Guidance information indicating an operational proximity of a body-insertable device to a region of interest

• US 8,908,941 B2
• Filed: 09/16/2011
• Issued: 12/09/2014
• Est. Priority Date: 09/16/2011
• Status: Active Grant

• Current Assignee: Modulated Imaging, Inc.
• Original Assignee: The Invention Science Fund I, L.L.C. (Intellectual Ventures LLC)
• Inventors: Hyde, Roderick A., Kare, Jordin T., Leuthardt, Eric C., Lieberman, Erez, Rivet, Dennis J., Sweeney, Elizabeth A., Wood, Lowell L. Jr.
• Primary Examiner(s): Yentrapati, Avinash J
• Application Number:
  US13/200,112
• Publication Number:
  US 20130070981A1
• Time in Patent Office: 1,180 Days
• Field of Search: None
• US Class Current: 382/128
• CPC Class Codes: A61B 1/000094 extracting biological structures
• CPC Class Codes: A61B 5/0077 Devices for viewing the surface of the body, e.g. camera, magnifying lens
• CPC Class Codes: A61B 6/506 for diagnosis of nerves
• CPC Class Codes: A61B 6/5241 combining overlapping images of the same imaging modality, e.g. by stitching
• CPC Class Codes: A61B 8/5253 combining overlapping images, e.g. spatial compounding
• CPC Class Codes: G06F 18/00 Pattern recognition
• CPC Class Codes: G06T 2207/10068 Endoscopic image
• CPC Class Codes: G06T 2207/30028 Colon; Small intestine
• CPC Class Codes: G06T 5/00 Image enhancement or restoration
• CPC Class Codes: G06T 7/0012 Biomedical image inspection
• CPC Class Codes: G06T 7/0014 using an image reference approach
• CPC Class Codes: G06T 7/337 involving reference images or patches
• CPC Class Codes: G16H 20/40 relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 30/20 for handling medical images, e.g. DICOM, HL7 or PACS
• CPC Class Codes: G16H 50/70 for mining of medical data, e.g. analysing previous cases of other patients
• CPC Class Codes: G16Z 99/00 Subject matter not provided for in other main groups of this subclass
• CPC Class Codes: H04N 1/00 Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
• CPC Class Codes: H04N 7/188 Capturing isolated or intermittent images triggered by the occurrence of a predetermined event, e.g. an object reaching a predetermined position signal generation from motion picture films H04N5/253

Abstract

Described embodiments include a system, method, and computer program product. A described system includes a receiver circuit that receives a first reference image that includes an objective landmark subsurface feature of a mammalian body part, and a second reference image that includes a present-location landmark subsurface feature of the mammalian body part. A feature matching circuit determines a substantial correspondence between the objective landmark subsurface feature and a first atlas subsurface feature, and a substantial correspondence between the present-location landmark subsurface feature and a second atlas subsurface feature. A location analysis circuit determines a fourth spatial relationship between the destination region of interest and a distal end portion of the body-insertable device deployed operationally proximate to the mammalian body part. An indicator circuit generates informational data indicative of the determined fourth spatial relationship. The system includes a computer-readable media configured to maintain the informational data.

Claims

1. A system comprising:

(a) a receiver circuit configured to receive

(i) a first reference image that includes an objective landmark subsurface feature of a mammalian body part, the objective landmark subsurface feature having a first spatial relationship to a destination region of interest of the mammalian body part;

(ii) a second reference image that includes a present-location landmark subsurface feature of the mammalian body part, the present-location landmark subsurface feature having a second spatial relationship to a distal end portion of a body-insertable device deployed operationally proximate to the mammalian body part;

(b) a computer-readable media configured to store a subsurface feature atlas of the mammalian body part;

(c) a feature matching circuit configured to determine

(i) a substantial correspondence between the objective landmark subsurface feature and a first atlas subsurface feature included in the subsurface feature atlas of the mammalian body part, and

(ii) a substantial correspondence between the present-location landmark subsurface feature and a second atlas subsurface feature included in the subsurface feature atlas of the mammalian body part,

the subsurface feature atlas includes at least two registered subsurface features of the mammalian body part, including the first atlas subsurface feature and the second atlas subsurface feature having at least one intervening atlas subsurface feature therebetween, the registration including an indication of a third spatial relationship and orientation between the first atlas subsurface feature and the second atlas subsurface feature;

