System and method for identifying and marking a target in a fluoroscopic three-dimensional reconstruction

Patent metadata

Field	Value
Publication number	US-11564649-B2
Application number	US-202017115599-A
Country	US
Kind code	B2
Filing date	Dec 8, 2020
Priority date	Oct 10, 2017
Publication date	Jan 31, 2023
Grant date	Jan 31, 2023

Abstract

A method and system for facilitating identification and marking of a target in a displayed Fluoroscopic Three-Dimensional Reconstruction (F3DR) of a body region of a patient. The system includes a display and a storage device storing instructions for receiving an initial selection of the target in the F3DR, fining the F3DR based on the initial selection of the target, displaying the fined F3DR on the display, and receiving a final selection of the target in the fined F3DR via a user selection. The system further includes at least one hardware processor configured to execute said instructions. The method and instructions may also include receiving a selection of a medical device in two two-dimensional fluoroscopic images, where the medical device is located in an area of the target, and initially fining the F3DR based on the selection of the medical device.

First claim

What is claimed is:

1. A system for facilitating identification and marking of a target in a displayed Fluoroscopic Three-Dimensional Reconstruction (F3DR) of a body region of a patient, the system comprising:
(i) a display;
(ii) one or more storage devices having stored thereon instructions for:
acquiring a sequence of fluoroscopic images of the body region about a plurality of angles relative to the body region while a medical device is positioned in a target area;
generating the F3DR of the body region based on the sequence of fluoroscopic images;
receiving a selection of a medical device in two two-dimensional fluoroscopic images from the sequence of fluoroscopic images;
receiving an initial selection of the target in the F3DR;
determining a range of fluoroscopic slices of the F3DR for slice scrolling based on the initial selection of the target or the medical device;
displaying one or more fluoroscopic slice images from the determined range of fluoroscopic slices of the F3DR on the display;
receiving a final selection of the target in at least one of the fluoroscopic slices from the determined range of fluoroscopic slices of the F3DR via a user selection, and
determining an offset of the medical device with respect to the target based on the selection of the medical device and at least one of the initial selection of the target or the final selection of the target;
generating a local F3DR-computed tomography (CT) scan registration; and

(iii) at least one hardware processor configured to execute said instructions.

2. The system of claim 1 , wherein the one or more storage devices have stored thereon further instructions for:
determining the range of slices based on the selection of the medical device prior to initial selection of the target.

3. The system of claim 1 , wherein the one or more storage devices have stored thereon further instructions for:
receiving a computed tomography (CT) scan of the body region of the patient,

wherein the CT scan includes a marking of the target;
generating at least one virtual fluoroscopy image based on the CT scan, wherein the virtual fluoroscopy image includes the target and the marking of the target; and
displaying the virtual fluoroscopy image.

4. The system of claim 1 , wherein displaying one or more fluoroscopic slice images from the determined range of fluoroscopic slices of the F3DR on the display comprises displaying different slices of the F3DR according to commands provided by the user.

5. The system of claim 1 , wherein displaying one or more fluoroscopic slice images from of the determined range of fluoroscopic slices of the F3DR on the display comprises displaying the one or more slices at different capture angles according to commands provided by the user.

6. The system of claim 1 , wherein the receiving of the final selection of the target in at least one of the fluoroscopic slices of the F3DR comprises directing the user to identify and mark the target in two slices of the F3DR captured at two different angles.

7. The system of claim 1 , wherein a thickness of a fluoroscopic slice from the determined range of fluoroscopic slices of the F3DR is reduced to achieve better resolution.

8. The system of claim 7 , wherein the target area comprises at least a portion of lungs and the medical device is configured to be navigated to the target area through a luminal network of lungs.

9. The system of claim 1 , wherein the one or more storage devices have stored thereon further instructions for:
receiving a three-dimensional imaging of the body region of the patient, wherein the three-dimensional imaging includes a marking of the target; and
displaying the three-dimensional imaging.

10. The system of claim 9 , wherein the three-dimensional imaging is a computed tomography (CT) or a magnetic resonance image (MRI) scan.

11. A method for facilitating identification and marking of a target in a Fluoroscopic Three-Dimensional Reconstruction (F3DR) of a body region of a patient, the method comprising using at least one hardware processor for:
acquiring a sequence of fluoroscopic images of the body region about a plurality of angles relative to the body region while a medical device is positioned in a target area;
generating the F3DR of the body region based on the sequence of fluoroscopic images;
receiving a selection of a medical device in two two-dimensional fluoroscopic images from the sequence of fluoroscopic images;
receiving an initial selection of the target in the F3DR;
determining a range of fluoroscopic slices of the F3DR for slice scrolling based on the initial selection of the target or the medical device;
displaying one or more fluoroscopic slice images from the determined range of fluoroscopic slices of the F3DR on the display;
receiving a final selection of the target in at least one of the fluoroscopic slices from the determined range of fluoroscopic slices of the F3DR via a user selection, and
determining an offset of the medical device with respect to the target based on the selection of the medical device and at least one of the initial selection of the target or the final selection of the target; and
generating a local F3DR-computed tomography (CT) scan registration.

12. The method of claim 11 , further comprising using said at least one hardware processor for:
determining the range of fluoroscopic slices based on the selection of the medical device prior to initial selection of the target.

13. The method of claim 11 , further comprising using said at least one hardware processor for:
receiving a computed tomography (CT) scan of the body region of the patient,

wherein the CT scan includes a marking of the target;
generating at least one virtual fluoroscopy image based on the CT scan, wherein the virtual fluoroscopy image includes the target and the marking of the target; and
displaying the virtual fluoroscopy image on the display.

14. The method of claim 11 , wherein displaying one or more fluoroscopic slice images from the determined range of fluoroscopic slices of the F3DR on the display comprises displaying different slices of the F3DR according is performed upon a user's request.

15. The method of claim 11 , wherein the displaying one or more fluoroscopic slice images from of the determined range of slices of the F3DR on the display comprises displaying the one or more slices at different capture angles according to commands provided by the user.

16. The method of claim 11 , wherein the receiving of the final selection of the target in at least one of the fluoroscopic slices of the F3DR comprises directing the user to identify and mark the target in two fluoroscopic slices of the F3DR captured at two different angles.

17. The method of claim 11 wherein a thickness of the fluoroscopic slices from the determined range of slices of the F3DR is reduced to achieve better resolution.

18. The method of claim 11 , wherein the target area comprises at least a portion of lungs and the medical device is configured to be navigated to the target area through a luminal network of lungs.

19. The method of claim 11 , further comprising using said at least one hardware processor for:
receiving a three-dimensional imaging of the body region of the patient, wherein the three-dimensional imaging includes a marking of the target; and
displaying the three-dimensional imaging.

20. The method of claim 19 , wherein the method is used during a medical procedure, and wherein the three-dimensional imaging is a pre-op

Assignees

• Covidien Lp

Inventors

• Kedmi-Shahar Efrat
• Mardix Dafna
• Kopel Evgeni
• Weingarten Oren P
• Greenburg Benjamin
• Klein Eyal
• Barak Ron

Classifications

• A61B2090/3908

  Soft tissue, e.g. breast tissue · CPC title

• A61B6/032

  Transmission computed tomography [CT] · CPC title

• A61B34/25

  User interfaces for surgical systems · CPC title

• A61B2090/376

  using X-rays, e.g. fluoroscopy · CPC title

• A61B2034/252

  indicating steps of a surgical procedure · CPC title