Systems and methods for navigation in image-guided medical procedures

Patent metadata

Field	Value
Publication number	US-11547490-B2
Application number	US-201716349073-A
Country	US
Kind code	B2
Filing date	Dec 7, 2017
Priority date	Dec 8, 2016
Publication date	Jan 10, 2023
Grant date	Jan 10, 2023

Abstract

Medical imaging systems and methods are provided herein that provide for navigation and procedure planning without segmentation. A method comprises receiving, by a medical imaging system having at least one processing device, three-dimensional image data of a patient anatomy. The method also comprises filtering the three-dimensional data to display a portion of the three-dimensional image data that is associated with the patient anatomy and receiving, at the processing device, input from an operator input device. The input comprises navigational directions for virtual movement within a space defined by the three-dimensional image data. The method also includes tracking the virtual movement, defining a tracked pathway based on the tracked virtual movement, and generating a model of the patient anatomy based on the tracked pathway. The model of the patient anatomy is a line model including one or more lines based on the tracked pathway.

First claim

What is claimed is:

1. A method comprising:
receiving, by a medical imaging system having at least one processing device, three-dimensional image data of a patient anatomy;
filtering the three-dimensional image data to display a portion of the three-dimensional image data that is associated with the patient anatomy;
receiving, at the at least one processing device, input from an operator input device, the input comprising navigational directions for virtual movement within a space defined by the three-dimensional image data;
tracking the virtual movement;
defining a tracked pathway based on the tracked virtual movement; and
generating a model of the patient anatomy based on the tracked pathway, wherein the model of the patient anatomy is a line model comprising one or more lines based on the tracked pathway.

2. The method of claim 1 , further comprising:
identifying a target in the three-dimensional image data;
determining a vector extending between a viewpoint of the three-dimensional image data in space and the target; and
rendering a user interface element representing the vector on a display displaying a rendering of the three-dimensional image data to provide navigational guidance.

3. The method of claim 1 , further comprising:
identifying a target in the three-dimensional image data;
determining a first subset of modeled passageways that permit access to the target; and
rendering a first user interface element indicating that a first modeled passageway is excluded from the first subset of modeled passageways.

4. The method of claim 1 , further comprising:
identifying a target in the three-dimensional image data;
determining a first subset of modeled passageways that permit access to the target; and
rendering a first user interface element indicating that a first modeled passageway is included within the first subset of modeled passageways.

5. The method of claim 4 , further comprising:
blocking virtual navigation beyond a location in the three-dimensional image data associated with the rendered first user interface element.

6. A system for processing medical images, the system comprising:
a memory configured for storing three-dimensional image data of at least a portion of a patient anatomy;
a processing device in communication with the memory, the processing device configured to execute instructions to perform operations comprising:
receiving the three-dimensional image data;
filtering the three-dimensional image data;
generating a display of a portion of the three-dimensional image data associated with the patient anatomy;
receiving input from an operator input device, the input comprising navigational directions for virtual movement within an image space defined by the portion of the three-dimensional image data;
defining a tracked pathway by tracking the virtual movement; and
generating a model of the patient anatomy based on the tracked pathway, wherein the model of the patient anatomy is a line model comprising one or more lines based on the tracked pathway.

7. The system of claim 6 , wherein receiving the input from the operator input device comprises:
receiving a first input associated with virtual movement in a first perspective of the three-dimensional image data;
receiving a second input associated with virtual movement in a second perspective of the three-dimensional image data; and
combining the first and second inputs associated with the first and second perspectives to generate the model.

8. The system of claim 6 , wherein the operator input device is a three-dimensional input device configured to process operator motion in three dimensions into the model.

9. The system of claim 6 , wherein the processing device is further configured to execute instructions to perform rendering of a graphical user interface in a display in communication with the processing device.

10. The system of claim 9 , wherein rendering the graphical user interface comprises rendering the filtered three-dimensional image data from a perspective internal to the three-dimensional image data or from a perspective external to the three-dimensional image data.

11. The system of claim 9 , wherein rendering the graphical user interface comprises rendering the filtered three-dimensional image data from a perspective external to the three-dimensional image data.

12. The system of claim 11 , wherein the receiving input from the operator input device comprises receiving one or more drawing inputs from the operator input device, the one or more drawing inputs representing one or more three-dimensional lines drawn on one or more views of the three-dimensional image data by an operator.

13. The system of claim 9 , wherein the operations further comprise displaying a plurality of filter selections and receiving a selection of at least one of the plurality of filter selections, wherein rendering the graphical user interface comprises rendering a filtered portion of the three-dimensional image data according to the selection of at least one of the plurality of filter selections.

14. The system of claim 9 , wherein the operations further comprise receiving a selection of a user interface element from an operator, the selection indicating a virtual navigation input mode or a drawing input mode.

15. The system of claim 9 , wherein the operations further comprise displaying a generated pathway and the three-dimensional image data in the display.

16. The system of claim 15 , wherein the generated pathway and the three-dimensional image data are displayed simultaneously.

17. The system of claim 6 , wherein the processing device is configured to perform the filtering of the three-dimensional image data according to a density value to identify a feature in the received three-dimensional image data.

18. The system of claim 6 , wherein the processing device is configured to perform the filtering of the three-dimensional image data according to different density values to identify different areas of the received three-dimensional image data.

19. The system of claim 6 , wherein the processing device is configured to perform the filtering of the three-dimensional image data according to a density value to isolate air from an anatomical feature in the received three-dimensional image data.

Assignees

• Intuitive Surgical Operations

Inventors

• Wang Bai
• Zhao Tao

Classifications

• A61B2034/2051

  Electromagnetic tracking systems · CPC title

• A61B2034/2061

  using shape-sensors, e.g. fiber shape sensors with Bragg gratings · CPC title

• A61B34/10 Primary

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

• A61B2034/105

  Modelling of the patient, e.g. for ligaments or bones · CPC title

• A61B34/20 Primary

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