(d) a location analysis circuit configured to determine a fourth spatial relationship and orientation between the destination region of interest and the distal end portion of the body-insertable device deployed operationally proximate to the mammalian body part, the determined fourth spatial relationship and orientation at least partially based on the third spatial relationship;

(e) an indicator circuit configured to generate informational data indicative of the determined fourth spatial relationship and orientation between the destination region of interest and the distal end portion of the body-insertable device, the informational data at least partially based on the fourth spatial relationship and orientation between the destination region of interest and the distal end portion of the body-insertable device; and

(f) the computer-readable media further configured to maintain the informational data.

2. The system of claim 1, wherein the first reference image includes:

a first reference image that includes an objective landmark subsurface feature of a mammalian body part, the objective landmark subsurface feature having an indicated, determinable, estimable, or inferable first spatial relationship to a destination region of interest of the mammalian body part.

3. The system of claim 1, wherein the first reference image includes:

a first reference image that includes an objective landmark subsurface feature of a mammalian body part, the objective landmark subsurface feature having a first spatial relationship to a destination region of interest of a cavity or lumen of the mammalian body part.

4. The system of claim 1, wherein the first reference image includes:

a first reference image that includes an objective landmark subsurface feature of a mammalian body part, the objective landmark subsurface feature having a first spatial relationship to a human-user selected destination region of interest of the mammalian body part.

5. The system of claim 1, wherein the first reference image includes:

a first reference image that includes an objective landmark subsurface feature of a mammalian body part, the objective landmark subsurface feature having a first spatial relationship to a machine-selected destination region of interest of the mammalian body part.

6. The system of claim 1, wherein the second reference image includes:

a second reference image that includes a present-location landmark subsurface feature of the mammalian body part, the present-location landmark subsurface feature having a second spatial relationship to an effector carried by a distal end portion of a body-insertable device and deployed operationally proximate to the mammalian body part.

7. The system of claim 1, wherein the second reference image includes:

a second reference image that includes a present-location landmark subsurface feature of the mammalian body part, the present-location landmark subsurface feature having a second spatial relationship to an operative and movable distal end portion of a body-insertable device deployed operationally proximate to the mammalian body part.

8. The system of claim 1, wherein the feature matching circuit includes:

a feature matching circuit configured to determine

(i) at least one of a substantial structural, orientation, pattern, or physical characteristic correspondence between the objective landmark subsurface feature and a first atlas subsurface feature included in a subsurface feature atlas of the mammalian body part, and

(ii) at least one of a substantial structural, orientation, pattern, or physical characteristic correspondence between the present-location landmark subsurface feature and a second atlas subsurface feature included in the subsurface feature atlas of the mammalian body part.

9. The system of claim 1, wherein the feature matching circuit includes:

a feature matching circuit configured to determine

(i) a substantial match between the objective landmark subsurface feature and a first atlas subsurface feature included in a subsurface feature atlas of the mammalian body part, and

(ii) a substantial match between the present-location landmark subsurface feature and a second atlas subsurface feature included in the subsurface feature atlas of the mammalian body part.

10. The system of claim 1, wherein the location analysis circuit includes:

a location analysis circuit configured determine a fourth spatial relationship between the destination region of interest and the distal end portion of the body-insertable device deployed operationally proximate to the mammalian body part, the fourth spatial relationship determined at least partially in response to;

(i) a fifth spatial relationship between the objective landmark subsurface feature and the present-location landmark subsurface feature, the determination at least partially based on a spatial relationship between the first atlas subsurface feature and the second atlas subsurface feature as indicated by the subsurface feature atlas;

(ii) the first spatial relationship between the destination region of interest and the objective landmark subsurface feature; and

(iii) the second spatial relationship between the distal end portion of the body-insertable device and the present-location landmark subsurface feature.

11. The system of claim 1, wherein the indicator circuit includes:

an indicator circuit configured to generate informational data indicative of an operational proximity of the distal end portion of the body-insertable device to the destination region of interest, the informational data at least partially based on the determined fourth spatial relationship.

