System and method of intraluminal navigation using a 3D model

• US 10,653,485 B2
• Filed: 05/21/2019
• Issued: 05/19/2020
• Est. Priority Date: 07/02/2014
• Status: Active Grant

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Covidien LP (Medtronic Plc)
• Inventors: Weingarten, Oren P., Barak, Ron
• Primary Examiner(s): Ansari, Tahmina N
• Application Number:
  US16/418,481
• Publication Number:
  US 20190269461A1
• Time in Patent Office: 364 Days
• Field of Search: None
• CPC Class Codes: A61B 2017/00809 Lung 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 2090/365 augmented reality, i.e. correlating a live optical image with another image
• 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 90/37 Surgical systems with images on a monitor during operation
• CPC Class Codes: G06T 19/003 Navigation within 3D models or images
• 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 2207/30064 Lung nodule
• CPC Class Codes: G06T 2210/41 Medical
• CPC Class Codes: G06T 2219/2016 Rotation, translation, scaling
• CPC Class Codes: G06T 7/0012 Biomedical image inspection

Abstract

A method for implementing a dynamic three-dimensional lung map view for navigating a probe inside a patient'"'"'s lungs includes loading a navigation plan into a navigation system, the navigation plan including a planned pathway shown in a 3D model generated from a plurality of CT images, inserting the probe into a patient'"'"'s airways, registering a sensed location of the probe with the planned pathway, selecting a target in the navigation plan, presenting a view of the 3D model showing the planned pathway and indicating the sensed location of the probe, navigating the probe through the airways of the patient'"'"'s lungs toward the target, iteratively adjusting the presented view of the 3D model showing the planned pathway based on the sensed location of the probe, and updating the presented view by removing at least a part of an object forming part of the 3D model.

Claims

1. A system for lung navigation comprising:

a tracking system receiving signals from a probe;

a workstation in operable communication with the tracking system; and

a user interface in operable communication with the workstation, wherein the user interface is configured to display;

a three-dimensional (3D) lung model generated from a plurality of computer tomography (CT) images;

a planned pathway to a target on the 3D lung model;

an image of at least a portion of a digital probe in the 3D lung model, wherein a displayed position of the image of the at least a portion of the digital probe in the 3D model corresponds to signals from the probe; and

the 3D model with an object that is hidden or ghosted out.

2. The system of claim 1, wherein the hiding or the ghosting out is at least one of removal of at least the portion of the object or altering a transparency of at least the portion of the object.

3. The system of claim 1, wherein the hiding or the ghosting out is altering an appearance of the 3D lung model.

4. The system of claim 2, wherein the object is at least one of another target, an area outside a region of interest, a branch of an airway tree, or an item obscuring the region of interest.

5. The system of claim 1, wherein the user interface is further configured to update the display of the 3D lung model automatically based on data from a sensor included in the probe.

6. The system of claim 5, wherein the sensor is an electromagnetic sensor.

7. The system of claim 1, wherein the display of the 3D lung model displayed in the user interface is automatically updated to adjust a level of zoom when the digital probe is within a threshold of the target in the 3D lung model.

8. A method of updating a lung navigation user interface, comprising:

displaying a planned pathway to a target on a three-dimensional (3D) lung model generated from a plurality of computer tomography (CT) images on the user interface;

displaying at least a portion of a digital probe in the 3D lung model, wherein a displayed position of the digital probe in the 3D lung model corresponds to a determined position of a catheter; and

updating the user interface upon detection of a change in location of the catheter to update the displayed position of the digital probe in the 3D lung model and to alter a transparency of at least a first portion of the 3D lung model and remove at least a second portion of the 3D lung model in response to detected change in location of the catheter.

9. The method of claim 8, wherein the first portion is a different target and the second portion is an airway.

10. The method of claim 9, wherein the displayed position of the digital probe in the 3D lung model is automatically updated based on data from a sensor included in the catheter, and

wherein the updating is performed in response to an automatic update of the 3D model.

11. The method of claim 10, wherein the determined position is determined from signals received from an electromagnetic sensor.

12. The method of claim 8, wherein the updating the user interface changes a level of zoom of the 3D lung model.

13. The method of claim 8, wherein the displayed portion of the digital probe in the 3D lung model is updated to a view orthogonal to a vector between the digital probe and a target in the 3D lung model.

14. The method of claim 8, further comprising:

increasing a level of zoom of the user interface for the 3D lung model in response to determining that the digital probe is within a predetermined distance of the target.

15. A method of updating a lung navigation user interface, comprising:

displaying on a user interface a planned pathway to a target in a three-dimensional (3D) lung model generated from a plurality of computer tomography (CT) images;

displaying at least a portion of an image of a digital probe in the 3D lung model, wherein a location of the displayed portion of the image of the digital probe in the 3D lung model corresponds to a determined position of a catheter; and

updating the user interface upon detection of a change in location of the catheter to update the displayed position of the image of the digital probe in the 3D lung model and to alter a transparency of at least a portion of the 3D lung model in response to detected change in location of the catheter.

16. The method of claim 15, wherein the portion of the 3D lung model whose transparency is altered is another target or an airway obscuring at least a portion of the planned pathway.

17. The method of claim 15, wherein the updating further comprises removing an object from the user interface.

18. The method of claim 15, wherein the catheter includes an electromagnetic sensor.

19. The method of claim 15, wherein the displayed portion of the digital probe in the 3D lung model is updated to a view orthogonal to a vector between the digital probe and a target in the 3D lung model.

20. The method of claim 15, wherein the displayed portion of the digital probe in the 3D lung model is updated to adjust a level of zoom when the digital probe approaches the target in the 3D lung model.

21. The method of claim 15, wherein the displayed portion of the digital probe in the 3D lung model is updated to display a viewpoint from a distal portion of the digital probe in a direction of the target.

22. The method of claim 15, wherein the updating is performed in response to a level of zoom adjustment.

23. A method of updating a lung navigation user interface, comprising:

displaying on a user interface a planned pathway to a target in a three-dimensional (3D) lung model generated from a plurality of computer tomography (CT) images;

displaying at least a portion of an image of a digital probe in the 3D lung model, wherein a location of the displayed portion of the image of the digital probe in the 3D lung model corresponds to a determined position of a catheter; and

updating the user interface to alter a transparency of at least a portion of the 3D lung model,

wherein the displayed image of the portion of the digital probe in the 3D lung model is updated to a view orthogonal to a vector between the digital probe and a target in the 3D lung model.