the patient'"'"'s lungs in the image data, generating a three-dimensional (3D) model of the patient'"'"'s lungs based on the image data, the 3D model showing the fissures of the patient'"'"'s lungs, displaying a view of the 3D model including the fissures of the patient'"'"'s lungs for viewing by a clinician, receiving input from the clinician regarding a plan for the medical procedure, and displaying the plan for the medical procedure.

Claims

1. A method of planning a medical procedure, the method comprising:

receiving image data of a patient'"'"'s chest;

identifying the patient'"'"'s lungs in the image data;

determining locations of lumens in the patient'"'"'s lungs in the image data;

determining locations of fissures of the patient'"'"'s lungs in the image data based on the determined locations of the lumens in the patient'"'"'s lungs;

generating a three-dimensional (3D) model of the patient'"'"'s lungs based on the image data, the 3D model showing the lumens in the patient'"'"'s lungs and the fissures of the patient'"'"'s lungs;

displaying a view of the 3D model including the fissures of the patient'"'"'s lungs and the locations of the lumens in the patient'"'"'s lungs for viewing by a clinician;

receiving input from the clinician regarding a plan for the medical procedure;

displaying the plan for the medical procedure;

adjusting the plan for the medical procedure based on the determined locations of fissures and lumens in the image data; and

displaying the adjusted plan for the medical procedure.

2. The method according to claim 1, wherein displaying the plan includes displaying a view of the 3D model showing areas of the patient'"'"'s lungs to be treated.

3. The method according to claim 2, wherein displaying the plan further includes displaying a view of the 3D model showing the locations of lumens in the patient'"'"'s lungs in the areas of the patient'"'"'s lungs to be treated.

4. The method according to claim 2, further comprising treating the areas of the patient'"'"'s lungs shown on the view of the 3D model.

5. The method according to claim 1, wherein the lumens in the patient'"'"'s lungs include one or more of airway, vascular, and lymphatic lumens.

6. The method according to claim 1, further comprising:

determining a degree of completeness of the fissures of the patient'"'"'s lungs; and

determining a point where incompleteness of a fissure begins.

7. The method according to claim 1, wherein the plan for the medical procedure is adjusted when it is determined that lumens in a first area of the patient'"'"'s lungs are connected to lumens in a second area of the patient'"'"'s lungs.

8. The method according to claim 7, wherein the first and second areas of the patient'"'"'s lungs are first and second lobes of the patient'"'"'s lungs.

9. The method according to claim 7, wherein the first and second areas of the patient'"'"'s lungs are first and second portions of a single lobe of the patient'"'"'s lungs.

10. A system for planning a medical procedure, the system including:

a computing device configured to;

receive image data of a patient'"'"'s chest;

identify the patient'"'"'s lungs in the image data;

determine locations of lumens in the image data;

determine locations of fissures of the patient'"'"'s lungs in the image data based on the determined locations of the lumens in the patient'"'"'s lungs; and

generate a three-dimensional (3D) model of the patient'"'"'s lungs based on the image data, the 3D model showing the fissures of the patient'"'"'s lungs and the locations of the lumens in the patient'"'"'s lungs;

a display device configured to display a plan for the medical procedure, the plan including a view of the 3D model showing the fissures of the patient'"'"'s lungs, wherein the computing device is configured to adjust the plan for the medical procedure based on the determined locations of fissures and lumens in the image data and the display device is configured to display the adjusted plan for the medical procedure; and

a tool for performing a procedure on the patient'"'"'s lungs based on the plan for the medical procedure.

11. The system according to claim 10, wherein the view of the 3D model shows areas of the patient'"'"'s lungs to be treated.

12. The system according to claim 11,

wherein the displayed view of the 3D model further shows the locations of the lumens in the patient'"'"'s lungs in the areas of the patient'"'"'s lungs to be treated.

13. The system according to claim 12, wherein the lumens in the patient'"'"'s lungs include one or more of airway, vascular, and lymphatic lumens.

14. The system according to claim 10, wherein the plan for the medical procedure is adjusted when it is determined that lumens in a first area of the patient'"'"'s lungs are connected to lumens in a second area of the patient'"'"'s lungs.

15. A non-transitory computer-readable storage medium storing instructions which, when executed by a computer, cause the computer to:

receive image data of a patient'"'"'s chest;

identify the patient'"'"'s lungs in the image data;

determine locations of lumens in the patient'"'"'s lungs in the image data;

determine locations of fissures of the patient'"'"'s lungs in the image data based on the determined locations of the lumens in the patient'"'"'s lungs;

generate a three-dimensional (3D) model of the patient'"'"'s lungs based on the image data, the 3D model showing the fissures of the patient'"'"'s lungs;

cause a display device to display a view of the 3D model including the fissures of the patient'"'"'s lungs and the locations of the lumens in the patient'"'"'s lungs for viewing by a clinician;

receive input from the clinician regarding a plan for the medical procedure;

cause the display device to display the plan for the medical procedure;

adjust the plan for the medical procedure based on the determined locations of fissures and lumens in the image data; and

display the adjusted plan for the medical procedure.

16. The non-transitory computer-readable storage medium according to claim 15, wherein the instructions further cause the computer to:

determine a degree of completeness of the fissures of the patient'"'"'s lungs; and

determine a point where incompleteness of a fissure begins.