Method for generating insertion trajectory of surgical needle

Patent metadata

Field	Value
Publication number	US-10123841-B2
Application number	US-201415107401-A
Country	US
Kind code	B2
Filing date	Dec 23, 2014
Priority date	Dec 23, 2013
Publication date	Nov 13, 2018
Grant date	Nov 13, 2018

Abstract

The present disclosure relates to a method for generating an insertion trajectory of a surgical needle from an entry point to a target, including the steps of: preparing a medical image including the target and an anatomical structure; and extracting an insertion trajectory in consideration of at least one of a degree of invasion into the anatomical structure through the insertion trajectory and a distance of the insertion trajectory. Further, the present disclosure relates to a method for generating an insertion trajectory of a medical device, and a robot for interventional procedures including needle insertion.

First claim

What is claimed is:

1. A method for generating an insertion trajectory of a surgical needle from an entry point to a target, the method comprising:
preparing a medical image including the target and an anatomical structure; and
extracting an insertion trajectory in consideration of at least one of a degree of invasion into the anatomical structure through the insertion trajectory and a distance of the insertion trajectory, wherein the insertion trajectory is extracted in consideration of a distance of the insertion trajectory with a weighting value applied thereto and a distance from the insertion trajectory to the anatomical structure with a weighting value applied thereto.

2. The method according to claim 1 , wherein extracting an insertion trajectory includes at least one of the following:
extracting an insertion trajectory that has a weighting value 0 for a distance of the insertion trajectory and a minimal degree of invasion; and
extracting an insertion trajectory that has a weighting value 0 for the degree of invasion and a shortest distance.

3. The method according to claim 1 , wherein extracting an insertion trajectory includes:
extracting insertion trajectories having a degree of invasion within an allowable limit; and
extracting an insertion trajectory having a shortest distance for the insertion trajectory among the insertion trajectories having a degree of invasion within an allowable limit.

4. A method for generating an insertion trajectory of a surgical needle from an entry point to a target, the method comprising:
preparing a medical image including the target and an anatomical structure; and
extracting an insertion trajectory in consideration of at least one of a degree of invasion into the anatomical structure through the insertion trajectory and a distance to the insertion trajectory, wherein multiple insertion trajectories are extracted, and the multiple insertion trajectories form a cone shape having a progressively diminishing cross-section towards the target.

5. The method according to claim 1 , wherein preparing a medical image includes:
segmenting an anatomical structure included in a lung image;
generating a distance map of the anatomical structure using the segmented lung image; and
selecting a target from the segmented lung image.

6. The method according to claim 5 , wherein generating a distance map of the anatomical structure includes generating a distance map of a lung boundary, a distance map of a rib, a distance map of a pulmonary vessel, and a distance map of an airway, and
when extracting an insertion trajectory in consideration of at least one of a degree of invasion into the anatomical structure through the insertion trajectory and a distance of the insertion trajectory, an angle (ϕ) of the insertion trajectory satisfying the equation below is generated:

arg
⁢

min
⁢

∅

⁢

f
⁡

(
∅
)

=

w
1

⁢

∑

⁢

D
lung

+

w
2

⁢

∑

⁢

D
airway

+

w
3

⁢

∑

⁢

D
vessel

+

w
4

⁢

∑

⁢

D
rib

⁢

where
⁢

⁢

D
rib

+
φ

<
0

->

D
rib

=
∞

where Dlung denotes a distance of the insertion trajectory from the entry point to the target; Dairway, Dvessel and Drib denotes distances from the insertion trajectory to airway, vessel and rib, respectively, on the distance map; and w 1 , w 2 , w 3 and w 4 are weighting values.

7. The method according to claim 5 , wherein extracting an insertion trajectory includes:
calculating the number and thickness of vessels that intersect with the insertion trajectory, from the target included in a 3D lung image by ray casting; and
calculating a shortest distance from the entry point to the target of the insertion trajectory using the distance map of the lung boundary of the 3D lung image.

8. The method according to claim 5 , further comprising:
matching a lung image having an insertion trajectory generated with a lung image at a surgery site; and
defining a safety margin within a certain distance away from the anatomical structure in which the insertion trajectory is not allowed to pass, and excluding an insertion path that is close to the safety margin from the anatomical structure during breathing, in the insertion trajectory transferred onto the matched lung image at a surgery site.

9. A method for generating an insertion trajectory of a surgical needle from an entry point to a target, the method comprising:
preparing a medical image including the target and an anatomical structure; and
extracting an insertion trajectory in consideration of at least one of a degree of invasion into the anatomical structure through the insertion trajectory and a distance of the insertion trajectory;
wherein preparing the medical image includes:
extracting a vessel as a 3D set of voxels based on an initial lung image g

Assignees

• Asan Found
• Univ Ulsan Found Ind Coop

Inventors

• Kim Nam Kug
• Lee Sang Min
• Lee Min Ho
• Seo Joon Beom
• Park Se Youn

Classifications

• G06F18/24323

  Tree-organised classifiers · CPC title

• A61B2090/0801

  Prevention of accidental cutting or pricking · CPC title

• G06T15/06

  Ray-tracing · CPC title

• G16H20/40

  relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture · CPC title

• A61B34/37

  Leader-follower robots (A61B34/35 takes precedence) · CPC title