VISUALIZATION OF DEPTH AND POSITION OF BLOOD VESSELS AND ROBOT GUIDED VISUALIZATION OF BLOOD VESSEL CROSS SECTION

• US 20170007350A1
• Filed: 01/26/2015
• Published: 01/12/2017
• Est. Priority Date: 02/04/2014
• Status: Active Grant

• Current Assignee: Koninklijke Philips N.V.
• Original Assignee: Koninklijke Philips N.V.
• Inventors: POPOVIC, ALEKSANDRA, ELHAWARY, HAYTHAM
• Granted Patent: US 11,523,874 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A61B 1/00009 of image signals during a use of endoscope
• CPC Class Codes: A61B 1/000094 extracting biological structures
• CPC Class Codes: A61B 1/00165 with light-conductive means, e.g. fibre optics A61B1/07 takes precedence
• CPC Class Codes: A61B 1/00194 adapted for three-dimensional imaging
• CPC Class Codes: A61B 2017/00243 cardiac
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• 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 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 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation

Abstract

A system for visualizing an anatomical target includes an imaging device (105) configured to collect real-time images of an anatomical target. A three-dimensional model (136) is generated from pre- or intra-operative images and includes images of structures below a surface of the anatomical target not visible in the images from the scope. An image processing module (148) is configured to generate an overlay (107) registered to the real-time images and to indicate the structures below the surface and a depth of the structures below the surface. A display device (118) is configured to concurrently display the real-time images and the overlay.

Claims

1. A system for visualizing an anatomical target, comprising:

an imaging device configured to collect real-time images of an anatomical target;

a three-dimensional model generated from pre- or intra-operative images and including images of structures below a surface of the anatomical target not visible in the images from the imaging device;

an image processing module configured to generate an overlay registered to the real-time images which displays the structures below the surface of the anatomical target not visible in the images from the imaging device and indicates a depth of the structures below the surface; and

a display device configured to concurrently display the real-time images and the overlay.

2. The system as recited in claim 1, wherein the depth of the structures below the surface is indicated by one of color, texture or size of the structures rendered in the overlay.

3. The system as recited in claim 1, wherein the depth of the structures below the surface is indicated by a color gradient where color intensity is proportional to depth.

4. The system as recited in claim 1, wherein the depth of the structures below the surface is indicated relative to a position of a tool in the real-time images.

5. The system as recited in claim 1, wherein the depth of the structures below the surface is indicated using a cursor over the overlay to generate an alphanumeric label indicating the depth.

6. The system as recited in claim 1, wherein the depth of the structures below the surface is indicated within a shaped area in a vicinity of a tool tip.

7. The system as recited in claim 1, further comprising an image guidance module configured to robotically guide the scope along a path corresponding to one or more of the structures below the surface.

8. The system as recited in claim 1, further comprising a virtual image showing an internal view of the structures below the surface.

9. A system for visualizing an anatomical target, comprising:

an imaging device configured to collect real-time images of an anatomical target;

a three-dimensional model generated from pre- or intra-operative images and including images of structures below a surface of the anatomical target not visible in the images from the imaging device;

an image processing module configured to generate an overlay registered to the real-time images which displays the structures below the surface of the anatomical target not visible in the images from the imaging device;

a visualization feature configured to display an internal view of at least a portion of the structures below the surface; and

a display device configured to concurrently display at least two of;

the real-time images, the overlay or the internal view.

10. The system as recited in claim 9, wherein a depth of the structures below the surface is indicated in the overlay by one of color, texture or size of the structures.

11. The system as recited in claim 9, wherein a depth of the structures below the surface is indicated by at least one of a color gradient where color intensity is proportional to depth;

a relative position to a tool displayed in the real-time images;

or a cursor over the overlay to generate an alphanumeric label indicating the depth.

12. The system as recited in claim 9, wherein a depth of the structures below the surface is indicated within a shaped area in a vicinity of a tool tip.

13. The system as recited in claim 9, further comprising an image guidance module configured to robotically guide the scope along a path corresponding to one or more of the structures below the surface.

14. The system as recited in claim 9, wherein the internal view includes a three-dimensional fly-through images or a cross-section of the structures below the surface.

15. The system as recited in claim 9, further comprising a robot configured to be guided along a path corresponding to at least one of the structures below the surface.

16. A method for visualizing an anatomical target, comprising:

imaging an anatomical target using a scope to collect real-time images;

registering the real-time images with a three-dimensional model of an internal volume of the anatomical target;

displaying the real-time images with an overlay registered to the real-time images; and

displaying structures below the surface of the anatomical target not visible in images from the scope and indicating a depth of the structures below the surface on the overlay.

17. The method as recited in claim 16, wherein indicating includes indicating the depth by one of color, texture or size of the structures rendered in the overlay.

18. The method as recited in claim 16, wherein indicating includes indicating the depth by one or more of a color gradient where color intensity is proportional to depth;

a relative position of a tool in the real-time images;

or a cursor over the overlay to generate an alphanumeric label indicating the depth.

19. The method as recited in claim 16, wherein the depth of the structures below the surface is indicated within a shaped area in a vicinity of a tool tip.

20. The method as recited in claim 16, further comprising displaying a virtual image showing an internal view of the structures below the surface.

21. The method as recited in claim 20, wherein the internal view includes a cross-sectional view of the structures below the surface.

22. The method as recited in claim 20, further comprising guiding a robot along a path corresponding to at least one of the structures below the surface, wherein the internal view includes three-dimensional fly-through images of the structures below the surface.