Interactive systems and methods for real-time laparoscopic navigation

Patent metadata

Field	Value
Publication number	US-10799146-B2
Application number	US-201514667269-A
Country	US
Kind code	B2
Filing date	Mar 24, 2015
Priority date	Mar 24, 2014
Publication date	Oct 13, 2020
Grant date	Oct 13, 2020

Abstract

Systems and methods for real time laparoscopic navigation. Exemplary embodiments can comprise scanning a structure of interest internal to a patient to provide image data; generating a first three-dimensional reconstruction of the structure of interest based on the image data; annotating the first three-dimensional reconstruction of the structure of interest with a plurality of reference points; obtaining spatial coordinates of the plurality of reference points during a laparoscopic procedure; and generating a second three-dimensional reconstruction of the structure of interest based on the spatial coordinates.

First claim

What is claimed is:

1. A method for real time laparoscopic navigation, the method comprising:
scanning a structure of interest internal to a patient to provide a first set of image data via a scanner;
generating a first three-dimensional reconstruction of the structure of interest based on the first set of image data;
annotating the first three-dimensional reconstruction of the structure of interest with a plurality of reference points;
obtaining spatial coordinates of the plurality of reference points during a laparoscopic procedure;
providing a surgical port during the laparoscopic procedure, wherein:
the surgical port comprises a proximal end located outside a body of the patient and a distal end located within an internal portion of the body of the patient;
the surgical port comprises a channel extending between the proximal end of the surgical port and the distal end of the surgical port; and

coupling a camera to the proximal end of the surgical port, wherein the camera comprises a field of view directed away from the distal end of the surgical port and away from the body of the patient;
inserting a surgical tool into the body of the patient via the channel in the surgical port;
obtaining a second set of image data associated with a plurality of reference markers external to the body of the patient, wherein:
the second set of image data is captured in the field of view of the camera;
the plurality of reference markers are positioned on a ceiling of a room in which the surgical port is located; and

determining, using the second set of image data associated with the plurality of reference markers, a global position of the surgical port and the surgical tool inserted into the surgical port; and
generating a second three-dimensional reconstruction of the structure of interest based on the spatial coordinates, wherein:
the first three-dimensional reconstruction of the structure of interest illustrates the structure of interest before articulation of a support surface;
the obtaining the spatial coordinates of the plurality of reference points comprises obtaining a distance from each of the plurality of reference points to the camera; and
the second three-dimensional reconstruction of the structure of interest is a tissue deformation simulation used to simulate changes in a shape of the structure of interest after the articulation of the support surface.

2. The method of claim 1 wherein the distance is obtained via a laser.

3. The method of claim 1 wherein the distance is obtained via acoustic waves.

4. The method of claim 1 wherein the distance is obtained via an autofocus feature of the camera.

5. The method of claim 4 wherein the autofocus feature incorporates an algorithm to increase local pixel contrast.

6. The method of claim 1 wherein the structure of interest is a liver.

7. The method of claim 6 wherein the plurality of reference points comprises locations where hepatic arteries enter the liver and where a portal vein exits the liver.

8. The method of claim 6 wherein the plurality of reference points comprises locations including a transverse fissure of the liver that divides a left portion of the liver into four segments.

9. The method of claim 6 wherein the plurality of reference points comprises a coupling point between the liver and a gallbladder.

10. The method of claim 6 wherein the plurality of reference points comprises a location of a hepatic lymph node.

11. The method of claim 6 wherein the plurality of reference points comprises a ligamentum venosum and a ligament teres.

12. A real time laparoscopic navigation system comprising:
a scanner configured to provide a first set of image data of a structure of interest internal to a patient;
a surgical port;
a plurality of reference markers external to a body of the patient, wherein
the plurality of reference markers are positioned on a ceiling of a room in which the surgical port is located;

a camera coupled to the surgical port, wherein:
the surgical port comprises a proximal end configured to be located outside the body of the patient and a distal end configured to be located within an internal portion of the body of the patient; and
the surgical port comprises a channel extending between the proximal end of the surgical port and the distal end of the surgical port;
the camera is coupled to the proximal end of the surgical port;
the camera comprises a field of view directed away from the distal end of the surgical port and away from the body of the patient;
the field of view is configured to capture a second set of image data associated with the plurality of reference markers;

a surgical tool configured to be inserted into the body of the patient via the channel in the surgical port; and
a processor configured to:
generate a first three-dimensional reconstruction of the structure of interest based on the first set of image data;
annotate the first three-dimensional reconstruction of the structure of interest with a plurality of reference points;
obtain spatial coordinates of the plurality of reference points during a laparoscopic procedure;
determine, using the second set of image data associated with the plurality of reference markers, a global position of the surgical port and the surgical tool inserted into the surgical port;
generate a second three-dimensional reconstruction of the structure of interest based on the spatial coordinates; and
obtain the spatial coordinates of the plurality of reference points during the laparoscopic procedure by obtaining a distance from each of the plurality of reference points to the camera, wherein:
the first three-dimensional reconstruction of the structure of interest illustrates the structure of interest before articulation of a support surface;
the second three-dimensional reconstruction of the structure of interest is a tissue deformation simulation used to simulate changes in a shape of the structure of interest after the articulation of the support surface.

13. The system of claim 12 wherein the scanner is a magnetic resonance imaging (MRI) scanner.

14. The system of claim 12 wherein the scanner is a computed tomography (CT) scanner.

15. The system of claim 12 wherein the processor is configured to obtain the distance via a laser.

16. The system of claim 12 wherein the processor is configured to obtain the distance via acoustic waves.

17. The system of claim 12 wherein the processor is configured to obtain the distance via an autofocus feature of the camera.

18. The system of claim 17 wherein the autofocus feature incorporates an algorithm to increase local pixel contrast.

Assignees

• Univ Houston
• Methodist Hospital
• Univ Houston System

Inventors

• Garbey Marc
• Dunkin Brian James
• Bass Barbara Lee

Classifications

• A61B5/055

  involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging · CPC title

• A61B2034/2057

  Details of tracking cameras · CPC title

• A61B6/032

  Transmission computed tomography [CT] · CPC title

• A61B5/064

  using markers (A61B5/062 takes precedence) · CPC title

• A61B34/20

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title