METHOD AND APPARATUS FOR CONTINUOUS GUIDANCE OF ENDOSCOPY

• US 20080207997A1
• Filed: 01/30/2008
• Published: 08/28/2008
• 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., Rai, Lav, Merritt, Scott A., Gibbs, Jason D., Yu, Kun-Chang
• Granted Patent: US 8,672,836 B2
• Time in Patent Office: Days
• US Class Current: 600/114
• CPC Class Codes: A61B 1/000094 extracting biological structures
• CPC Class Codes: A61B 1/0005 combining images e.g. side-by-side, superimposed or tiled
• 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 2090/365 augmented reality, i.e. correlating a live optical image with another image
• 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 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras

Abstract

Methods and apparatus provide continuous guidance of endoscopy during a live procedure. A data-set based on 3D image data is pre-computed including reference information representative of a predefined route through a body organ to a final destination. A plurality of live real endoscopic (RE) images are displayed as an operator maneuvers an endoscope within the body organ. A registration and tracking algorithm registers the data-set to one or more of the RE images and continuously maintains the registration as the endoscope is locally maneuvered. Additional information related to the final destination is then presented enabling the endoscope operator to decide on a final maneuver for the procedure. The reference information may include 3D organ surfaces, 3D routes through an organ system, or 3D regions of interest (ROIs), as well as a virtual endoscopic (VE) image generated from the precomputed data-set. The preferred method includes the step of superimposing one or both of the 3D routes and ROIs on one or both of the RE and VE images. The 3D organ surfaces and routes may correspond to the surfaces and paths of a tracheobronchial airway tree extracted, for example, from 3D MDCT images of the chest.

Claims

1. A method for continuous guidance of endoscopy during a live procedure, comprising the steps of:

a) providing a precomputed data-set based on 3D image data, the data-set including reference information representative of a predefined route through a body organ to a final destination;

b) displaying a plurality of live real endoscopic (RE) images as an operator maneuvers an endoscope within the body organ;

c) presenting information, corresponding to an initial reference location along the predefined route, which enables an endoscope operator to move the endoscope toward the reference location;

d) invoking a registration/tracking algorithm that registers the data-set to one or more of the RE images and continuously maintains the registration as the endoscope is locally maneuvered;

e) presenting information, corresponding to another reference location along the predefined route, which enables the endoscope operator to move the endoscope close to this new reference location;

f) repeating steps d)-e) a plurality of times until the endoscope is within the vicinity of the final destination; and

g) presenting additional information related to the final destination on a reference location, which enables the endoscope operator to decide on the final maneuver for the procedure.

2. The method of claim 1, wherein the reference information includes one or more of the following:

3D organ surfaces, 3D routes through an organ system, 3D regions of interest (ROIs).

3. The method of claim 2, wherein the reference information includes a virtual endoscopic (VE) image generated from the precomputed data-set.

4. The method of claim 3, including the step of superimposing one or both of the 3D routes and ROIs on one or both of the RE and VE images.

5. The method of claim 2, wherein the 3D organ surfaces correspond to the surfaces of a tracheobronchial airway tree extracted from 3D MDCT images of the chest.

6. The method of claim 2, wherein the 3D routes correspond to paths traversing a tracheobronchial airway tree extracted from 3D MDCT images of the chest or traversing other neighboring anatomical structures.

7. The method of claim 2, wherein the ROIs represent lymph nodes, suspect tumors, narrowed airways, or any other diagnostically relevant regions.

8. The method of claim 1, including the step of halting the registration/tracking algorithm prior to step e).

9. The method of claim 8, wherein a saved registration view is presented after halting the registration/tracking algorithm.

10. The method of claim 4, wherein one superimposed route is highlighted and continuously presented to guide the endoscope operator in steps c)-g).

11. The method of claim 10, wherein the registered VE view is displayed synchronously with the live RE video.

12. The method of claim 2, wherein step d) is done in real time.

13. A system for continuous guidance of endoscopy during a live procedure, comprising:

an endoscope maneuvered by an operator along a route to a final destination within a body organ;

a display device operative to display live, real endoscopic (RE) images obtained by the endoscope;

a memory storing a precomputed data-set derived from 3D image data, the data-set including reference information representative of a predefined route through a body organ to a final destination.

a processor in communication with the memory and display, the processor being operative to;

a) continuously register the data-set to one or more of the RE images by displaying and updating the reference information as the operator maneuvers the endoscope, thereby continuously tracking the endoscope and guiding the operator to the final destination on the display device, and

b) provide additional information related to the final destination enabling the endoscope operator to decide on a final maneuver for the procedure.

14. The system of claim 13, wherein the reference information includes one or more of the following:

3D organ surfaces, 3D routes through an organ system, and 3D regions of interest (ROIs).

15. The system of claim 13, wherein the reference information includes a virtual endoscopic (VE) image generated from the precomputed data-set.

16. The system of claim 14, wherein one or both of the 3D routes and ROIs are superimposed on one or both of the RE and VE images.

17. The system of claim 14, wherein the 3D organ surfaces correspond to the surfaces of a tracheobronchial airway tree extracted from 3D MDCT images of the chest.

18. The system of claim 14, wherein the 3D routes correspond to paths traversing the tracheobronchial airway tree extracted from 3D MDCT images of the chest or traversing other neighboring anatomical structures.

19. The system of claim 14, wherein the ROIs represent lymph nodes, suspect tumors, narrowed airways, or any other diagnostically relevant regions.

20. The system of claim 13, further including an operator control to halt the registration process.

21. The system of claim 20, wherein a saved registration view is presented on the display after halting.

22. The system of claim 16, wherein the processor is operative to highlight a superimposed route on the display as an operator maneuvers the endoscope.

23. The system of claim 15, wherein the VE view is displayed synchronously with the live RE video.

24. The system of claim 13, wherein the registration is done in real time.