Systems and methods for routing a vessel line such as a catheter within a vessel

• US 10,548,669 B2
• Filed: 02/16/2017
• Issued: 02/04/2020
• Est. Priority Date: 02/16/2016
• Status: Active Grant

• Current Assignee: Mentice AB
• Original Assignee: Mentice AB
• Inventors: Goyal, Mayank
• Primary Examiner(s): Hasan, Mainul
• Application Number:
  US15/522,213
• Publication Number:
  US 20180085167A1
• Time in Patent Office: 1,083 Days
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 34/00 Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
• 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 5/103 Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes A61B5/08 takes precedence; measuring aids for tailors A41H1/00; measuring instruments specially adapted for dentistry A61C19/04
• CPC Class Codes: G06T 11/003 Reconstruction from projections, e.g. tomography
• CPC Class Codes: G06T 17/10 Constructive solid geometry [CSG] using solid primitives, e.g. cylinders, cubes
• CPC Class Codes: G06T 2200/08 involving all processing steps from image acquisition to 3D model generation

Abstract

The invention relates to systems and methods enabling a personalized solution for allowing more efficient access to the carotid artery (or vertebral arteries) in patients needing endovascular/neurointervention procedures using catheter systems.

Claims

1. An apparatus for determining a course through blood vessels to reach a destination point utilizing modeled physical properties of one or more blood vessel lines, the apparatus comprising:

a scan data reader configured to model the course of a blood vessel within a body of a patient based on scan data images of the blood vessel;

memory configured to store the physical properties of one or more blood vessel lines as a blood vessel line model, the blood vessel lines being endovascular blood vessel lines;

a processor configured to;

create a three-dimensional vasculature model from the scan data images simultaneously with post processing of the scan data images being conducted for diagnostic analysis;

determine a blood vessel course to reach a destination point within the three-dimensional vasculature model using a blood vessel line model; and

determine whether it is possible to reach the destination point for one or more of the stored vessel lines based on the physical properties of the one or more blood vessel lines, wherein blood vessel junctions are modeled by entrance and exit areas through which the blood vessel line must pass in order to enter a particular blood vessel portion from the junction.

2. The apparatus of claim 1, wherein the processor is further configured to determine external manipulations of a blood vessel to cause the blood vessel line to follow the blood vessel course.

3. The apparatus of claim 1, wherein the apparatus is configured to determine a level of difficulty to reach a particular point within the blood vessel course based on multiple different blood vessel lines;

and determine which of the blood vessel lines has the lowest level of difficulty.

4. The apparatus of claim 1, wherein the apparatus is configured to determine parameters of a blood vessel line which are matched to the determined route of the blood vessel.

5. The apparatus of claim 1, wherein the blood vessel line physical properties comprise a combination of one or more of:

thickness;

transverse elasticity;

longitudinal elasticity;

transverse stiffness;

longitudinal stiffness;

resting configuration;

tip shape; and

one or more activated configurations.

6. The apparatus of claim 1, wherein the apparatus comprises a scanner configured to scan a blood vessel to provide the scan data.

7. The apparatus of claim 1, wherein the apparatus is further configured to determine a measure of the difficulty to reach the destination point using a particular blood vessel line based on the modelled physical properties of a particular blood vessel line and on the course of the blood vessel.

8. A system for improving the efficiency of surgical procedures conducted using catheter systems, where the surgical procedure includes navigating a catheter system through a patient'"'"'s vasculature from an entry point to a destination, the system comprising:

an imaging scanner operable to obtain patient specific image data of the patient'"'"'s vasculature;

a non-transitory computer readable medium encoded with instructions to perform the following steps;

construct a 3-dimensional model of the patient'"'"'s vasculature from the patient specific image data simultaneously with post processing of the patient specific image data being conducted for diagnostic analysis;

enable a user to mark the destination within the 3-dimensional model of the patient'"'"'s vasculature;

determine an access route from one or more entry points to the destination and analyze access route parameters; and

,

access a database storing data relating to physical properties of at least one catheter system and analyze the access route parameters against the physical properties of the at least one catheter system to determine a ranking of catheter systems suitable for navigating from an entry point to a destination, wherein blood vessel junctions are modeled by entrance and exit areas through which the blood vessel line must pass in order to enter a particular blood vessel portion from the junction.

