System for real-time organ segmentation and tool navigation during tool insertion in interventional therapy and method of operation thereof

Patent metadata

Field	Value
Publication number	US-11547868-B2
Application number	US-201515517740-A
Country	US
Kind code	B2
Filing date	Oct 16, 2015
Priority date	Oct 17, 2014
Publication date	Jan 10, 2023
Grant date	Jan 10, 2023

Abstract

An interventional therapy system may include at least one catheter configured for insertion within an object of interest (OOI); and at least one controller which configured to: obtain a reference image dataset including a plurality of image slices which form a three-dimensional image of the OOI; define restricted areas (RAs) within the reference image dataset; determine location constraints for the at least one catheter in accordance with at least one of planned catheter intersection points, a peripheral boundary of the OOI and the RAs defined in the reference dataset; determine at least one of a position and an orientation of the distal end of the at least one catheter; and/or determine a planned trajectory for the at least one catheter in accordance with the determined at least one position and orientation for the at least one catheter and the location constraints.

First claim

What is claimed is:

1. An interventional therapy system, comprising:
at least one catheter having proximal and distal ends and at least one tracking element, wherein the at least one catheter is insertable within an object of interest (OOI), wherein the distal end of a respective at least one catheter is situatable within the OOI while the proximal end of the respective at least one catheter is situatable outside of the OOI during use; and
at least one controller arranged to:
obtain a reference image dataset of a volume of interest, wherein the reference image dataset comprises a plurality of two-dimensional image slices forming a three-dimensional reference image dataset which includes a three-dimensional image of the OOI;
segment each image slice of the plurality of two-dimensional image slices of the reference image data set to form segmentation information which defines at least one boundary surface of the OOI;
automatically define and highlight without user intervention restricted areas (RAs) within the reference image dataset indicative of at least one area within the volume of interest where the at least one catheter should not travel;
determine location constraints for the at least one catheter relative to at least one image plane of the volume of interest in accordance with (i) planned catheter intersection points for the distal end of the at least one catheter, (ii) a peripheral boundary of the at least one boundary surface of the OOI defined in the segmentation information, and (iii) the RAs defined in the reference image dataset;
determine at least one of position and orientation of the distal end of the at least one catheter;
determine a planned trajectory for the at least one catheter n accordance with the determined at least one position and orientation of the distal end of the at least one catheter and the location constraints;
obtain a current image plane of the volume of interest which includes the OOI:
update the at least one of position and orientation of the distal end of the at least one catheter along an actual path of travel of the distal end of the at least one catheter during use to obtain an updated position of the distal end of the at least one catheter relative to the current image plane;
update the planned trajectory with an estimated trajectory for the at least one catheter in accordance with (i) the updated position of the distal end of the at least one catheter relative to the current image plane and (ii) the location constraints, wherein the location constraints further include deformable registration constraints or deformation vectors which take into account deformations or changes in shape to boundary surfaces of the OOI that occur due to the at least one catheter during use within the OOI;
update at least one planned catheter intersection point with an estimated intersection of the distal end of the at least one catheter with the current image plane in accordance with the estimated trajectory; and
provide an indication of the estimated intersection of the distal end of the at least one catheter with the current image plane.

2. The interventional therapy system of claim 1 , wherein the controller is further arranged to capture the current image plane.

3. The interventional therapy system of claim 1 , wherein the controller is further arranged to render information related to one or more of the determined position and the orientation of the distal end of the at least one catheter and the planned trajectory of the at least one catheter.

4. The interventional therapy system of claim 1 , wherein the controller is further arranged to steer the at least one catheter in accordance with the planned trajectory.

5. The interventional therapy system of claim 1 , wherein the at least one controller is arranged to acquire a current image of the OOI using an ultrasound probe.

6. The interventional therapy system of claim 1 , wherein the indication includes one of different colors changeable based on location of the distal end of the at least one catheter relative to the current image plane.

7. The interventional therapy system of claim 1 , wherein the indication includes an audible pitch changeable based on location of the distal end of the at least one catheter relative to the current image plane.

8. The interventional therapy system of claim 1 , wherein the indication includes an audible pitch that decreases to a default value as the distal end of the at least one catheter approaches the current image plane, and increases as the distal end of the at least one catheter moves away from the current image plane.

9. The interventional therapy system of claim 8 , wherein the default value is set by the at least one of the controller and the user.

10. A method for rendering a superposed image, the method performed by at least one controller of an interventional therapy system and comprising acts of:
obtaining a reference image dataset of a volume of interest, wherein the reference image dataset comprises a plurality of two-dimensional image slices forming a three-dimensional reference image dataset which includes a three-dimensional image of an object-of-interest (OOI);
segmenting each image slice of the plurality of two-dimensional image slices of the reference image data set to form segmentation information which defines at least one boundary surface of the OOI;
automatically defining and highlighting by the at least one controller without user intervention restricted areas (RAs) within the reference image dataset indicative of at least one area within the volume of interest where the at least one catheter should not travel;
determining location constraints for the at least one catheter relative to at least one image plane of the volume of interest in accordance with (i) planned catheter intersection points for distal end of the at least one catheter, (ii) a peripheral boundary of the at least one boundary surface of the OOI defined in the segmentation information, and (iii) the RAs defined in the reference image dataset;
determining at least one of position and an orientation of the distal end of the at least one catheter, wherein the distal end of a respective at least one catheter is situatable within the OOI while the proximal end of the respective at least one catheter is situatable outside of the OOI during use;
determining a planned trajectory for the at least one catheter in accordance with the determined at least one position and orientation of the distal end of the at least one catheter and the location constraints;
obtaining a current image plane of the volume of interest which includes the OOI;
updating the at least one of position and orientation of the distal end of the at least one catheter along an actual path of travel of the distal end of the at least one catheter during use to obtain an updated position of the distal end of the at least one catheter relative to the current image plane:
updating the planned trajectory with an estimated trajectory for the at least one catheter in accordance with (i) the updated position of the distal end of the at least one catheter relative to the current image plane and (ii) the location constraints, wherein the location constraints further include deformable registration constraints or deformation vectors which take into account deformations or changes in shape to boundary surfaces of the OOI that occur due to the at least one catheter during use within the OOI;
updating at least one planned catheter intersection point with an estimated intersection of the distal end of the at least one catheter with the current image plane in accordance with the estimated trajectory; and
providing an indication of the estimated intersection of the

Assignees

• Koninklijke Philips Nv
• Sunnybrook Res Inst

Inventors

• Kruecker Jochen
• Bharat Shyam
• Dehghan Marvast Ehsan
• Kung Cynthia Ming-Fu
• Ravi Ananth
• Uhlemann Falk
• Amthor Thomas Erik

Classifications

• A61N2005/1058

  using ultrasound imaging · CPC title

• A61B2090/364

  Correlation of different images or relation of image positions in respect to the body · CPC title

• A61B90/37

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

• A61N5/1067

  in real time, i.e. during treatment · CPC title

• A61N5/1049

  for verifying the position of the patient with respect to the radiation beam · CPC title