12. The system of claim 1, wherein the indicator circuit includes:

an indicator circuit configured to generate informational data indicative of a distance of less than four centimeters between the distal end portion of the body-insertable device and the destination region of interest, the informational data at least partially based on the determined fourth spatial relationship.

13. The system of claim 1, wherein the indicator circuit includes:

an indicator circuit configured to generate informational data indicative of a distance of less than one hundred millimeters between the distal end portion of the body-insertable device and the destination region of interest, the informational data at least partially based on the determined fourth spatial relationship.

14. The system of claim 1, wherein the indicator circuit includes:

an indicator circuit configured to generate informational data indicative of a distance from the distal end portion of the body-insertable device to the destination region of interest, the informational data at least partially based on the determined fourth spatial relationship, and wherein the indicated distance is within a user-selected range.

15. The system of claim 1, further comprising:

a guidance circuit configured to determine a movement of the distal end portion of the body-insertable device to produce a particular change in the spatial relationship between the distal end portion of the body-insertable device and the destination region of interest, the movement at least partially based on the informational data indicative of the determined fourth spatial relationship between the destination region of interest and the distal end portion of the body-insertable device.

16. The system of claim 15, wherein the guidance circuit includes:

a guidance circuit configured to determine a movement of the distal end portion of the body-insertable device to produce a user-selected change of the spatial relationship between the distal end portion of the body-insertable device and the destination region of interest, the movement at least partially based on the informational data indicative of the determined fourth spatial relationship between the destination region of interest and the distal end portion of the body-insertable device.

17. The system of claim 15, wherein the guidance circuit includes:

a guidance circuit configured to determine a rotational, radial, or axial movement of the distal end portion of the body-insertable device to produce a particular change in the spatial relationship between the distal end portion of the body-insertable device and the destination region of interest, the movement at least partially based on the informational data indicative of the determined fourth spatial relationship between the destination region of interest and the distal end portion of the body-insertable device.

18. The system of claim 15, wherein the guidance circuit includes:

a guidance circuit configured to determine a movement of the distal end portion of the body-insertable device to decrease a separation between the spatial relationship between the distal end portion of the body-insertable device and the destination region of interest, the movement at least partially based on the informational data indicative of the determined fourth spatial relationship between the destination region of interest and the distal end portion of the body-insertable device.

19. The system of claim 15, wherein the indicator circuit includes:

an indicator circuit configured to generate informational data indicative of the determined movement of the distal end portion of the body-insertable device to produce a particular change in the spatial relationship between the distal end portion of the body-insertable device and the destination region of interest.

20. The system of claim 1, further comprising:

a communication circuit configured to output the informational data.

21. A method implemented using a computing device, the method comprising:

(a) receiving a first reference image that includes an objective landmark subsurface feature of a mammalian body part, the objective landmark subsurface feature having a first spatial relationship to a destination region of interest of the mammalian body part;

(b) receiving a second reference image that includes a present-location landmark subsurface feature of the mammalian body part, the present-location landmark subsurface feature having a second spatial relationship to a distal end portion of a body-insertable device deployed operationally proximate to the mammalian body part;

(c) determining a substantial correspondence between the objective landmark subsurface feature and a first atlas subsurface feature included in a subsurface feature atlas of the mammalian body part, the subsurface feature atlas includes at least two registered subsurface features of the mammalian body part, including the first atlas subsurface feature and a second atlas subsurface feature having at least one intervening atlas subsurface feature therebetween, the registration including an indication of a third spatial relationship and orientation between the first atlas subsurface feature and the second atlas subsurface feature;

(d) determining a substantial correspondence between the present-location landmark subsurface feature and the second atlas subsurface feature included in the subsurface feature atlas of the mammalian body part;

(e) determining a fourth spatial relationship and orientation between the destination region of interest and the distal end portion of the body-insertable device deployed operationally proximate to the mammalian body part, the determined fourth spatial relationship and orientation at least partially based on the third spatial relationship; and

(f) outputting informational data indicative of the determined fourth spatial relationship and orientation between the destination region of interest and the distal end portion of the body-insertable device.