9. The system as in claim 8, wherein the non-transitory computer readable medium is further encoded to:

enable selection of a catheter system and create a virtual model of a selected catheter system;

co-register the virtual model of a selected catheter system with the 3-dimensional model of the patient'"'"'s vasculature;

enable user manipulation of the virtual model of a selected catheter system within the 3-dimensional model of the patient'"'"'s vasculature via a mechanical to electrical interface.

10. The system as in claim 9, wherein the mechanical to electrical interface includes a) a proximal end interface of physical catheter lines that includes a catheter and guide wire that can be coaxially moved and rotated within a vessel and b) a distal interface enabled to convert mechanical movement of the proximal end to electrical signals that provide input to the virtual model of a selected catheter system and the 3-dimensional model of the patient'"'"'s vasculature.

11. The system as in claim 8, wherein the non-transitory computer readable medium is further encoded to:

access a machine learning database storing information relating to past procedures; and

,

provide feedback to a user during user manipulation of the virtual model of a selected catheter system within the 3-dimensional model of the patient'"'"'s vasculature based on a user'"'"'s performance and pre-determined knowledge of the procedure as determined by the machine learning database.

12. The system as in claim 8, wherein the non-transitory computer readable medium is further encoded to:

access a machine learning database storing information relating to past procedures; and

provide feedback to a user during user manipulation of a catheter system during a procedure based on a user'"'"'s performance and pre-determined knowledge of the procedure as determined by the machine learning database.

13. The system as in claim 12, wherein the non-transitory computer readable medium is further encoded to:

prompt a user after a procedure has been completed to provide feedback to the machine learning database in a pre-determined format.

14. The system as in claim 12, wherein the non-transitory computer readable medium is further encoded to:

review a user'"'"'s performance as determined by a comparison of pre-determined procedure parameters with actual procedure parameters as measured during the procedure; and

display to a user a comparison of the user'"'"'s performance to the pre-determined procedure parameters.

15. An apparatus for determining a course through blood vessels to reach a destination point utilizing modeled physical properties of one or more blood vessel lines, the apparatus comprising:

a scan data reader configured to model the course of a blood vessel within a body of a patient based on scan data images of the blood vessel;

memory configured to store the physical properties of one or more blood vessel lines as a blood vessel line model, the blood vessel lines being endovascular blood vessel lines, the memory being further configured to store data corresponding to previous surgical procedures using one or more catheter systems;

a processor configured to;

create a three-dimensional vasculature model from the scan data images simultaneously with post processing of the scan data images being conducted for diagnostic analysis;

determine a blood vessel course to reach a destination point within the three-dimensional vasculature model using a blood vessel line model; and

determine whether it is possible to reach the destination point for one or more of the stored vessel lines based on the physical properties of the one or more blood vessel lines, wherein blood vessel junctions are modeled by entrance and exit areas through which the blood vessel line must pass in order to enter a particular blood vessel portion from the junction.

16. The apparatus as in claim 15, wherein the processor is configured to create the blood vessel model based on the data corresponding to the previous surgical procedures using the one or more catheter systems.

17. The apparatus of claim 15, wherein the processor is further configured to determine external manipulations of a blood vessel to cause the blood vessel line to follow the blood vessel course.

18. The apparatus of claim 15, wherein the apparatus is configured to determine a level of difficulty to reach a particular point within the blood vessel course based on multiple different blood vessel lines;

and determine which of the blood vessel lines has the lowest level of difficulty.

19. The apparatus of claim 15, wherein the blood vessel line physical properties comprise a combination of one or more of:

thickness;

transverse elasticity;

longitudinal elasticity;

transverse stiffness;

longitudinal stiffness;

resting configuration;

tip shape; and

one or more activated configurations.