Systems and Methods for Registration of a Medical Device Using Rapid Pose Search

• US 20130303891A1
• Filed: 05/13/2013
• Published: 11/14/2013
• Est. Priority Date: 05/14/2012
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Chopra, Prashant
• Granted Patent: US 10,376,178 B2
• Time in Patent Office: Days
• US Class Current: 600/424
• 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 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/303 specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
• CPC Class Codes: A61B 2090/3614 using optical fibre
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2505/05 Surgical care
• CPC Class Codes: A61B 2562/043 in a linear array
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 5/061 Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body A61B1/00158 takes precedence
• CPC Class Codes: A61B 5/062 using magnetic field
• 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 5/066 Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging

Abstract

A method comprises identifying linked anatomical structures in stored images of a patient anatomy and modeling a structure of linkage elements. Each linkage element corresponds to one of the linked anatomical structures. The method also includes modeling a portion of the patient anatomy as a plurality of search slabs and assigning each of the linkage elements to one of the plurality of search slabs. The method also includes receiving tracking data corresponding to a sensed instrument portion. The tracking data includes position information and orientation information for the sensed instrument portion. The method also includes identifying one of the plurality of search slabs which includes the position information for the sensed instrument portion and matching the sensed instrument portion to a matched linkage element from among the linkage elements assigned to the identified one of the plurality of search slabs.

Claims

1. A method comprising:

identifying linked anatomical structures in stored images of a patient anatomy;

modeling a structure of linkage elements, wherein each linkage element corresponds to one of the linked anatomical structures;

modeling a portion of the patient anatomy as a plurality of search slabs;

assigning each of the linkage elements to one of the plurality of search slabs;

receiving tracking data corresponding to a sensed instrument portion, wherein the tracking data includes position information and orientation information for the sensed instrument portion;

identifying one of the plurality of search slabs which includes the position information for the sensed instrument portion; and

matching the sensed instrument portion to a matched linkage element from among the linkage elements assigned to the identified one of the plurality of search slabs.

2. The method of claim 1 further comprising:

receiving preoperative medical images into a computer memory device to create the stored images of the patient anatomy.

3. The method of claim 1 wherein the linked anatomical structures include airways of a lung.

4. The method of claim 1 wherein assigning each of the linkage elements to one of a plurality of search slabs includes identifying a width dimension of each of the plurality of search slabs.

5. The method of claim 1 wherein matching the sensed instrument portion to the matched linkage element from among the linkage elements includes matching the orientation information and the position information of the sensed instrument portion with orientation and position information for the matched linkage element.

6. The method of claim 1 further comprising:

generating corrected position information for the sensed instrument portion to match a location of the matched linkage element.

7. The method of claim 6 further comprising:

generating a composite image of the sensed instrument portion and the patient anatomy, including generating an image of the sensed instrument portion based upon the corrected position information.

8. The method of claim 1 further comprising generating a registry including the set of linkage elements sorted according to relative position along an axis.

9. The method of claim 8 wherein the axis is a generally caudal-cranio axis.

10. The method of claim 8 wherein the axis is along a planned access path through the patient anatomy.

11. A medical system comprising:

a memory storing images of a patient anatomy; and

a processor configured for

identifying linked anatomical structures in the stored images of a patient anatomy;

receiving the tracking data, wherein the tracking data includes position information and orientation information for a sensed instrument portion;

modifying the tracking data to generate snapped position and snapped orientation information for the sensed instrument portion;

rendering a composite medical image, wherein the composite medical image includes an image of at least a portion of the linked anatomical structures and an image of the sensed instrument portion in the snapped position and snapped orientation.

12. The medical system of claim 11 wherein the processor is further configured for:

modeling a structure of linkage elements, wherein each linkage element corresponds to one of the linked anatomical structures;

assigning each of the linkage elements to one of a plurality of search slabs;

identifying one of the plurality of search slabs which includes the position information; and

matching the sensed instrument portion to a matched linkage element from among the linkage elements assigned to the identified one of the plurality of search slabs.

13. The medical system of claim 11 wherein the stored images of the patient anatomy include preoperatively recorded medical images.

14. The medical system of claim 11 wherein the linked anatomical structures include airways of a lung.

15. The medical system of claim 11 wherein the linked anatomical structures include a cardiovascular system.

16. The medical system of claim 11 wherein the linked anatomical structures include a brain circulatory system.

17. The medical system of claim 11 further comprising an instrument including the sensed instrument portion and a sensor adapted to provide tracking data for the sensed instrument portion.

18. The medical system of claim 17 wherein the instrument includes an elongated, flexible body.

19. The medical system claim 12 wherein assigning each of the linkage elements to one of a plurality of search slabs includes identifying a width dimension of each of the plurality of search slabs.

20. The medical system of claim 12 wherein matching the sensed instrument portion to the matched linkage element from among the linkage elements includes matching the orientation information and the position information of the sensed instrument portion with orientation and position information for the matched linkage element.

21. The medical system of claim 12 wherein modifying the tracking data to generate snapped position and snapped orientation information for the sensed instrument portion includes generating the snapped position information to match a location of the matched linkage element.

22. The medical system of claim 11 wherein the memory further comprises a registry including each linkage element sorted according to relative position along an axis.

23. The medical system of claim 22 wherein the axis is a generally caudal-cranio axis.

24. A method comprising:

rendering a composite medical image, wherein the composite medical image includes an image of a plurality of passageways in a patient anatomy and an image of a medical instrument; and

correcting the image of the medical instrument to position a point on the medical instrument within one of the plurality of passageways in the composite medical image, wherein correcting the image includes generating a model of the plurality of passageways, identifying one of a plurality of slabs of the model that includes a position of the medical instrument, and matching a pose of a point in one of the plurality of passageways in the slab to a pose of a point on the medical instrument.

25. The method of claim 24 further comprising displaying the corrected image with the point on the medical instrument snapped to the matched one of the plurality of passageways.

26. The method of claim 24 wherein the step of correcting the image further includes assigning each of the plurality of passageways to one of a plurality of slabs of the model.

27. The method of claim 24 wherein the step of matching a point on one of the plurality of passageways in the slab to the point on the medical instrument includes matching position and orientation information for the point on the medical instrument to one of the plurality of passageways in the slab.