SYSTEMS AND METHODS FOR NAVIGATION IN IMAGE-GUIDED MEDICAL PROCEDURES

• US 20190350659A1
• Filed: 12/07/2017
• Published: 11/21/2019
• Est. Priority Date: 12/08/2016
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Wang, Bai, Zhao, Tao
• Granted Patent: US 11,547,490 B2
• Time in Patent Office: Days
• 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 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/254 being adapted depending on the stage of the surgical procedure
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• 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 34/35 for telesurgery
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 8/0841 for locating instruments
• CPC Class Codes: A61B 90/00 Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges protective face masks A41D13/11; surgeon's or patient's gowns or dresses A41D13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M1/00
• CPC Class Codes: G16H 30/40 for processing medical images, e.g. editing

Abstract

Medical imaging systems and methods are provided herein that provide for navigation and procedure planning without segmentation. A method comprises receiving, by a medical imaging system having at least one processing device, three-dimensional image data of a patient anatomy. The method also comprises filtering the three-dimensional data to display a portion of the three-dimensional image data that is associated with the patient anatomy and receiving, at the processing device, input from an operator input device. The input comprises navigational directions for virtual movement within a space defined by the three-dimensional image data. The method also includes tracking the virtual movement and generating a first model of the patient anatomy based on the tracked virtual movement.

Claims

1. A method comprising:

receiving, by a medical imaging system having at least one processing device, three-dimensional image data of a patient anatomy;

filtering the three-dimensional data to display a portion of the three-dimensional image data that is associated with the patient anatomy;

receiving, at the processing device, input from an operator input device, the input comprising navigational directions for virtual movement within a space defined by the three-dimensional image data;

tracking the virtual movement; and

generating a first model of the patient anatomy based on the tracked virtual movement.

2. The method of claim 1, wherein the first model of the patient anatomy is a line model comprising one or more lines based on the tracked virtual movement.

12. The method of claim 1, further comprising:

identifying a target in the three-dimensional image data;

determining a vector extending between a viewpoint of the three-dimensional image data in space and the target; and

rendering a user interface element representing the vector on a display displaying a rendering of the three-dimensional image data to provide navigational guidance.

13. The method of claim 1, further comprising:

identifying a target in the three-dimensional image data;

determining a first subset of modeled passageways that permit access to the target; and

rendering a first user interface element indicating that a first modeled passageway is excluded from the first subset of modeled passageways.

14. The method of claim 1, further comprising:

identifying a target in the three-dimensional image data;

determining a first subset of modeled passageways that permit access to the target; and

rendering a first user interface element indicating that a first modeled passageway is included within the first subset of modeled passageways.

15. The method of claim 14, further comprising:

blocking virtual navigation beyond a location in the three-dimensional image data associated with the rendered first user interface element.

3-11. -11. (canceled)

16-27. -27. (canceled)

28. A system for processing medical images, the system comprising:

a memory storing a set of three-dimensional image data of at least a portion of patient anatomy;

a processing device in communication with the memory, the processing device configured to execute instructions to perform operations comprising;

receiving three-dimensional image data of a patient anatomy;

filtering the three-dimensional image data;

generating a display of a portion of the three-dimensional image data associated with the patient anatomy;

receiving input from an operator input device, the input comprising navigational directions for virtual movement within an image space defined by the portion of the three-dimensional image data;

tracking the virtual movement; and

generating a model of the patient anatomy based on the tracked virtual movement.

29. The system of claim 28, wherein receiving the input from the operator input device comprises:

receiving a first input associated with virtual movement in a first perspective of the three-dimensional image data;

receiving a second input associated with virtual movement in a second perspective of the three-dimensional image data; and

combining the first and second inputs associated with the first and second perspectives to generate the model.

30. The system of claim 28, wherein the operator input device is a three-dimensional input device configured to process operator motion in three dimensions into the model.

31. The system of claim 28, wherein the processing device is further configured to execute instructions to perform rendering of a graphical user interface in a display in communication with the processing device.

32. The system of claim 31, wherein rendering the graphical user interface comprises rendering the filtered three-dimensional image data from a perspective internal to the three-dimensional image data or from a perspective external to the three-dimensional image data.

33. The system of claim 31, wherein rendering the graphical user interface comprises rendering the filtered three-dimensional image data from a perspective external to the three-dimensional image data.

34. The system of claim 33, wherein receiving input from the operator input device comprises receiving one or more drawing inputs from the operator input device, the one or more drawing inputs representing one or more three-dimensional lines drawn on one or more views of the three-dimensional image data by an operator.

35. The system of claim 31, wherein the operations further comprise displaying a plurality of filter selections and receiving a selection of at least one of the plurality of filter selections, wherein rendering the graphical user interface comprises rendering a filtered portion of the three-dimensional image data according to the selected at least one of the plurality of filter selections.

36. The system of claim 31, wherein the operations further comprise receiving a selection of a user interface element from an operator, the selection indicating a virtual navigation input mode or a drawing input mode.

37. The system of claim 31, wherein the operations further comprise displaying a generated pathway and the three-dimensional image data in the display.

38. The system of claim 37, wherein the generated pathway and the three-dimensional image data are displayed simultaneously.

39. The system of claim 28, wherein the processing device is configured to perform the filtering of the three-dimensional image data according to a density value to identify a feature in the received three-dimensional image data.

40. The system of claim 28, wherein the processing device is configured to perform the filtering of the three-dimensional image data according to different density values to identify different areas of the three-dimensional image data.

41. The system of claim 28, wherein the processing device is configured to perform the filtering of the three-dimensional image data according to a density value to isolate air from an anatomical feature in the received three-dimensional image data.