Device and method for automated planning of an access path for a percutaneous, minimally invasive intervention
First Claim
1. A device for automated planning of an access path for a percutaneous, minimally invasive intervention on an area of the body, comprising:
- a storage unit to store 3D image data of the body area;
a segmentation module to automatically segment bones, vessels, and, if appropriate, other elements endangered by the intervention in the 3D image data;
a planning module to, on the basis of at least one predefined path geometry, a target position and the segmented bones, vessels and other elements endangered by the intervention, automatically determine at least one access path to the target position, the planning module being configured such that the at least one access path maintains a clearance distance from the vessels which is dependent on a diameter of the vessels;
a display module to display at least one of the 3D image data and image data derived from the 3D image data and to display the at least one access path determined by the planning module in at least one of the 3D image data and image data derived from the 3D image data; and
an interaction module, including a user interface, usable for at least one of interactive selection and correction of the at least one access path determined by the planning module, and to mark a target position in a display of at least one of the 3D image data and the image data derived from the 3D image data;
whereinthe at least one access path to the target position does not run through bones and does not intersect any vessels and other elements endangered by the intervention, andif at least one access path to the target position that does not run through bones and does not intersect any vessels and other elements endangered by the intervention is not found, the at least one access path to the target position intersects only a set number of vessels and other elements endangered by the intervention.
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Abstract
A device and a method are disclosed for automated planning of an access path for a percutaneous, minimally invasive intervention on an area of the body, in particular on the lungs. In the method, 3D image data of the body area are prepared, from which bones and elements endangered by the intervention are automatically segmented. In a display of the 3D image data and/or of image data derived therefrom, a target position is marked in the 3D image data by a user. On the basis of one or more predefined path geometries, the target position and the segmented data, a planning module automatically determines one or more access paths to the target position which do not run through bones and which do not intersect any elements endangered by the intervention, or intersect only a minimal number of elements endangered by the intervention. The one or more access paths are presented to the user on a monitor for information and/or interactive selection and/or correction in a display of the 3D image data or of image data derived therefrom.
48 Citations
25 Claims
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1. A device for automated planning of an access path for a percutaneous, minimally invasive intervention on an area of the body, comprising:
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a storage unit to store 3D image data of the body area; a segmentation module to automatically segment bones, vessels, and, if appropriate, other elements endangered by the intervention in the 3D image data; a planning module to, on the basis of at least one predefined path geometry, a target position and the segmented bones, vessels and other elements endangered by the intervention, automatically determine at least one access path to the target position, the planning module being configured such that the at least one access path maintains a clearance distance from the vessels which is dependent on a diameter of the vessels; a display module to display at least one of the 3D image data and image data derived from the 3D image data and to display the at least one access path determined by the planning module in at least one of the 3D image data and image data derived from the 3D image data; and an interaction module, including a user interface, usable for at least one of interactive selection and correction of the at least one access path determined by the planning module, and to mark a target position in a display of at least one of the 3D image data and the image data derived from the 3D image data;
whereinthe at least one access path to the target position does not run through bones and does not intersect any vessels and other elements endangered by the intervention, and if at least one access path to the target position that does not run through bones and does not intersect any vessels and other elements endangered by the intervention is not found, the at least one access path to the target position intersects only a set number of vessels and other elements endangered by the intervention. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for automated planning of an access path for a percutaneous, minimally invasive intervention on an area of the body, comprising:
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preparing 3D image data of the body area; automatically segmenting bones, vessels, and, if appropriate, other elements endangered by the intervention from the 3D image data; marking a target position in at least one of a display of the 3D image data and image data derived from the 3D image data; automatically determining, on the basis of path geometries, the target position and the segmented bones, vessels and other elements endangered by the intervention, at least one access path such that a clearance distance from the vessels is maintained which is dependent on a diameter of the vessels; and displaying the at least one access path for at least one of information, interactive selection and correction in a display of the 3D image data or of image data derived from the 3D image data;
whereinthe at least one access path does not run through bones and does not intersect any vessels and other elements endangered by the intervention, and if at least one access path that does not run through bones and does not intersect any vessels and other elements endangered by the intervention is not found, the at least one access path intersects only a set number of vessels and other elements endangered by the intervention. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A device for automated planning of an access path for a percutaneous, minimally invasive intervention on an area of the body, comprising:
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means for storing 3D image data of the body area; means for automatically segment bones, vessels, and, if appropriate, other elements endangered by the intervention in the 3D image data; planning means for, on the basis of at least one predefined path geometry, a target position and the segmented bones, vessels and other elements endangered by the intervention, automatically determining at least one access path to the target position, the planning means being configured such that the at least one access path determined by the planning means maintains a clearance distance from the vessels which is dependent on a diameter of the vessels; means for displaying at least one of the 3D image data and image data derived from the 3D image data and for displaying the at least one access path determined by the planning means in at least one of the 3D image data and image data derived from the 3D image data; and means, including a user interface, for at least one of interactive selection and correction of the at least one access path determined by the planning means, and for marking a target position in a display of at least one of the 3D image data and the image data derived from the 3D image data;
whereinthe at least one access path to the target position does not run through bones and does not intersect any vessels and other elements endangered by the intervention, and if at least one access path to the target position that does not run through bones and does not intersect any vessels and other elements endangered by the intervention is not found, the at least one access path to the target position intersects only a set number of vessels and other elements endangered by the intervention.
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Specification