Dynamic 3D lung map view for tool navigation inside the lung

Patent metadata

Field	Value
Publication number	US-11547485-B2
Application number	US-202117526933-A
Country	US
Kind code	B2
Filing date	Nov 15, 2021
Priority date	Jul 2, 2014
Publication date	Jan 10, 2023
Grant date	Jan 10, 2023

Abstract

A method for implementing a dynamic three-dimensional lung map view for navigating a probe inside a patient's lungs includes loading a navigation plan into a navigation system, the navigation plan including a planned pathway shown in a 3D model generated from a plurality of CT images, inserting the probe into a patient's airways, registering a sensed location of the probe with the planned pathway, selecting a target in the navigation plan, presenting a view of the 3D model showing the planned pathway and indicating the sensed location of the probe, navigating the probe through the airways of the patient's lungs toward the target, iteratively adjusting the presented view of the 3D model showing the planned pathway based on the sensed location of the probe, and updating the presented view by removing at least a part of an object forming part of the 3D model.

First claim

What is claimed is:

1. A system for guiding navigation of a tool in a lung of a patient, comprising:
an electromagnetic (EM) field generator configured to generate an electromagnetic field;
a tool including an EM sensor;
a display;
a processor; and
a memory having stored thereon instructions, wherein when the instructions are executed by the processor, the processor:
determines a location of the tool based on the electromagnetic field sensed by the EM sensor;
receives a navigation plan including at least one planned pathway to at least one target in the lung of the patient;
presents, on the display, a three-dimensional (3D) lung map view of a 3D model of the lung of the patient showing the at least one planned pathway, the at least one target, the tool, and a line of sight indicator from the tool;
adjusts the 3D lung map view of the 3D model on the display as the tool is navigated through an airway of the lung of the patient; and
removes at least a part of an object forming part of the 3D model from the 3D lung map view.

2. The system of claim 1 , wherein adjusting the 3D lung map view includes updating the location of the tool.

3. The system of claim 1 , wherein adjusting the 3D lung map view includes updating the line of sight indicator.

4. The system of claim 1 , further comprising reference sensors,
wherein, when the instructions are executed by the processor, the processor further calculates a patient coordinate frame of reference based on the electromagnetic field sensed by the reference sensors.

5. The system of claim 1 , further comprising an input device,
wherein, when the instructions are executed by the processor, the processor further receives an input signal from the input device, and
wherein removing the at least the part of the object is performed in response to the input signal from the input device.

6. The system of claim 1 , wherein, when the instructions are executed by the processor, the processor further:
receives computer tomography (CT) image data of the lung of the patient; and
generates the 3D model of the lung of the patient using the CT image data.

7. The system of claim 6 , wherein the object is at least one of another target or a branch of an airway tree.

8. The system of claim 1 , wherein, when the instructions are executed by the processor, the processor further determines that the object is outside a region of interest, the object obstructs the tool, the object obstructs the target, or the object is not relevant to a position or state of the tool, and
wherein the removing the at least the part of the object is performed in response to determining that the object is outside the region of interest, the object obstructs the tool, the object obstructs the target, or the object is not relevant to a position or state of the tool.

9. A system comprising:
an electromagnetic (EM) field generator configured to generate an electromagnetic field;
a tool including an EM sensor;
a display;
a processor; and
a memory having stored thereon instructions, wherein when the instructions are executed by the processor, the processor:
determines a location of the tool based on the electromagnetic field sensed by the EM sensor;
receives a navigation plan including at least one planned pathway to at least one target in a lung of a patient;
presents, on the display, a 3D lung map view of a 3D model of the lung of the patient showing the at least one planned pathway, the at least one target, the tool, and a line of sight indicator from the tool;
updates the location of the tool on the display based on the location of the tool determined based on the electromagnetic field sensed by the EM sensor; and
adjusts the 3D lung map view of the 3D model on the display based on at least one of the location of the tool updated on the display or the location of the tool determined based on the electromagnetic field sensed by the EM sensor.

10. The system of claim 9 , wherein, when the instructions are executed by the processor, the processor further aligns the 3D lung map view with the location of the tool to show the location of the tool and a view looking ahead out of a tip of the tool.

11. The system of claim 9 , wherein, when the instructions are executed by the processor, the processor further changes the 3D lung map view according to a direction in which the tool is being navigated or to be orthogonal to a vector from the tool to the at least one planned pathway or the at least one target.

12. The system of claim 9 , wherein the line of sight indicator extends from the tool and intersects with the at least one target.

13. A system for guiding navigation of a tool in a lung of a patient, the system comprising:
an electromagnetic (EM) field generator in operative communication with an EM sensor associated with a tool;
a display;
a processor; and
a memory, in which instructions and computer tomography (CT) image data are stored, wherein the instructions, when executed by the processor, cause the processor to:
generate a three-dimensional (3D) model of the lung of the patient based on the CT image data;
receive EM location information from the EM sensor;
determine a location of the tool based on the EM location information;
present, on the display, a view of the 3D model, at least one planned pathway, at least one target, and a representation of the tool at the location of the tool;
adjust the view on the display as the tool is navigated through an airway of the lung of the patient;
change the view to show alignment of the representation of the tool with the at least one target; and
show an indicator extending from a tip of the representation of the tool and intersecting with the at least one target.

14. The system according to claim 13 , further comprising an input device,
wherein the instructions, when executed by the processor, further cause the processor to:
receive input from the input device; and
adjust the view to zoom in on the 3D model in response to receiving the input from the input device.

15. The system according to claim 14 , wherein zooming in on the 3D model includes zooming in on a portion of airways of the lung of the patient.

16. The system according to claim 13 , wherein the instructions, when executed by the processor, further cause the processor to adjust the view to show an area around the representation of the tool.

17. The system according to claim 12 , wherein the instructions, when executed by the processor, further cause the processor to rotate the view to improve a 3D perception of the location of the tool in relation to the 3D model.

18. The system according to claim 17 , wherein the instructions, when executed by the processor, further cause the processor to change the view to show an area ahead of the representation of the tool.

Assignees

• Covidien Lp

Inventors

• Weingarten Oren P
• Barak Ron

Classifications

• A61B90/37

  Surgical systems with images on a monitor during operation · CPC title

• G06T19/003

  Navigation within 3D models or images · CPC title

• G06T19/20 Primary

  Editing of three-dimensional [3D] images, e.g. changing shapes or colours, aligning objects or positioning parts · CPC title

• G06T2207/30064

  Lung nodule · CPC title

• A61B2017/00809

  Lung operations · CPC title