Method, system and apparatus for displaying surgical engagement paths

Patent metadata

Field	Value
Publication number	US-10074176-B2
Application number	US-201615358796-A
Country	US
Kind code	B2
Filing date	Nov 22, 2016
Priority date	Nov 27, 2014
Publication date	Sep 11, 2018
Grant date	Sep 11, 2018

Abstract

A method and computing device for displaying surgical path data are provided. The computing device includes an input device, a display, a memory and a processor. The memory stores (i) an image of a volume of patient tissue having an outer surface, and (ii) anatomical data defining anatomical features of the volume. The processor receives an identifier of a target location within the volume; generates a plurality of paths from the outer surface to the target location, each path having a start point located on the outer surface, and an end point at the target location; for each of the plurality of paths, determines a score based on a comparison between the path and the anatomical data; and controls the display to present the outer surface and, at the locations of the start points, indications of the respective scores of the paths corresponding to the start points.

First claim

We claim:

1. A method of displaying surgical path data in a computing device having an input device, a display, a memory and a processor interconnected with the input device, the display, and the memory, the method comprising:
storing, in the memory, (i) an image of a volume of patient tissue having an outer surface, and (ii) anatomical data defining a plurality of anatomical features of the volume, the anatomical features including a plurality of sulci and a plurality of additional anatomical features;
receiving, at the processor, an identifier of a target location within the volume;
at the processor, generating a plurality of paths from the outer surface to the target location, each path having a start point located on the outer surface, and an end point at the target location;
for each of the plurality of paths, determining a score at the processor by:
identifying a nearest one of the sulci to the respective path, and determining a first score for the respective path that is inversely proportional to a distance between the respective path and the nearest sulcus;
determining a second score that is inversely proportional to a number of the additional anatomical features intersected by the path; and
combining the first score and the second score; and

controlling the display to present the outer surface and, at the locations of the start points, indications of the respective scores of the paths corresponding to the start points.

2. The method of claim 1 , wherein the additional anatomical features include a plurality of blood vessels, and wherein determining the second score comprises identifying, at the processor, a volume of the blood vessels intersected by the path.

3. The method of claim 1 , wherein determining the score comprises determining a third score respective to further anatomical features, and combining the third score with the first and second scores.

4. The method of claim 1 , wherein controlling the display comprises converting the scores to display values, and presenting the display values as the indications of the scores.

5. The method of claim 4 , wherein the display values comprise at least one of a brightness and a colour.

6. A computing device for displaying surgical path data, comprising:
an input device;
a display;
a memory storing (i) an image of a volume of patient tissue having an outer surface, and (ii) anatomical data defining anatomical features of the volume, the anatomical features including a plurality of sulci and a plurality of additional anatomical features; and
a processor interconnected with the input device, the display, and the memory, the processor configured to:
receive an identifier of a target location within the volume;
generate a plurality of paths from the outer surface to the target location, each path having a start point located on the outer surface, and an end point at the target location;
for each of the plurality of paths, determine a score by:
identifying a nearest one of the sulci to the respective path, and determining a first score for the respective path that is inversely proportional to a distance between the respective path and the nearest sulcus;
determining a second score that is inversely proportional to a number of the additional anatomical features intersected by the path; and
combining the first score and the second score; and

control the display to present the outer surface and, at the locations of the start points, indications of the respective scores of the paths corresponding to the start points.

7. The computing device of claim 6 , wherein the additional anatomical features include a plurality of blood vessels, and wherein the processor is configured to determine the second score by identifying a volume of the blood vessels intersected by the path.

8. The computing device of claim 6 , wherein the processor is configured to determine the score by determining a third score respective to further anatomical features, and combining the third score with the first and second scores.

9. The computing device of claim 6 , wherein controlling the display comprises converting the scores to display values, and presenting the display values as the indications of the scores.

10. The computing device of claim 9 , wherein the display values comprise at least one of a brightness and a colour.

11. A non-transitory computer-readable medium storing a plurality of computer-readable instructions for execution by a processor of a computing device having an input device, a display, and a memory connected to the processor, to perform a method comprising:
storing, in the memory, (i) an image of a volume of patient tissue having an outer surface, and (ii) anatomical data defining anatomical features of the volume, the anatomical features including a plurality of sulci and a plurality of additional anatomical features;
receiving, at the processor, an identifier of a target location within the volume;
at the processor, generating a plurality of paths from the outer surface to the target location, each path having a start point located on the outer surface, and an end point at the target location;
for each of the plurality of paths, determining a score at the processor by:
identifying a nearest one of the sulci to the respective path, and determining a first score for the respective path that is inversely proportional to a distance between the respective path and the nearest sulcus;
determining a second score that is inversely proportional to a number of the additional anatomical features intersected by the path; and
combining the first score and the second score; and

controlling the display to present the outer surface and, at the locations of the start points, indications of the respective scores of the paths corresponding to the start points.

12. The non-transitory computer-readable medium of claim 11 , wherein the additional anatomical features include a plurality of blood vessels, and wherein determining the second score comprises identifying, at the processor, a volume of the blood vessels intersected by the path.

13. The non-transitory computer-readable medium of claim 11 , wherein determining the score comprises determining a third score respective to further anatomical features, and combining the third score with the first and second scores.

14. The non-transitory computer-readable medium of claim 11 , wherein controlling the display comprises converting the scores to display values, and presenting the display values as the indications of the scores.

15. The non-transitory computer-readable medium of claim 11 , wherein the display values comprise at least one of a brightness and a colour.

Assignees

• Synaptive Medical Barbados Inc

Inventors

• Sela Gal
• Witcomb Neil
• Gallop David
• Dyer Kelly Noel
• Hodges Wes

Classifications

• G06T2207/10012

  Stereo images · CPC title

• A61B34/10 Primary

  Computer-aided planning, simulation or modelling of surgical operations · CPC title

• G06T19/003

  Navigation within 3D models or images · CPC title

• A61B2034/107

  Visualisation of planned trajectories or target regions · CPC title

• G06T2210/41

  Medical · CPC title