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Methods and apparatus for 3D route planning through hollow organs

  • US 9,037,215 B2
  • Filed: 01/24/2008
  • Issued: 05/19/2015
  • Est. Priority Date: 01/31/2007
  • Status: Active Grant
First Claim
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1. A method of planning routes through a 3D image of a tubular organ prior to an actual, follow-on endoscopic procedure, said organ being in the chest region, said method comprising the steps of:

  • computing a model of an airway tree from 3D image data of the organ;

    receiving information about a target region of interest (ROI) and the follow-on endoscopic procedure associated with the organ;

    deriving at least one anatomical constraint, at least one endoscopic-device constraint, and at least one procedure-specific constraint from said information,wherein the deriving step comprises constructing a geometric field of view of a virtual endoscope, and requiring at least a portion of the target region of interest (ROI) to be within the geometric field of view extending from the virtual endoscope;

    automatically computing a plurality of navigable routes to the target region of interest (ROI) and enabling at least one of said routes to be selected based on said anatomical, endoscopic-device, and procedure-specific constraints derived from the information received; and

    displaying said at least one selected route in conjunction with said model.

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