Systems and methods for detecting pleural invasion for surgical and interventional planning

• US 10,543,044 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:
  US15/700,902
• Publication Number:
  US 20180085169A1
• Time in Patent Office: 869 Days
• CPC Class Codes: A61B 1/2676 Bronchoscopes
• 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 18/1815 using microwaves
• 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 2034/104 Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
• 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 2034/2063 Acoustic tracking systems, e.g. using ultrasound
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• 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 2090/367 creating a 3D dataset from 2D images using position information
• CPC Class Codes: A61B 2090/3762 using computed tomography systems [CT]
• 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 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: G06T 2200/04 : involving 3D image data
• CPC Class Codes: G06T 2200/08 : involving all processing steps from image acquisition to 3D model generation
• CPC Class Codes: G06T 2207/10081 : Computed x-ray tomography [CT]
• CPC Class Codes: G06T 2207/10132 : Ultrasound image
• CPC Class Codes: G06T 2207/30061 : Lung
• CPC Class Codes: G06T 2207/30096 : Tumor; Lesion
• CPC Class Codes: G06T 7/0012 : Biomedical image inspection
• CPC Class Codes: G06T 7/73 : using feature-based methods
• CPC Class Codes: G16H 20/40 : relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 30/40 : for processing medical images, e.g. editing
• CPC Class Codes: G16H 50/50 : for simulation or modelling of medical disorders

Abstract

Provided are systems, devices, and methods for 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 pleural surfaces of the patient'"'"'s lungs in the image data, identifying a treatment target 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 pleural surfaces of the patient'"'"'s lungs and the treatment target, determining whether the treatment target invades the pleural surfaces, displaying a view of the 3D model 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 pleural surfaces of the patient'"'"'s lungs in the image data;

identifying a treatment target 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 pleural surfaces of the patient'"'"'s lungs and the treatment target;

determining whether the treatment target invades the pleural surfaces;

displaying a view of the 3D model 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 determination that the treatment target invades the pleural surfaces; 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, further comprising determining locations of lumens in the image data,

wherein the displayed view of the 3D model further includes the locations of the lumens in the patient'"'"'s lungs.

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

5. The method according to claim 3, wherein the lumens in the patient'"'"'s lungs include one or more of airway, vascular, and lymphatic lumens.

6. The method according to claim 3, wherein the locations of the pleural surfaces of the patient'"'"'s lungs are determined based on the determined locations of lumens in the patient'"'"'s lungs.

7. The method according to claim 3, further comprising:

determining whether the plan for the medical procedure accounts for lumens located within the treatment target;

adjusting the plan for the medical procedure when it is determined that the plan for the medical procedure does not account for lumens located within the treatment target; and

displaying the adjusted plan for the medical procedure.

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

9. The method according to claim 1, wherein the plan for the medical procedure is adjusted when it is determined that the input regarding the plan received from the clinician does not account for the treatment target invading the pleural surfaces.

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 pleural surfaces of the patient'"'"'s lungs in the image data;

identify a treatment target 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; and

determine whether the treatment target invades the pleural surfaces; and

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 determination that the treatment target invades the pleural surfaces 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 computing device is further configured to determine locations of lumens in the image data;

and

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 12, wherein the computing device is further configured to:

determine whether the plan for the medical procedure accounts for lumens located within the treatment target;

adjust the plan for the medical procedure when it is determined that the plan for the medical procedure does not account for lumens located within the treatment target; and

display the adjusted plan for the medical procedure.

15. The system according to claim 10, wherein the plan for the medical procedure is adjusted when it is determined that the input regarding the plan received from the clinician does not account for the treatment target invading the pleural surfaces.

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

a computing device configured to;

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

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

identify a treatment target in the patient'"'"'s lungs;

receive, as input, a plan for the medical procedure;

determine whether the treatment target invades the pleural surfaces;

determine whether the plan received as input accounts for the treatment target invading the pleural surfaces; and

adjust the plan for the medical procedure based on the determination that the treatment target invades the pleural surfaces and that the plan received as input does not account for the treatment target invading the pleural surfaces; and

a display device operably coupled to the computing device and configured to display the adjusted plan for the medical procedure.

17. The system according to claim 16, wherein the computing device is configured to 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.

18. The system according to claim 17, wherein the plan for the medical procedure includes a view of the 3D model showing the fissures of the patient'"'"'s lungs.