SYSTEMS AND METHODS FOR PRE-OPERATIVE MODELING

• US 20160070878A1
• Filed: 09/03/2015
• Published: 03/10/2016
• Est. Priority Date: 09/10/2014
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: ZHAO, TAO, Soper, Timothy D., DONHOWE, CAITLIN Q., DUINDAM, VINCENT, BARBAGLI, FEDERICO
• Granted Patent: US 10,373,719 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/252 indicating steps of a surgical procedure
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: G16H 50/50 for simulation or modelling of medical disorders

Abstract

A method for modeling a patient anatomy includes applying a first modeling function to a set of volumetric image data for a patient anatomy to produce a first model of the patient anatomy, presenting the first model to a user, receiving an input from the user, and generating a revised model based upon the input.

Claims

1. A computing system comprising:

a user interface;

a processor; and

a memory comprising machine readable instructions that when executed by the processor, cause the system to;

through the user interface, present a first model to a user, the first model being formed by applying a first modeling function to a set of volumetric image data for a patient anatomy to produce a first model of the patient anatomy;

through the user interface, receive an input from the user;

generate a revised model based upon the input; and

present the revised model to the user.

2. The system of claim 1 wherein the first model is associated with a plurality of first model parameters.

3. The system of claim 2 wherein the plurality of first model parameters includes a leak rate.

4. The system of claim 2 wherein the plurality of first model parameters includes a center line composite length.

5. The system of claim 2 wherein the plurality of first model parameters includes a quantity of voxels in the first model.

6. The system of claim 2 wherein the plurality of first model parameters includes a quantity of branches in the first model.

7. The system of claim 1 wherein the input received from the user includes additional voxels representing additional features of the patient anatomy.

8. The system of claim 1 wherein the input received from the user includes a seed location and to generate the revised model, the processor is further to cause the system to apply a second modeling function to the set of volumetric image data in a region of the seed location.

9. The system of claim 1 wherein the input received from the user includes a tunable parameter for at least a portion of the first model and to generate the revised model, the processor is further to cause the system to reapply the first modeling function with the aggressiveness parameter.

10. The system of claim 1 wherein the input received from the user includes identification of a route to a target region.

11. The system of claim 10 wherein the input received from the user includes identification of vasculature proximate to the route to the target region.

12. The system of claim 1 wherein the input received from the user includes a threshold voxel intensity value and to generate the revised model, the processor is further to cause the system to omit voxels with a voxel intensity less than the threshold voxel intensity value.

13. The system of claim 1, wherein the processor is further to cause the system to:

apply a plurality of modeling functions to the set of volumetric image data for the patient anatomy to produce a plurality of models of the patient anatomy, wherein the first modeling function is one of the plurality of modeling functions and the first model is one of the plurality of models; and

present the plurality of models to the user.

14. The system of claim 13, wherein the input received from the user is an evaluation of the plurality of models.

15. The system of claim 14, wherein generating the revised model includes combining sub-portions of at least two of the plurality of models.

16. The system of claim 15 wherein the input received from the user includes identification of the sub-portions of the at least two of the plurality of models.

17. The system of claim 15, wherein the sub-portions of the models are mixed based on at least one of:

a selected airway link or airway links connected to the selected link.

18. The system of claim 14 wherein to apply the plurality of modeling functions to the set of volumetric data for the patient anatomy, the processor is further to cause the system to generate a set of intermediate modeling data for each of the plurality of modeling functions and generating the revised model includes applying the received user input to the intermediate modeling data.

19. The system of claim 18 wherein the intermediate modeling data is associated with a subset of the set of volumetric image data.

20. The system of claim 1, wherein the first modeling function comprises a segmentation function.