METHODS AND APPARATUS FOR 3D ROUTE PLANNING THROUGH HOLLOW ORGANS

• US 20080183073A1
• Filed: 01/24/2008
• Published: 07/31/2008
• Est. Priority Date: 01/31/2007
• Status: Active Grant

• Current Assignee: Penn State Research Foundation (Pennsylvania State University)
• Original Assignee: Penn State Research Foundation (Pennsylvania State University)
• Inventors: Higgins, William E., Gibbs, Jason D.
• Granted Patent: US 9,037,215 B2
• Time in Patent Office: Days
• US Class Current: 600/425
• CPC Class Codes: A61B 1/000096 using artificial intelligence
• CPC Class Codes: A61B 1/00045 Display arrangement
• CPC Class Codes: A61B 1/2676 Bronchoscopes
• 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 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/466 adapted to display 3D data
• CPC Class Codes: A61B 6/469 for selecting a region of interest [ROI]
• CPC Class Codes: G06T 19/003 Navigation within 3D models or images
• CPC Class Codes: G06T 2207/30061 Lung
• CPC Class Codes: G06T 2210/41 Medical

Abstract

Methods and apparatus assist in planning routes through hollow, branching organs in patients to optimize subsequent endoscopic procedures. Information is provided about the organ and a follow-on endoscopic procedure associated with the organ. The most appropriate navigable route or routes to a target region of interest (ROI) within the organ are then identified given anatomical, endoscopic-device, or procedure-specific constraints derived from the information provided. The method may include the step of modifying the viewing direction at each site along a route to give physically meaningful navigation directions or to reflect the requirements of a follow-on live endoscopic procedure. An existing route may further be extended, if necessary, to an ROI beyond the organ. The information provided may include anatomical constraints that define locations or organs to avoid; anatomical constraints that confine the route within specific geometric locations; or a metric for selecting the most appropriate route. For example, the metric may define the closest route to the ROI such that the route satisfies all applicable anatomical, device, and procedural constraints.

Claims

1. A method of planning routes through a 3D image of a tubular organ, comprising the steps of:

providing information about the organ and a follow-on endoscopic procedure associated with the organ; and

identifying the most appropriate route or routes to a target region of interest (ROI) within the organ that are navigable given anatomical, endoscopic-device, or procedure-specific constraints derived from the information provided.

2. The method of claim 1, including the step of extending an existing route, if necessary, to an ROI beyond the organ.

3. The method of claim 1, including the step of modifying the viewing direction at each site along a route to give physically meaningful navigation directions or to reflect the requirements of a follow-on live endoscopic procedure.

4. The method of claim 1, wherein the information includes anatomical constraints that define locations or organs to avoid.

5. The method of claim 1, wherein the information includes anatomical constraints that confine the route within specific geometric locations.

6. The method of claim 1, wherein the information includes a metric for selecting the most appropriate route.

7. The method of claim 6, wherein the metric is the closest route to the ROI such that the route satisfies all applicable anatomical, device, and procedural constraints.

8. The method of claim 1, wherein the information includes the definition of the ROI.

9. The method of claim 1, wherein the information includes a segmentation of the organ through which navigation will occur in either the 3D image or in the real organ with an endoscopic device.

10. The method of claim 1, wherein the information includes the central axes of the segmented organ.

11. The method of claim 1, wherein the information includes a parametric description of the endoscopic device.

12. The method of claim 11, wherein the parametric description includes the diameter, flexibility, or other physical characteristics of the endoscopic device.

13. The method of claim 11, wherein the parametric description includes descriptions of ancillary devices that may be used in conjunction with the primary endoscopic device.

14. The method of claim 1, wherein the organ is a branching organ.

15. The method of claim 1, wherein the organ is an airway tree.

16. The method of claim 1, wherein the information is derived through a multidetector computed tomographic (MDCT) chest image.

17. A method of planning an endoscopic route, comprising the steps of:

providing information about the organ and a follow-on endoscopic procedure associated with the organ;

locating the most appropriate route or routes to a target diagnostic region of interest (ROI) within the organ in accordance with the information provided; and

extending an incomplete route, if necessary, so that the route reaches the ROI.

18. The method of claim 17, wherein the information includes anatomical constraints that define locations or organs to avoid.

19. The method of claim 17, wherein the information includes anatomical constraints that confine the route within specific geometric locations.

20. The method of claim 17, wherein the information includes a metric for selecting the most appropriate route.

21. The method of claim 20, where the metric is the closest route to the ROI such that the route satisfies all applicable anatomical, device, and procedural constraints.

22. The method of claim 17, wherein the information includes the definition of the ROI.

23. The method of claim 17, wherein the information includes a segmentation of the organ through which the endoscopic device will navigate.

24. The method of claim 17, wherein the information includes central axes of the segmented organ.

25. The method of claim 17, wherein the information includes a parametric description of the endoscopic device.

26. The method of claim 25, wherein the parametric description includes the diameter, flexibility, or other physical characteristics of the endoscopic device.

27. The method of claim 25, wherein the parametric description includes descriptions of ancillary devices that may be used in conjunction with the primary endoscopic device.

28. The method of claim 17, wherein the organ is a branching organ.

29. The method of claim 17, wherein the organ is an airway tree.

30. The method of claim 17, wherein the information is derived through a multidetector computed tomographic (MDCT) chest image.

31. A system for planning routes through a tubular organ, comprising:

a display device for displaying a 3D image of the organ;

a memory for storing information about the organ and a follow-on endoscopic procedure associated with the organ; and

a processor operative to perform the following functions;

a) access the stored information and determine the most appropriate route or routes to a target region of interest (ROI) within the organ that are navigable given anatomical, endoscopic-device, or procedure-specific constraints, and

b) display the route or routes on the display device in conjunction with the image of the organ.

32. The system of claim 31, wherein the processor is further operative to determine a route beyond the organ.

33. The system of claim 31, wherein the processor is further operative to modify the viewing direction at each site along a route to give physically meaningful navigation directions or to reflect the requirements of a follow-on live endoscopic procedure.

34. The system of claim 31 wherein the stored information includes anatomical constraints that define locations or organs to avoid.

35. The system of claim 31, wherein the stored information includes anatomical constraints that confine the route within specific geometric locations.

36. The system of claim 31, wherein the stored information includes a metric for selecting the most appropriate route.

37. The system of claim 36, wherein the metric is the closest route to the ROI such that the route satisfies all applicable anatomical, device, and procedural constraints.

38. The system of claim 31, wherein the stored information includes the definition of the ROI.

39. The system of claim 31, wherein the stored information includes a segmentation of the organ through which navigation will occur in either the 3D image or in the real organ with an endoscopic device.

40. The system of claim 31, wherein the stored information includes the central axes of the segmented organ.

41. The system of claim 31, wherein the stored information includes a parametric description of the endoscopic device.

42. The system of claim 41, wherein the parametric description includes the diameter, flexibility, or other physical characteristics of the endoscopic device.

43. The system of claim 41, wherein the parametric description includes descriptions of ancillary devices that may be used in conjunction with the primary endoscopic device.

44. The system of claim 31, wherein the stored information is derived through a multidetector computed tomographic (MDCT) chest image.