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

• Current Assignee: Penn State Research Foundation (Pennsylvania State University)
• Original Assignee: Penn State Research Foundation (Pennsylvania State University)
• Inventors: Higgins, William E., Gibbs, Jason D.
• Primary Examiner(s): FERNANDEZ, KATHERINE L
• Application Number:
  US12/018,953
• Publication Number:
  US 20080183073A1
• Time in Patent Office: 2,672 Days
• Field of Search: 600/424, 600/425, 600/407, 600/104, 600/101, 600/114, 382/128
• US Class Current: 600/425
• CPC Class Codes: A61B 1/000096 using artificial intelligence
• CPC Class Codes: A61B 1/00045 Display arrangement
• CPC Class Codes: A61B 1/2676 Bronchoscopes
• 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 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• 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: G06T 19/003 Navigation within 3D models or images
• CPC Class Codes: G06T 2207/30061 Lung
• CPC Class Codes: G06T 2210/41 Medical

Abstract

Methods and apparatus assist in planning routes through hollow, branching organs in patients to optimize subsequent endoscopic procedures. Information is provided about the organ and a follow-on endoscopic procedure associated with the organ. The most appropriate navigable route or routes to a target region of interest (ROI) within the organ are then identified given anatomical, endoscopic-device, or procedure-specific constraints derived from the information provided. The method may include the step of modifying the viewing direction at each site along a route to give physically meaningful navigation directions or to reflect the requirements of a follow-on live endoscopic procedure. An existing route may further be extended, if necessary, to an ROI beyond the organ. The information provided may include anatomical constraints that define locations or organs to avoid; anatomical constraints that confine the route within specific geometric locations; or a metric for selecting the most appropriate route. For example, the metric may define the closest route to the ROI such that the route satisfies all applicable anatomical, device, and procedural constraints.

Claims

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.

2. The method of claim 1, wherein said ROI is outside of said airway, said method including the step of extending the route from within the airway to the ROI.

3. The method of claim 1, including the step of automatically calculating a viewing direction at each site along the route to give navigation directions.

4. The method of claim 1, wherein the information includes locations to avoid.

5. The method of claim 1, wherein the information includes locations to be included along said route.

6. The method of claim 1, wherein the information includes a metric for selecting the route.

7. The method of claim 6, wherein the metric is a minimum distance to the ROI such that the route satisfies the constraints.

8. The method of claim 1, wherein the information further includes details of the ROI.

9. The method of claim 1, wherein the information includes the central axes of the airway tree, and a minimum diameter of the airways.

10. The method of claim 1, wherein the information includes a parametric description of the endoscopic device.

11. The method of claim 10, wherein the parametric description includes the diameter, and flexibility of the endoscopic device.

12. The method of claim 10, wherein the parametric description includes a detail of an ancillary tool used in conjunction with the endoscopic device.

13. The method of claim 12, wherein said ancillary tool is a needle.

14. The method of claim 1, wherein the ROI is a nodule.

15. The method of claim 1, wherein the information is at least in part derived from said 3D image data, and said image data is obtained through a multidetector computed tomographic (MDCT) chest image.

16. The method of claim 1 wherein the follow-on procedure comprises a bronchoscopy procedure, and said information comprises a size of a bronchoscope, and a maximum bending angle of the bronchoscope.

17. The method of claim 1 wherein the geometric field of view is cone-shaped.

18. The method of claim 1 wherein the geometric field of view is a diagnostic field of view.

19. A method of planning an endoscopic route through an organ having a lumen prior to an actual, follow-on endoscopic procedure, said method comprising the steps of:

providing anatomical and parametrical information about the organ, the follow-on endoscopic procedure and a target region interest (ROI) positioned outside of said lumen;

automatically computing at least one entire route beginning at a base of the organ to a route destination within said lumen which is near said ROI using the information provided; and

automatically computing an extension from said route destination to said ROI, where the extension comprises a plurality of view sites connected to said route destination within said lumen; and

wherein said view sites are determined prior to the follow-on procedure based on the information provided.

20. The method of claim 19, wherein the information includes locations to avoid along the route.

21. The method of claim 19, wherein the information includes locations to be included along the route.

22. The method of claim 19, wherein the at least one route includes a plurality of routes, and said information includes a metric for selecting a first route.

23. The method of claim 22, wherein the metric is a minimal distance to the ROI.

24. The method of claim 19, wherein the information comprises data about the ROI.

25. The method of claim 19, wherein the information includes central axes of the organ, and minimum diameter of the lumen.

26. The method of claim 19, wherein the information includes a parametric description of the endoscopic device.

27. The method of claim 26, wherein the parametric description includes at least one of the diameter, and flexibility of the endoscopic device.

28. The method of claim 26, wherein the parametric description includes a detail of an ancillary device of said follow-on procedure.

29. The method of claim 19, wherein the organ is a branching organ.

30. The method of claim 19, wherein the organ is an airway tree.

31. The method of claim 19, wherein the information is derived at least in part from 3D image data of a lung, and said image data is obtained through a multidetector computed tomographic (MDCT) chest image.

32. A system for planning routes through an organ prior to an actual, follow-on endoscopic procedure, said organ comprising a lumen having a wall and at least one region of interest [ROI], said system comprising:

a memory for storing information about the organ and the follow-on endoscopic procedure associated with the organ, said information including anatomical, endoscopic-device, and procedure-specific constraints requiring at least a portion of the ROI to be within a geometric field of view of a virtual endoscope, said field of view extending beyond a wall of said lumen; and

a processor operative to perform the following functions prior to the actual procedure;

a) access the stored information and automatically determine at least one route destination along said lumen and in close proximity to the ROI to automatically determine at least one complete route through the organ from a base of the organ to the route destination for performing said follow-on endoscopic procedure given said constraints, and

b) send said at least one complete route to a display device for presentation of said route on the display device in conjunction with a 3D image of the organ.

33. The system of claim 32, wherein the ROI is outside of the lumen, and said processor is further operative to determine an extension from said route destination to said ROI.

34. The system of claim 32, wherein the processor is further operative to modify the viewing direction at each site along said route to give navigation directions.

35. The system of claim 32 wherein the stored information includes locations to avoid.

36. The system of claim 32, wherein the stored information includes locations to be included within said route.

37. The system of claim 32, wherein the stored information includes a metric for selecting the route.

38. The system of claim 37, wherein the metric is the minimal distance to the ROI from the route destination.

39. The system of claim 32, wherein the stored information includes details about the ROI.

40. The system of claim 32, wherein the stored information includes the central axes of the lumen, and the diameter of the lumen.

41. The system of claim 32, wherein the stored information includes a parametric description of the endoscopic device.

42. The system of claim 41, wherein the parametric description includes at least one of the diameter, and flexibility, of the endoscopic device.

43. The system of claim 41, wherein the parametric description includes details of an ancillary tool used in conjunction with the endoscopic device.

44. The system of claim 32, wherein the stored information is derived at least in part from 3D image data of a lung, and said image data is obtained through a multidetector computed tomographic (MDCT) chest image.