Methods and apparatus for 3D route planning through hollow organs

• US 9,675,420 B2
• Filed: 05/18/2015
• Issued: 06/13/2017
• Est. Priority Date: 01/31/2007
• Status: Active Grant

• Current Assignee: Penn State Research Foundation
• Original Assignee: Penn State Research Foundation
• Inventors: Higgins, William E., Gibbs, Jason D.
• Primary Examiner(s): Fernandez, Katherine
• Application Number:
  US14/714,836
• Publication Number:
  US 20150257847A1
• Time in Patent Office: 757 Days
• Field of Search: None
• 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 automatically planning an endoscopic route through an organ to a region of interest (ROI) for providing guidance to a user of an endoscopic device, said organ comprising at least one lumen and said ROI being located outside of the at least one lumen, the endoscopic route being navigable by the endoscopic device, the method comprising the steps of:

defining the ROI;

receiving, by a processor, information about the organ, the endoscopic device, and an actual, follow-on endoscopic procedure associated with the organ, wherein the information provides device, procedural and anatomical constraints;

automatically identifying, by the processor, candidate locations in the at least one lumen to extend a route or tool from the at least one lumen to the ROI based on the information received;

computing, by the processor, a route through the at least one lumen to each of the candidate locations such that each route meets the device, procedural and anatomical constraints and provides the user with a capability to adjust the constraints;

computing, by the processor, a route extension for each route, the route extension including a set of connected voxels extending the route from within the at least one lumen to beyond the confines of the at least one lumen and to the ROI outside of the at least one lumen; and

displaying the routes and the route extensions in conjunction with a 3D image of the organ for providing guidance to the user.

2. The method of claim 1, wherein the information about the organ includes anatomical constraints that define locations or organs to avoid.

3. The method of claim 1, wherein the information about the organ includes anatomical constraints that confine the endoscopic route within specific geometric locations.

4. The method of claim 1, wherein the information about the organ includes a metric that is used for selecting a route.

5. The method of claim 4, wherein the metric is the closest route to the ROI such that the selected route satisfies the device, procedural and anatomical constraints.

6. The method of claim 1, wherein the information about the organ includes a segmentation of the organ through which the endoscopic device will navigate.

7. The method of claim 6, wherein the information about the organ includes central axes of the segmentation of the organ.

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

9. The method of claim 8, wherein the parametric description includes a diameter or a flexibility of the endoscopic device.

10. The method of claim 8, wherein the parametric description includes descriptions of ancillary devices that may be used in conjunction with the endoscopic device.

11. The method of claim 1, wherein the organ is a lung.

12. The method of claim 1, wherein the at least one lumen is an airway.

13. The method of claim 1, wherein the information about the organ is derived through a multidetector computed tomographic (MDCT) chest image.

14. The method of claim 1 wherein the information about the organ is a restriction that the candidate locations are located in the same lobe of the organ as the ROI.