Systems and methods for interventional procedure planning

• US 10,582,909 B2
• Filed: 01/14/2019
• Issued: 03/10/2020
• Est. Priority Date: 12/31/2012
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Donhowe, Caitlin Q., Chopra, Prashant, Panescu, Dorin, Reiley, Carol, Zhao, Tao
• Primary Examiner(s): Perveen, Rehana
• Assistant Examiner(s): Luu, Cuong V
• Application Number:
  US16/247,057
• Publication Number:
  US 20190142372A1
• Time in Patent Office: 421 Days
• Field of Search: None
• 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 2034/102 Modelling of surgical devices, implants or prosthesis
• 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 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 5/0066 Optical coherence imaging
• CPC Class Codes: A61B 5/065 Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
• CPC Class Codes: A61B 8/0841 for locating instruments
• CPC Class Codes: A61B 8/085 for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
• CPC Class Codes: A61B 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/4245 involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
• CPC Class Codes: A61B 8/4263 using sensors not mounted on the probe, e.g. mounted on an external reference frame

Abstract

A system for planning a procedure to be performed using an interventional instrument may comprise a sensor system that generates sensor data and a control system that may receive information about an operational capability of the interventional instrument within a plurality of passageways in a model of an anatomic structure. The control system may also identify a plurality of optional deployment locations for positioning a distal tip of the interventional instrument to perform the procedure on a target structure in the model based on at least one of the sensor data or the information about the operational capability of the interventional instrument. A display system may display the model of the anatomic structure having the plurality of passageways and display the plurality of optional deployment locations in the model. A code may be displayed that provides information about a relative quality of each of the plurality of optional deployment locations.

Claims

1. A system for planning a procedure to be performed using an interventional instrument, the system comprising:

a sensor system that generates sensor data;

a control system that receives information about an operational capability of the interventional instrument within a plurality of passageways in a model of an anatomic structure and identifies a plurality of optional deployment locations for positioning a distal tip of the interventional instrument to perform the procedure on a target structure in the model based on at least one of the sensor data or the information about the operational capability of the interventional instrument; and

a display system that displays the model of the anatomic structure having the plurality of passageways and displays the plurality of optional deployment locations in the model,

wherein each of the plurality of optional deployment locations is displayed using a code that provides information about a relative quality of each of the plurality of optional deployment locations for deploying the interventional instrument to perform the procedure, the relative quality of each of the plurality of optional deployment locations based on the information received about the operational capability of the interventional instrument.

2. The system of claim 1, wherein the control system identifies a planned deployment location from the plurality of optional deployment locations, the planned deployment location being located on a wall of a passageway from the plurality of passageways, and wherein the control system provides a suggested navigational path for the interventional instrument to follow to the planned deployment location.

3. The system of claim 1, wherein the control system comprises:

a virtual visualization system that generates the model of the anatomic structure based on images recorded at least one of preoperatively or intra-operatively.

4. The system of claim 3, wherein the control system further comprises:

a navigation system that receives the model of the anatomic structure from the virtual visualization system and identifies information about the target structure in the model,

wherein the information about the target structure includes at least one of a shape of the target structure, an identification of at least one substance that forms the target structure, a location of the target structure in the model, or a location of surfaces of the target structure relative to nearby passageways of the plurality of passageways in the model.

5. The system of claim 1, wherein the plurality of optional deployment locations includes a preliminary deployment location in one of the plurality of passageways and wherein the control system is configured to revise the preliminary deployment location to a planned deployment location based on the sensor data indicating a revised location of the target structure.

6. The system of claim 5,

wherein the control system uses the sensor data to revise the preliminary deployment location to the planned deployment location.

7. The system of claim 5, wherein the sensor data includes ultrasound sensor data representing the revised location of the target structure relative to the distal tip of the interventional instrument.

8. The system of claim 5, wherein the sensor data includes OCT sensor data representing the revised location of the target structure relative to the distal tip of the interventional instrument.

9. The system of claim 1, wherein the information about the operational capability of the interventional instrument includes information about a bending capability of the interventional instrument.

10. The system of claim 1, wherein the interventional instrument includes a catheter body and an interventional tool and wherein the information about the operational capability of the interventional instrument includes at least one of a tool deployment length of the interventional tool or movement characteristics of the interventional tool relative to the catheter body.

11. The system of claim 1, wherein the information about the operational capability of the interventional instrument includes information about at least one characteristic of the plurality of passageways.

12. The system of claim 11, wherein the plurality of passageways is a plurality of anatomical passageways and wherein the information about the operational capability of the interventional instrument includes information about at least one of a size of the plurality of passageways nearest the target structure, a location of a carina between two passageways of the plurality of passageways, or elasticities of the plurality of passageways.

13. The system of claim 1, wherein the plurality of optional deployment locations is displayed on walls of the plurality of passageways of the anatomic structure on the display system.

14. The system of claim 1, wherein the control system is configured to identify a corresponding relative quality for an optional deployment location of the plurality of optional deployment locations and wherein the code for the corresponding relative quality is a corresponding color that indicates the corresponding relative quality.

15. The system of claim 1, wherein the control system is configured to identify a characteristic of the target structure.

16. The system of claim 15, wherein the characteristic of the target structure includes a location of a calcification.

17. The system of claim 1, wherein the code for a corresponding optional deployment location of the plurality of optional deployment locations is a color that indicates the relative quality of the corresponding optional deployment location.

18. The system of claim 1, wherein the plurality of optional deployment locations includes a clinician-identified deployment location.

19. The system of claim 1, wherein, at an optional deployment location selected from the plurality of optional deployment locations, an approach angle between the distal tip of the interventional instrument and a passageway wall is between approximately 30 and 90 degrees.

20. The system of claim 1, wherein the control system is configured to receive a selection via user input of at least one of the plurality of optional deployment locations as a planned deployment location from which to approach the procedure.