METHOD AND SYSTEM FOR INTERACTIVE PERCUTANEOUS PRE-OPERATION SURGICAL PLANNING

• US 20090142740A1
• Filed: 11/21/2008
• Published: 06/04/2009
• Est. Priority Date: 11/21/2007
• Status: Active Grant

• Current Assignee: EDDA Technology, Inc.
• Original Assignee: EDDA Technology, Inc.
• Inventors: QIAN, Jianzhong, CHEN, Hong, WEI, Guo-qing, MA, Feng, ZENG, Xiaolan, LIANG, Cheng-Chung, FAN, Li
• Granted Patent: US 10,431,001 B2
• Time in Patent Office: Days
• US Class Current: 434/262
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: G06T 19/00 Manipulating 3D models or images for computer graphics
• CPC Class Codes: G06T 2210/21 Collision detection, intersection
• CPC Class Codes: G06T 2210/41 Medical
• CPC Class Codes: G16H 50/50 for simulation or modelling of medical disorders

Abstract

The success of percutaneous radiofrequency ablation mainly depends on the accuracy of the needle insertion, making it possible to destroy the whole tumor, while avoiding damages on other organs and minimizing risks of a local recurrence. This invention presents a simulated 3D environment for user to interactively place a treatment probe to a target position.

Claims

1. A method for interactive percutaneous pre-operational surgical planning, comprising:

rendering a three dimensional (3D) volume and one or more 3D objects of at least one object type contained in the 3D volume in a 3D scene on a display screen;

receiving a selection of an object type associated with at least one 3D object in the 3D scene;

receiving information associated with a 3D location which is specified with respect to a 3D object of an object type rendered in the 3D scene and at which a 3D virtual probe is to be placed;

placing the 3D virtual probe at the 3D location; and

generating information about a 3D pose of the 3D virtual probe, wherein the 3D pose of the 3D virtual probe can be adjusted based on the information, and

one of the 3D object encloses other 3D objects in the 3D scene.

2. The method according to claim 1, wherein the 3D virtual probe includes a tip, a probe body, and a probe handle.

3. The method according to claim 2, wherein the 3D virtual probe is placed so that the tip of the virtual probe is placed at the 3D location.

4. The method according to claim 2, wherein the 3D pose of the 3D virtual probe includes a coordinate of the tip of the 3D virtual probe and a 3D orientation of the 3D virtual probe.

5. The method according to claim 1, wherein

the one or more 3D objects include a tumor, an organ, bone, and tissue;

and

the boundary of the 3D volume corresponds to skin.

6. The method according to claim 1, wherein the 3D object of an object type includes a tumor of a pre-defined type.

7. The method according to claim 1, wherein the information generated describes a first type of spatial relationship between the 3D virtual probe and the 3D object of the selected object type.

8. The method according to claim 7, wherein the first type of spatial relationship includes within, outside, or touch.

9. The method according to claim 1, wherein the information generated describes a second type of spatial relationship among the 3D virtual probe, the 3D object of an object type, and an object that is not the object type.

10. The method according to claim 9, wherein the second type of spatial relationship includes a collision relationship by which the 3D virtual probe collides with an object that is not the object type.

11. The method according to claim 1, wherein the 3D volume is rendered in an opaque mode so that the one or more objects contained in the 3D volume are not visible.

12. The method according to claim 1, wherein the 3D volume is rendered in a transparent mode so that the one or more objects contained in the 3D volume can be made visible.

13. The method according to claim 2, wherein the 3D pose of the 3D virtual probe can be adjusted via at least one of the handle and the body of the 3D virtual probe.

14. The method according to claim 1, wherein the information generated include an estimated effect on the 3D object of the object type caused by insertion of the 3D virtual probe into the 3D object.

15. The method according to claim 1, wherein the 3D virtual probe can be further adjusted in terms of its length.

16. A system for interactive percutaneous pre-operational surgical planning, comprising:

a 3D rendering mechanism configured for rendering a three dimensional (3D) volume and one or more 3D objects of at least one object type contained in the 3D volume in a 3D scene on a display screen;

a user interface controller configured for receiving information from a user associated with a 3D location with respect to a 3D object of an object type rendered in the 3D scene and at which a 3D virtual probe is to be placed;

a probe manipulation mechanism configured for inserting the 3D virtual probe at the 3D location in the 3D scene; and

an information generation mechanism configured for generating information about a 3D pose of the 3D virtual probe, wherein the 3D pose of the 3D virtual probe can be adjusted based on the information, and

one of the 3D object encloses other 3D objects in the 3D scene.

17. The system according to claim 16, further comprising a control panel facilitator configured for enabling the user to instruct an adjustment to be made to the 3D pose of the virtual 3D probe.

18. The system according to claim 16, wherein the probe manipulation mechanism comprises:

a 2D to 3D transformation mechanism configured for transform the information received from the user regarding the 3D location with respect to a 3D object into the 3D location at which the virtual 3D probe is to be inserted; and

a probe rendering mechanism configured for rendering the virtual 3D probe in the 3D scene at the 3D location.

19. The system according to claim 18, further comprising:

a probe view manipulation mechanism configured for handling an adjustment to be made to the virtual 3D probe; and

a probe view rendering mechanism configured for rendering the adjustment to be made to the virtual 3D probe.

20. The system according to claim 16, wherein the information generation mechanism comprises a collision detection module configured for detecting a collision between the virtual 3D probe and any of the one or more 3D objects in the 3D scene.

21. The system according to claim 16, wherein the information generation mechanism comprises a constraint calculation module configured for identifying one or more zones in the 3D scene in accordance with the 3D pose of the virtual 3D probe.

22. The system according to claim 21, wherein the one or more zones include a zone that represents an obstacle for the virtual 3D probe to enter.

23. The system according to claim 22, wherein the obstacle includes an object corresponding to a bone.

24. The system according to claim 21, wherein the one or more zones include a zone that represents a prohibited region where the virtual 3D probe is not permitted to enter.

25. The system according to claim 24, wherein the prohibited region includes a 3D object corresponding to an artery.