22. The method of claim 21, further comprising:

determining a movement of the distal end portion of the body-insertable device to produce a particular change in the spatial relationship between the distal end portion of the body-insertable device and the destination region of interest, the movement at least partially based on the informational data indicative of the determined fourth spatial relationship between the destination region of interest and the distal end portion of the body-insertable device.

23. The method of claim 22, wherein the outputting informational data includes:

outputting informational data indicative of the determined movement of the distal end portion of the body-insertable device to produce a particular change in the spatial relationship between the distal end portion of the body-insertable device and the destination region of interest.

24. The method of claim 21, further comprising:

maintaining the informational data in a computer-readable media.

25. The method of claim 21, further comprising:

providing a notification at least partially based on the informational data to at least one of a human, computer, or system.

26. The method of claim 21, further comprising:

maintaining the atlas of the mammalian body in the computer-readable media, the atlas including a respective spatial relationship between at least two registered atlas subsurface features of the mammalian body part.

27. A computer program product comprising:

(a) a non-transitory computer-readable medium including program instructions stored thereon which, when executed by a processor of a computing device, cause the computing device to perform a process including;

(i) receiving a first reference image that includes an objective landmark subsurface feature of a mammalian body part, the objective landmark subsurface feature having a first spatial relationship to a destination region of interest of the mammalian body part;

(ii) receiving a second reference image that includes a present-location landmark subsurface feature of the mammalian body part, the present-location landmark subsurface feature having a second spatial relationship to a distal end portion of a body-insertable device deployed operationally proximate to the mammalian body part;

(iii) determining a substantial correspondence between the objective landmark subsurface feature and a first atlas subsurface feature included in a subsurface feature atlas of the mammalian body part stored on the non-transitory computer-readable medium including, the subsurface feature atlas includes at least two registered subsurface features of the mammalian body part, including the first atlas subsurface feature and a second atlas subsurface feature having at least one intervening atlas subsurface feature therebetween, the registration including an indication of a third spatial relationship and orientation between the first atlas subsurface feature and the second atlas subsurface feature;

(iv) determining a substantial correspondence between the present-location landmark subsurface feature and the second atlas subsurface feature included in the subsurface feature atlas of the mammalian body part;

(v) determining a fourth spatial relationship and orientation between the destination region of interest and the distal end portion of the body-insertable device deployed operationally proximate to the mammalian body part, the determined fourth spatial relationship and orientation at least partially based on the third spatial relationship; and

(vi) outputting informational data indicative of the determined fourth spatial relationship and orientation between the destination region of interest and the distal end portion of the body-insertable device.

28. The computer program product of claim 27, wherein the non-transitory computer-readable medium includes a tangible computer-readable media.

29. The computer program product of claim 27, wherein the non-transitory computer-readable medium includes a communications media.

30. A system comprising:

(a) means for receiving a first reference image that includes an objective landmark subsurface feature of a mammalian body part, the objective landmark subsurface feature having a first spatial relationship to a destination region of interest of the mammalian body part;

(b) means for receiving a second reference image that includes a present-location landmark subsurface feature of the mammalian body part, the present-location landmark subsurface feature having a second spatial relationship to a distal end portion of a body-insertable device deployed operationally proximate to the mammalian body part;

(c) means for determining a substantial correspondence between the objective landmark subsurface feature and a first atlas subsurface feature included in a subsurface feature atlas of the mammalian body part, the subsurface feature atlas includes at least two registered subsurface features of the mammalian body part, including the first atlas subsurface feature and a second atlas subsurface feature having at least one intervening atlas subsurface feature therebetween, the registration including an indication of a third spatial relationship and orientation between the first atlas subsurface feature and the second atlas subsurface feature;

(d) means for determining a substantial correspondence between the present-location landmark subsurface feature and the second atlas subsurface feature included in the subsurface feature atlas of the mammalian body part;

(e) means for determining a fourth spatial relationship and orientation between the destination region of interest and the distal end portion of the body-insertable device deployed operationally proximate to the mammalian body part, the determined fourth spatial relationship and orientation at least partially based on the third spatial relationship; and

(f) means for outputting informational data indicative of the determined fourth spatial relationship and orientation between the destination region of interest and the distal end portion of the body-insertable device.