System and method for endoscopic path planning

• US 7,822,461 B2
• Filed: 07/09/2004
• Issued: 10/26/2010
• Est. Priority Date: 07/11/2003
• Status: Expired due to Fees

• Current Assignee: Siemens Medical Solutions USA Incorporated (Siemens AG)
• Original Assignee: Siemens Medical Solutions USA Incorporated (Siemens AG)
• Inventors: Naidich, David P., Novak, Carol L., Geiger, Bernhard, Kiraly, Atilla Peter
• Primary Examiner(s): Casler; Brian
• Assistant Examiner(s): LAMPRECHT, JOEL
• Application Number:
  US10/888,368
• Publication Number:
  US 20050107679A1
• Time in Patent Office: 2,300 Days
• Field of Search: 600/117, 600/407, 600/424, 600/427, 600/109, 600/112, 600/118, 600/101, 600/410, 600/411, 600/415, 600/416, 600/420, 600/425, 600/437, 606/45
• US Class Current: 600/415
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: G06T 19/003 Navigation within 3D models or images
• CPC Class Codes: G06T 2210/41 Medical

Abstract

A system and method for endoscopic path planning is provided. The method comprises: identifying a target in a lung, wherein the target is located in a peripheral airway of the lung; generating an endoscopic path to the target, wherein a peripheral artery is used as a surrogate for the peripheral airway; and viewing the endoscopic path.

Claims

1. A system for endoscopic path planning, comprising:

a memory device for storing a program;

a processor in communication with the memory device, the processor operative with the program to;

receive an image of a lung, wherein the image includes airways and arteries, and wherein certain peripheral airways are not visible in the image, but peripheral arteries corresponding to the non-visible peripheral airways are visible in the image;

identify a target in an image of a lung, wherein the target is located near a non-visible peripheral airway; and

automatically generate an endoscopic path to the target, wherein the endoscopic path follows a visible airway that leads to the non-visible peripheral airway, and then, follows a path computed by the processor based on coordinates of the non-visible peripheral airway'"'"'s nearest matching peripheral artery to the target,

wherein the endoscopic path is inside the visible airway that leads to the non-visible peripheral airway and the non-visible peripheral airway that leads to the target.

2. The system of claim 1, wherein when the system is used to perform a bronchoscopy, the processor is further operative with the program to:

receive an image that identifies a location of a tip of a bronchoscope that has been inserted into the lung;

register the image with a corresponding image from the endoscopic path; and

determine where the tip of the bronchoscope is located in relation to where it should be located in the endoscopic path.

3. The system of claim 2, wherein the processor is further operative with the program to:

cause a user to reposition the tip of the bronchoscope to match where it should be located in the endoscopic path.

4. The system of claim 1, wherein the target comprises a nodule, cancerous protrusion, non-cancerous protrusion, lesion, tumor, or stenosis.

5. The system of claim 1, wherein the image is received from a device employing a computed tomographic (CT), helical CT, x-ray, positron emission tomographic, fluoroscopic, ultrasound, or magnetic resonance (MR) imaging technique.

6. The system of claim 1, wherein the processor is further operative with the program when identifying the target to:

select the target.

7. The system of claim 1, wherein the processor is further operative with the program when generating an endoscopic path to the target to:

segment airways and arteries in the lung;

compute an airway tree of the segmented airways and an artery tree of the segmented arteries;

match the computed airway and artery trees to each other;

use the matched trees to find the non-visible peripheral airway'"'"'s nearest matching peripheral artery; and

select a jump point where the endoscopic path switches from following the visible airway to following the path computed based on coordinates of the nearest matching peripheral artery.

8. The system of claim 7, wherein the jump point is near an end of the visible airway.

9. The system of claim 7, wherein the jump point is at a midpoint of the visible airway.

10. The system of claim 1, wherein the processor is further operative with the program to:

display the endoscopic path.

11. A system for endoscopic path planning, comprising:

means for receiving an image of a lung, wherein the image includes airways and arteries, and wherein certain peripheral airways are not visible in the image, but peripheral arteries corresponding to the non-visible peripheral airways are visible in the image;

means for identifying a target in an image of a lung, wherein the target is located near a non-visible peripheral airway; and

means for automatically generating an endoscopic path to the target, wherein the endoscopic path follows a visible airway that leads to the non-visible peripheral airway, and then, follows a path computed by a machine based on coordinates of the non-visible peripheral airway'"'"'s nearest matching peripheral artery to the target,

wherein the endoscopic path is inside the visible airway that leads to the non-visible peripheral airway and the non-visible peripheral airway that leads to the target.