Medical device approaches

• US 9,949,700 B2
• Filed: 06/30/2016
• Issued: 04/24/2018
• Est. Priority Date: 07/22/2015
• Status: Active Grant

• Current Assignee: Inneroptic Technology, Inc.
• Original Assignee: Inneroptic Technology, Inc.
• Inventors: Razzaque, Sharif, Kohli, Luv, State, Andrei
• Primary Examiner(s): NAKHJAVAN, SHERVIN K
• Application Number:
  US15/199,711
• Publication Number:
  US 20170024903A1
• Time in Patent Office: 663 Days
• Field of Search: None
• 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 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/037 Emission tomography
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/461 Displaying means of special interest
• CPC Class Codes: A61B 6/463 characterised by displaying multiple images or images and diagnostic data on one display
• CPC Class Codes: A61B 6/5247 combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
• CPC Class Codes: G06T 19/003 Navigation within 3D models or images
• CPC Class Codes: G06T 2207/10072 Tomographic images
• CPC Class Codes: G06T 7/11 Region-based segmentation
• CPC Class Codes: G06T 7/136 involving thresholding

Abstract

A system and method for providing image guidance for planning approach paths for one or more medical devices at a target location. The system can receive a volumetric medical image, determine a density of content within the volumetric medical image, receive an indication of a target location within the volumetric medical image, identify obstructing objects within the volumetric medical image, and determine a plurality of pathways from an approach region of the volumetric medical image to the target location. The system can cause a display to concurrently display the volumetric medical image and a plurality of emplacements for one or more medical imaging devices.

Claims

1. A method of medical imaging device guidance, the method comprising:

receiving a volumetric medical image, the volumetric medical image including a plurality of image slices;

determining a density of content within the volumetric medical image based at least in part on an intensity value of voxels associated with the content within the volumetric medical image;

receiving an indication of a target location within the volumetric medical image;

identifying based at least in part on the determined density of the content obstructing objects within the volumetric medical image having a density that does not satisfy a density threshold, wherein the density threshold is based at least in part on one or more imaging characteristics of a medical imaging device;

determining a plurality of direct pathways from an approach region of the volumetric medical image to the target location that pass through at least two of the plurality of image slices and that do not pass through the obstructing objects; and

causing a display to concurrently display;

the volumetric medical image, and

a plurality of emplacements on the approach region of the volumetric medical image for emplacement of the medical imaging device based at least in part on the determined plurality of direct pathways.

2. The method of claim 1, further comprising:

receiving emplacement data associated with an emplacement sensor; and

further causing the display to concurrently display the plurality of emplacements on the approach region of the volumetric medical image for emplacement of the medical imaging device based at least in part on the emplacement data.

3. The method of claim 1, wherein the imaging characteristics of the medical imaging device comprise a scan frequency of the medical imaging device and wherein the density threshold is based at least in part on scan frequency.

4. The method of claim 3, wherein said determining a plurality of direct pathways from an approach region of the volumetric medical image to the target location is further based at least in part on a threshold quantity of transducing elements at a particular emplacement of the medical imaging device each having a direct path to the target location that does not pass through the obstructing objects.

5. A method of medical device guidance, the method comprising:

determining a density of content within a volumetric medical image based at least in part on an intensity value of voxels associated with the content within the volumetric medical image;

receiving an indication of a target location within the volumetric medical image;

identifying, based at least in part on the determined density of the content, obstructing objects within the volumetric medical image having a density that does not satisfy a density threshold, wherein the density threshold is based at least in part on one or more characteristics of a medical device;

determining a plurality of pathways from an approach region of the volumetric medical image to the target location that do not pass through the obstructing objects; and

causing a display to concurrently display;

the volumetric medical image, and

a plurality of emplacements on the approach region of the volumetric medical image for emplacement of the medical device based at least in part on the determined plurality of pathways.

6. The method of claim 5, wherein the medical device is a first medical device, the method further comprising:

receiving emplacement data associated with an emplacement sensor, the emplacement sensor associated with a second medical device; and

further causing the display to concurrently display the plurality of emplacements on the approach region of the volumetric medical image for emplacement of the first medical device based at least in part on the emplacement data.

7. The method of claim 6, wherein said receiving an indication of the target location within the volumetric medical image is based at least in part on the determined emplacement of the emplacement sensor.

8. The method of claim 6, wherein said determining the plurality of pathways from the approach region of the volumetric medical image to the target location is based at least in part on the determined emplacement of the emplacement sensor and one or more dimensions of the first medical device.

9. The method of claim 5, wherein the characteristics of the medical device comprise a type of the medical device.

10. The method of claim 9, wherein the type of medical device is a medical imaging device and the density threshold is further based at least in part on a scan frequency of the medical imaging device.

11. The method of claim 10, wherein said determining a plurality of pathways from an approach region of the volumetric medical image to the target location is further based at least in part on a threshold quantity of transducing elements of the medical imaging device at a particular emplacement of the medical imaging device each having a direct path to the target location that does not pass through the obstructing objects.

12. The method of claim 10, wherein said determining a plurality of pathways from an approach region of the volumetric medical image to the target location is further based at least in part on a scan depth of the medical imaging device.

13. The method of claim 9, wherein the type of medical device is an invasive medical device, wherein said determining the plurality of pathways from the approach region of the volumetric medical image to the target location is further based at least in part on at least one of a length of the invasive medical device or a width of the invasive medical device.

14. The method of claim 5, wherein the volumetric medical image is a first volumetric medical image corresponding to a first time during a breathing cycle of a patient, the obstructing objects are first obstructing objects and the plurality of pathways is a first plurality of pathways, the method further comprising:

identifying second obstructing objects within a second volumetric medical image having a density that does not satisfy the density threshold, the second volumetric medical image corresponding to a second time during the breathing cycle; and

determining a second plurality of pathways from an approach region of the second volumetric medical image to the target location that do not pass through the second obstructing objects.

15. The method of claim 5, further comprising determining a plurality of semi-direct pathways from the approach region of the volumetric medical image to the target location that do not pass through the obstructing objects based at least in part on a deformation of the approach region of the volumetric medical image.

16. The method of claim 5, wherein said receiving the indication of the target location within the volumetric medical image is based at least in part on an amount of time that a medical device is located at a particular location.

17. The method of claim 5, wherein the density threshold comprises a range of densities.

18. The method of claim 5, wherein said determining the plurality of pathways from an approach region of the volumetric medical image to the target location that do not pass through the obstructing objects comprises:

capturing a volume of voxels between the target to the approach region;

mapping the volume of voxels to an image area; and

identifying at least a portion of the image in which the approach region is visible.