Preoperative surgical simulation

• US 8,500,451 B2
• Filed: 01/13/2008
• Issued: 08/06/2013
• Est. Priority Date: 01/16/2007
• Status: Active Grant

• Current Assignee: Simbionix Limited (Surgical Science Sweden AB)
• Original Assignee: Simbionix Limited (Surgical Science Sweden AB)
• Inventors: Bronstein, Ran, Fisher, Niv, Shilon, Ofek
• Primary Examiner(s): Thai, Xuan
• Assistant Examiner(s): GEBREMICHAEL, BRUK A
• Application Number:
  US12/224,314
• Publication Number:
  US 20090018808A1
• Time in Patent Office: 2,032 Days
• Field of Search: 434/262, 434/267, 434/272, 600/109, 600/416, 600/449
• US Class Current: 434/262
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: G06T 17/00 Three dimensional [3D] modelling, e.g. data description of 3D objects
• CPC Class Codes: G06T 19/00 Manipulating 3D models or images for computer graphics
• CPC Class Codes: G06T 2210/41 Medical
• CPC Class Codes: G16H 30/20 for handling medical images, e.g. DICOM, HL7 or PACS
• CPC Class Codes: G16H 30/40 for processing medical images, e.g. editing
• CPC Class Codes: G16H 50/50 for simulation or modelling of medical disorders

Abstract

An apparatus for simulating an image-guided procedure. The system comprises an input for receiving a three-dimensional (3D) medical image depicting an organ of a patient, a model generation unit for generating a 3D anatomical model of the organ according to the 3D medical image, and a simulating unit for simulating a planned image-guided procedure on the patient, according to the 3D anatomical model.

Claims

1. An apparatus for simulating an image-guided procedure, comprising:

an input unit to receive a three-dimensional (3D) medical image specific to an actual patient undergoing a specific medical procedure obtained by a medical imaging system depicting an anatomical region of the patient undergoing the specific medical procedure,

wherein said input unit is configured to receive a 3D data array composed as a pre-fetched and pre-parsed image, wherein the medical image is obtained after administering an intravenous contrast enhancement (ICE) component to the patient in order to improve precision of an automatic 3D segmentation process related to a soft tissue;

an anatomy-model generation unit for generating a 3D anatomical model of the anatomical region based on the received 3D medical image, wherein said anatomy-model generation unit comprises a 3D image segmentation unit,

wherein said 3D image segmentation unit is configured to perform the automatic segmentation process on the 3D medical image specific to the patient for segmenting the received 3D images into anatomical structures, wherein the segmentation process is based on a segmentation procedure in which relevant voxels of the received 3D data array are isolated according to values of the voxels,

wherein said segmentation procedure is adapted to segment a subset of scanned voxels from the 3D medical image wherein the values of the voxels in said subset is in a predefined range,

wherein said automatic segmentation process comprises classification of data voxels according to respective anatomical parts of said anatomical region and registration of said anatomical region;

and

a simulating unit to simulate an image-guided procedure planned for said patient according to said 3D anatomical model, wherein said simulating unit comprises an intervention simulator device and a simulation module,

wherein said intervention simulator device comprises a dummy interventional instrument, motion detectors, a movement calculation unit, an image displaying device and a force feedback mechanism,

wherein said simulation module is configured to receive inputs from said motion detectors, analyze the inputs using said movement calculation unit to produce outcome, translate the outcome to visual and tactile outputs, and transfer the outputs to said image displaying device and said force feedback mechanism, and

wherein said simulation module is further configured to receive the segmented 3D medical image from said anatomy-model generation unit, wherein the segmented 3D medical image is translated to a 3D model that simulates the anatomical region of the patient.

2. The apparatus of claim 1, where said 3D medical image is represented in digital imaging and communication in medicine (DICOM) format and said 3D anatomical model is presented by sets of data comprising a 3D spline description and polygonal meshes representation.

3. The apparatus of claim 1, wherein said 3D anatomical model is a model of a tract and said tract is a member of the following group:

a vascular tract, a urinary tract, a gastrointestinal tract, and a fistula tract.

4. The apparatus of claim 1, wherein said 3D medical image is a member of the following group:

computerized tomography (CT) scan images, magnetic resonance imager (MRI) scan images, ultrasound scan images, and positron emission tomography (PET)-CT scan images.

