Dynamic 3D lung map view for tool navigation inside the lung

• US 9,848,953 B2
• Filed: 03/02/2017
• Issued: 12/26/2017
• Est. Priority Date: 07/02/2014
• Status: Active Grant

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Covidien LP (Medtronic Plc)
• Inventors: Weingarten, Oren P., Barak, Ron
• Primary Examiner(s): ANSARI, TAHMINA N
• Application Number:
  US15/447,472
• Publication Number:
  US 20170172664A1
• Time in Patent Office: 299 Days
• Field of Search: None
• CPC Class Codes: A61B 2017/00809 Lung operations
• 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 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation
• CPC Class Codes: G06T 19/003 Navigation within 3D models or images
• CPC Class Codes: G06T 19/20 Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
• CPC Class Codes: G06T 2207/30064 Lung nodule
• CPC Class Codes: G06T 2210/41 Medical
• CPC Class Codes: G06T 2219/2016 Rotation, translation, scaling
• CPC Class Codes: G06T 7/0012 Biomedical image inspection

Abstract

A method for implementing a dynamic three-dimensional lung map view for navigating a probe inside a patient'"'"'s lungs includes loading a navigation plan into a navigation system, the navigation plan including a planned pathway shown in a 3D model generated from a plurality of CT images, inserting the probe into a patient'"'"'s airways, registering a sensed location of the probe with the planned pathway, selecting a target in the navigation plan, presenting a view of the 3D model showing the planned pathway and indicating the sensed location of the probe, navigating the probe through the airways of the patient'"'"'s lungs toward the target, iteratively adjusting the presented view of the 3D model showing the planned pathway based on the sensed location of the probe, and updating the presented view by removing at least a part of an object forming part of the 3D model.

Claims

1. A non-transitory computer-readable storage medium storing a program for implementing a dynamic three-dimensional (3D) lung map view for navigating a probe inside a patient'"'"'s lungs, the program including instructions which, when executed by a processor, cause a computing device to:

load a navigation plan into a navigation system, the navigation plan including a planned pathway shown in a 3D model generated from a plurality of CT images;

present guidance for inserting a probe into a patient'"'"'s airways, the probe including a location sensor in operative communication with the navigation system;

register a sensed location of the probe with the planned pathway;

select a target in the navigation plan;

present a view of the 3D model showing the planned pathway and indicating the sensed location of the probe;

present guidance for navigating the probe through the airways of the patient'"'"'s lungs toward the target;

iteratively adjust the presented view of the 3D model showing the planned pathway based on the sensed location of the probe; and

update the presented view by removing at least a part of an object forming part of the 3D model.

2. The non-transitory computer-readable storage medium according to claim 1, wherein iteratively adjusting the presented view of the 3D model includes zooming in when the probe approaches the target.

3. The non-transitory computer-readable storage medium according to claim 1, wherein iteratively adjusting the presented view of the 3D model includes zooming in when the diameter of an airway within which the probe is sensed to be located is less than a predetermined threshold.

4. The non-transitory computer-readable storage medium according to claim 1, wherein iteratively adjusting the presented view of the 3D model includes changing the presented view to a view wherein the airway tree bifurcation is maximally spread.

5. The non-transitory computer-readable storage medium according to claim 1, wherein iteratively adjusting the presented view of the 3D model includes aligning the view with the sensed location of the probe to show where the probe is and what lies ahead of the probe.

6. The non-transitory computer-readable storage medium according to claim 1, wherein iteratively adjusting the presented view of the 3D model includes changing the presented view to be orthogonal to a vector from the probe to the pathway.

7. The non-transitory computer-readable storage medium according to claim 1, wherein iteratively adjusting the presented view of the 3D model includes changing the presented view to be perpendicular to the sensed location of the probe in relation to the 3D model to show the area around the probe.

8. The non-transitory computer-readable storage medium according to claim 1, wherein iteratively adjusting the presented view of the 3D model includes changing the presented view to be behind the sensed location of the probe in relation to the 3D model to show the area ahead of the probe.

9. The non-transitory computer-readable storage medium according to claim 1, wherein iteratively adjusting the presented view of the 3D model includes changing the presented view to be at the tip of the probe and orthogonal to the direction in which the probe is moving.

10. The non-transitory computer-readable storage medium according to claim 1, wherein iteratively adjusting the presented view of the 3D model includes changing the presented view to be perpendicular to a vector from the probe to the target to show the alignment of the probe to the target.

11. The non-transitory computer-readable storage medium according to claim 1, wherein iteratively adjusting the presented view of the 3D model includes rotating the presented view around a focal point to improve a 3D perception of the sensed location of the probe in relation to the 3D model.

12. The non-transitory computer-readable storage medium according to claim 1, wherein updating the presented view by removing at least part of an object includes removing at least part of an object which is outside of a region of interest.

13. The non-transitory computer-readable storage medium according to claim 1, wherein updating the presented view by removing at least part of an object includes removing at least part of an object which is obstructing the probe.

14. The non-transitory computer-readable storage medium according to claim 1, wherein updating the presented view by removing at least part of an object includes removing at least part of an object which is obstructing the target.

15. The non-transitory computer-readable storage medium according to claim 1, wherein updating the presented view by removing at least part of an object includes removing at least part of an object which is not relevant to the sensed location of the probe.

16. The non-transitory computer-readable storage medium according to claim 1, wherein updating the presented view by removing at least part of an object includes removing at least part of an object which is not relevant to a current selected state of the navigation system.

17. The non-transitory computer-readable storage medium according to claim 1, wherein the instructions, when executed by the processor, further cause the computing device to present an alert.

18. The non-transitory computer-readable storage medium according to claim 17, wherein presenting an alert includes presenting an alert when the probe is approaching the pleura.

19. The non-transitory computer-readable storage medium according to claim 17, wherein presenting an alert includes presenting an alert when the tool is approaching major blood vessels.

20. The non-transitory computer-readable storage medium according to claim 17, wherein presenting an alert includes presenting an alert when the sensed location of the probe is off of the planned pathway.