Automatic pathway and waypoint generation and navigation method

• US 8,218,846 B2
• Filed: 05/14/2009
• Issued: 07/10/2012
• Est. Priority Date: 05/15/2008
• Status: Active Grant

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: superDimension, Ltd. (Medtronic Plc)
• Inventors: Trumer, Dror, Nir, Yaniv, Averbuch, Dorian
• Primary Examiner(s): NGUYEN, TU T
• Application Number:
  US12/466,238
• Publication Number:
  US 20100008555A1
• Time in Patent Office: 1,153 Days
• Field of Search: None
• US Class Current: 382/131
• 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 2090/3762 using computed tomography systems [CT]
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 5/00 Measuring for diagnostic purposes radiation diagnosis A61B6/00; diagnosis by ultrasonic, sonic or infrasonic waves A61B8/00; Identification of persons
• CPC Class Codes: A61B 5/087 Measuring breath flow
• 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 6/463 characterised by displaying multiple images or images and diagnostic data on one display
• CPC Class Codes: A61B 6/466 adapted to display 3D data
• CPC Class Codes: A61B 6/469 for selecting a region of interest [ROI]
• CPC Class Codes: A61B 6/5217 extracting a diagnostic or physiological parameter from medical diagnostic data
• CPC Class Codes: G06T 2207/10081 Computed x-ray tomography [CT]
• CPC Class Codes: G06T 2207/30061 Lung
• CPC Class Codes: G06T 7/0012 Biomedical image inspection

Abstract

A navigation system for use in a luminal network of a patient, such as the airways, that is able to analyze a three-dimensional model of the luminal network and automatically determine a pathway from an entry point to a designated target. The system further automatically assigns waypoints along the determined pathway in order to assist a physician in navigating a probe to the designated target.

Claims

1. A method of providing a pathway through a luminal network of a patient from an entry point to a target comprising:

collecting data regarding an anatomy of a luminal network;

developing a three-dimensional map of said luminal network using said data;

displaying a representation of said map on a user interface;

selecting a target on said map;

providing an algorithm that automatically determines a pathway from a selected entry point to said target;

displaying said determined pathway on said user interface;

providing an algorithm that automatically assigns and displays waypoints along said pathway.

2. The method of claim 1 wherein collecting data regarding an anatomy of a luminal network comprises taking a plurality of images of said luminal network.

3. The method of claim 2 wherein taking a plurality of images of said luminal network comprises taking a plurality of CT scans of said luminal network.

4. The method of claim 3 wherein developing a three-dimensional map of said luminal network using said data comprises assembling said plurality of CT scans and performing a data fill function to create a seamless three-dimensional model.

5. The method of claim 1 wherein developing a three-dimensional map of said luminal network comprises developing a skeletonized three-dimensional map of said luminal network.

6. The method of claim 1 wherein said algorithm automatically determines said pathway by performing steps comprising:

beginning at said selected target;

following lumina back to said entry point.

7. The method of claim 6 wherein following lumina back to said entry point comprises;

selecting a point within said lumina proximate said target;

determining a lumen diameter at said point;

selecting a second point outside a plane of said lumen diameter;

determining a second diameter at said second point;

continuing to select successive points having increasing diameters until said entry point is reached.

8. The method of claim 6 wherein said luminal network comprises airways and developing a three-dimensional map of said luminal network using said data comprises labeling said map with exhalation air flow direction through said luminal network.

9. The method of claim 8 wherein following lumina back to said entry point comprises following said airflow direction labels back to said entry point.

10. The method of claim 1 wherein providing an algorithm that automatically assigns displays waypoints along said pathway comprises providing an algorithm that detects airway intersections.

11. The method of claim 10 wherein providing an algorithm that detects airway intersections further comprises providing an algorithm that detects airway intersections and designates a point spaced apart from said intersection, and on said pathway, as a waypoint.

12. The method of claim 11 wherein providing an algorithm that detects airway intersections and designates a point spaced apart from said intersection, and on said pathway, as a waypoint comprises providing an algorithm that detects airway intersections and designates a point spaced apart from said intersection toward said target, and on said pathway, as a waypoint.

13. The method of claim 1 wherein displaying said determined pathway on said user interface comprises providing a user with zoom and pan functions.

14. The method of claim 1 wherein providing an algorithm that automatically assigns and displays waypoints along said pathway comprises providing an algorithm that numbers said waypoints consecutively along said pathway.

15. The method of claim 1 further comprising providing an algorithm that generates a fly-through feature that displays a simulated navigation view from the entry point to the target on said user interface.

16. A method of providing a pathway through a luminal network of a patient from an entry point to a target comprising:

providing a three-dimensional map of said luminal network;

selecting a target on said map;

providing an algorithm that automatically determines a pathway from a selected entry point to said target;

displaying said determined pathway on said user interface.

17. The method of claim 16 further comprising providing an algorithm that automatically assigns and displays waypoints along said pathway.

18. The method of claim 17 wherein providing an algorithm that automatically assigns displays waypoints along said pathway comprises providing an algorithm that detects airway intersections.

19. The method of claim 18 wherein providing an algorithm that detects airway intersections further comprises providing an algorithm that detects airway intersections and designates a point spaced apart from said intersection, and on said pathway, as a waypoint.

20. The method of claim 19 wherein providing an algorithm that detects airway intersections and designates a point spaced apart from said intersection, and on said pathway, as a waypoint comprises providing an algorithm that detects airway intersections and designates a point spaced apart from said intersection toward said target, and on said pathway, as a waypoint.

21. The method of claim 17 wherein providing an algorithm that automatically assigns and displays waypoints along said pathway comprises providing an algorithm that numbers said waypoints consecutively along said pathway.

22. The method of claim 16 wherein displaying said determined pathway on said user interface comprises providing a user with zoom and pan functions.

23. The method of claim 16 further comprising providing an algorithm that generates a fly-through feature that displays a simulated navigation view from the entry point to the target on said user interface.