5. The apparatus of claim 1, wherein said planned image-guided procedure is an angioplasty procedure.

6. The apparatus of claim 1, further comprising a user interface operatively connected to said model generation unit, said user interface is to accept input data that identifies a location in the 3D medical image.

7. The apparatus of claim 1, wherein said simulated planned image-guided procedure is used as a study case during a learning process.

8. The apparatus of claim 1, wherein said simulated planned image-guided procedure is used to demonstrate a respective image-guided procedure to said patient.

9. The apparatus of claim 1, wherein said simulated planned image-guided procedure is used to document preparation to an operation.

10. The apparatus of claim 1, wherein said input unit is configured for receiving a four dimensional (4D) medical image, which is a set of consecutive 3D medical images that depicts said anatomical region during a time period, said model generation unit is configured for generating a 4D anatomical model according to said 4D medical image, said simulating unit is configured for simulating an image-guided procedure planned for said patient according to said 4D anatomical model.

11. The apparatus of claim 1, wherein said anatomical region is a member of a group comprising:

an organ, a human body system, an area of an organ, a number of areas of an organ, a section of an organ, and a section of a human body system.

12. A method for performing a simulated image-guided procedure, said method comprising:

obtaining, by an input system, a three-dimensional (3D) medical image specific to an actual patient undergoing a specific medical procedure, depicting an anatomical region of the patient undergoing the specific medical procedure,

wherein said input system is configured to receive a 3D data array composed as a pre-fetched and pre-parsed image, wherein the medical image is obtained after administering an intravenous contrast enhancement (ICE) component to the patient in order to improve precision of an automatic 3D segmentation process related to a soft tissue;

generating, via an anatomy-model generation unit, a 3D anatomical model of the anatomical region based on the received 3D medical image, wherein said anatomy-model generation unit comprises a 3D image segmentation unit;

performing, via said 3D image segmentation unit, the automatic 3D segmentation process on the 3D medical image specific to the patient for segmenting the received 3D images into anatomical structures, wherein the segmentation process is based on a segmentation procedure in which relevant voxels of the received 3D data array are isolated according to values of the voxels,

wherein said segmentation procedure is adapted to segment a subset of scanned voxels from the 3D medical image wherein the values of the voxels in said subset is in a predefined range, wherein the automatic segmentation process comprises classifying data voxels according to respective anatomical parts of said anatomical region and registering said anatomical region;

and

simulating, via a simulating unit, an image-guided procedure planned for said patient according to said 3D anatomical model, wherein said simulating unit comprises an intervention simulator device and a simulation module,

wherein said intervention simulator device comprises a dummy interventional instrument, motion detectors, movement calculation unit, an image displaying device and a force feedback mechanism,

wherein said simulation module is configured to receive inputs from said motion detectors, analyze the inputs using said movement calculation unit to produce outcome, translate the outcome to visual and tactile outputs, and transfer the outputs to said image displaying device and said force feedback mechanism, and

wherein said simulation module is further configured to receive the segmented 3D medical image from said anatomy-model generation unit, wherein the segmented 3D medical image is translated to a 3D model that simulates the anatomical region of the patient.

13. The method of claim 12, wherein said planned image-guided procedure is an angioplasty procedure.

14. The method of claim 12 comprising:

receiving input data that identifies a location in the 3D medical image in relation to the automatic segmentation process.

15. The method of claim 12, further comprising a step of allowing a system user to mark labels for said planned image-guided procedure via a user interface.

16. The method of claim 12, wherein said planned image-guided procedure is an angioplasty procedure.

17. The method of claim 12, wherein said step of simulating is performed as a pre-operative surgical simulation.

18. The method of claim 12, wherein said 3D medical image includes blood vessels and said registering comprises registering centerlines, radii and inter-connectivity of said blood vessels.

19. The method of claim 12, wherein said 3D anatomical model is a tract model.

20. The method of claim 19, said tract model define a member of the following group:

a vascular tract, a urinary tract, a gastrointestinal tract, and a fistula tract.

21. The method of claim 12, wherein said obtaining comprises obtaining a four dimensional (4D) medical image, which is a set of consecutive 3D medical images that depicts said anatomical region during a time period, said producing comprises producing a 4D model of said anatomical region according to said 4D medical image, said simulating is performed according to said 4D model.

22. The method of claim 12, wherein said anatomical region is a member of a group comprising:

an organ, a human body system, an area of an organ, a number of areas of an organ, a section of an organ, and a section of a human body system.