Systems and Methods For Interventional Procedure Planning

• US 20140187949A1
• Filed: 12/30/2013
• Published: 07/03/2014
• Est. Priority Date: 12/31/2012
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Zhao, Tao, Panescu, Dorin
• Granted Patent: US 10,588,597 B2
• Time in Patent Office: Days
• US Class Current: 600/443
• CPC Class Codes: A61B 10/04 Endoscopic instruments
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• 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 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 5/0066 Optical coherence imaging
• CPC Class Codes: A61B 5/065 Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
• CPC Class Codes: A61B 8/0841 for locating instruments
• CPC Class Codes: A61B 8/085 for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
• CPC Class Codes: A61B 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/4245 involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
• CPC Class Codes: A61B 8/4263 using sensors not mounted on the probe, e.g. mounted on an external reference frame

Abstract

A method of deploying an interventional instrument is performed by a processing system. The method comprises receiving an image of an anatomic structure from an imaging probe. The image has an image frame of reference. The imaging probe is extendable distally beyond a distal end of a guide catheter. The distal end of the guide catheter has a catheter frame of reference. The method further includes receiving location data associated with a target structure identified in the image. The received location data is in the image frame of reference. The method further comprises transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference.

Claims

1. A method of deploying an interventional instrument, the method performed by a processing system, the method comprising:

receiving an image of an anatomic structure from an imaging probe, the image having an image frame of reference, wherein the imaging probe is extendable distally beyond a distal end of a guide catheter, the distal end of the guide catheter having a catheter frame of reference;

receiving location data associated with a target structure identified in the image, wherein the received location data is in the image frame of reference;

transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference.

2. The method of claim 1 further comprising:

registering the catheter frame of reference to a patient frame of reference and

transforming the location data associated with the target structure from the catheter frame of reference to the image frame of reference.

3. The method of claim 1 further comprising:

receiving location data associated with the target structure identified in a patient model and

determining an offset correction vector between the location data associated with the target structure identified in the image and the location data associated with the target structure identified in a patient model.

4. The method of claim 3 further comprising

generating an image of the patient model with an image of the target structure adjusted based upon the offset correction vector.

5. The method of claim 1 wherein transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference includes determining an insertion length between the distal end of the guide catheter and a plane of the image.

6. The method of claim 5 determining the insertion length includes receiving position indication data from an electromagnetic sensor.

7. The method of claim 5 wherein determining the insertion length includes receiving position indication data from an encoder located outside a patient anatomy.

8. The method of claim 5 wherein determining the insertion length includes monitoring the motion of a stepping motor.

9. The method of claim 1 wherein transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference includes determining a roll angle for the image frame of reference with respect to the catheter frame of reference.

10. The method of claim 9 wherein determining the roll angle for the image frame of reference with respect to the catheter frame of reference includes interfacing a roll alignment feature of the imaging probe with the guide catheter.

11. The method of claim 9 wherein determining the roll angle for the image frame of reference with respect to the catheter frame of reference includes obtaining the roll angle from a roll sensor located outside of a patient anatomy.

12. The method of claim 9 wherein determining the roll angle for the image frame of reference with respect to the catheter frame of reference includes detecting a feature having a known angle with respect to the guide catheter in the image.

13. The method of claim 9 wherein determining the roll angle for the image frame of reference with respect to the catheter frame of reference includes locating a contrast region in the image, wherein the contrast region is caused by a feature on the guide catheter.

14. The method of claim 1 wherein the imaging probe is an ultrasound imaging probe.

15. A system comprising:

non-transitory computer readable media containing computer executable instructions for planning a procedure to deploy an interventional instrument including

instructions for receiving an image of an anatomic structure from an imaging probe, the image having an image frame of reference, wherein the imaging probe is extendable distally beyond a distal end of a guide catheter, the distal end of the guide catheter having a catheter frame of reference;

instructions for receiving location data associated with a target structure identified in the image, wherein the received location data is in the image frame of reference;

instructions for transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference.

16. The system of claim 15 further comprising:

the guide catheter.

17. The system of claim 15 further comprising:

the imaging probe.

18. The system of claim 15 wherein the non-transitory computer readable media contains computer executable instructions for planning a procedure to deploy an interventional instrument further including

instructions for registering the catheter frame of reference to a patient frame of reference and

instructions for transforming the location data associated with the target structure from the catheter frame of reference to the image frame of reference.

19. The system of claim 15 wherein the non-transitory computer readable media contains computer executable instructions for planning a procedure to deploy an interventional instrument further including

instructions for receiving location data associated with the target structure identified in a patient model and

instructions for determining an offset correction vector between the location data associated with the target structure identified in the image and the location data associated with the target structure identified in a patient model.

20. The system of claim 15 wherein the non-transitory computer readable media contains computer executable instructions for planning a procedure to deploy an interventional instrument further including

instructions for displaying an image of the patient model with an image of the target structure adjusted based upon the offset correction vector.

21. The system of claim 15 wherein instructions for transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference include instructions for determining an insertion length between the distal end of the guide catheter and a plane of the image.

22. The system of claim 21 wherein the instructions for determining the insertion length include instructions for receiving position indication data from an electromagnetic sensor on the imaging probe.

23. The system of claim 21 wherein the instructions for determining the insertion length include instructions for receiving position indication data from an encoder located outside a patient anatomy.

24. The system of claim 21 wherein the instructions for determining the insertion length include instructions for monitoring the motion of a stepping motor.

25. The system of claim 15 wherein the instructions for transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference include instructions for determining a roll angle for the image frame of reference with respect to the catheter frame of reference.

26. The system of claim 25 wherein the instructions for determining a roll angle for the image frame of reference with respect to the catheter frame of reference include instructions for interfacing a roll alignment feature of the imaging probe with the guide catheter.

27. The system of claim 25 wherein the instructions for determining a roll angle for the image frame of reference with respect to the catheter frame of reference include instructions for obtaining the roll angle from a roll sensor located outside of a patient anatomy.

28. The system of claim 25 wherein the instructions for determining a roll angle for the image frame of reference with respect to the catheter frame of reference include instructions for detecting a feature having a known angle with respect to the guide catheter in the image.

29. The system of claim 15 wherein the imaging probe in an ultrasound imaging probe.