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

Patent metadata

Field	Value
Publication number	US-12064280-B2
Application number	US-202318104164-A
Country	US
Kind code	B2
Filing date	Jan 31, 2023
Priority date	Oct 10, 2017
Publication date	Aug 20, 2024
Grant date	Aug 20, 2024

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 identification and marking of a target in a body region of a patient, the system comprising:
(i) a display;
(ii) a computing device including a processor and a storage device, the storage device storing thereon instructions that when executed by the processor cause the computing device to:
receive 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 of the target in the body region of the patient;
generate a Fluoroscopic Three-Dimensional Reconstruction (F3DR) of the body region based on the sequence of fluoroscopic images;
receive an identification of the medical device in a first two-dimensional fluoroscopic image from the sequence of fluoroscopic images;
receive a first identification of the target in the F3DR;
determine a range of fluoroscopic slices of the F3DR for scrolling based on the identification of the target or the medical device;
display a second fluoroscopic slice image from the determined range of fluoroscopic slices of the F3DR on the display;
receive a second identification of the target in the second fluoroscopic slice image;
determine an offset of the medical device with respect to the target based on the identification of the medical device and at least one of the first identification of the target or the second identification of the target; and
register the F3DR to a computed tomography (CT) scan stored in the storage device.

2. The system of claim 1 , wherein the storage device stores thereon further instructions that when executed by the processor cause the computing device to:
determine a second range of fluoroscopic slices of the F3DR based on selection of the medical device prior to initial selection of the target.

3. The system of claim 1 , wherein the storage device stores thereon further instructions that when executed by the processor cause the computing device to:
receive the CT scan, wherein the CT scan is of the body region of the patient and includes a marking of the target;
generate 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
display the virtual fluoroscopy image.

4. The system of claim 1 , wherein display of the second fluoroscopic slice image from the determined range of fluoroscopic slices of the F3DR on the display comprises displaying a series of different slices of the F3DR.

5. The system of claim 1 , wherein display of the second fluoroscopic slice image from the determined range of fluoroscopic slices of the F3DR on the display comprises displaying a series of different slices at different capture angles.

6. The system of claim 1 , wherein receiving the second identification of the target in the second fluoroscopic slice image comprises directing a 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 1 , wherein the target comprises at least a portion of lungs and the medical device is configured to be navigated to the target through a luminal network of lungs.

9. The system of claim 1 , wherein the storage device stores thereon further instructions that when executed by the processor cause the computing device to:
receive a three-dimensional image data set of the body region of the patient, wherein the three-dimensional image data set includes a marking of the target; and
displaying the three-dimensional image data set.

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

11. A method for marking of a target in a body region of a patient, the method comprising:
receiving a sequence of fluoroscopic images of the body region while a medical device is positioned proximate a target in the body region of the patient;
generating a Fluoroscopic Three-Dimensional Reconstruction (F3DR) of the body region based on the sequence of fluoroscopic images;
receiving an identification of the medical device in a first two-dimensional fluoroscopic image from the sequence of fluoroscopic images;
receiving a first identification of the target in the F3DR;
determining a range of fluoroscopic slices of the F3DR for scrolling based on the identification of the target or the medical device;
displaying a second fluoroscopic slice image from the determined range of fluoroscopic slices of the F3DR on a display;
receiving a second identification of the target in the displayed second fluoroscopic slice image; and
determining an offset of the medical device with respect to the target based on the identification of the medical device and at least one of the identification of the target or the second identification of the target.

12. The method of claim 11 , further comprising:
determining the range of fluoroscopic slices of the F3DR based on the identification of the medical device prior to identification of the target.

13. The method of claim 11 , further comprising:
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 the second fluoroscopic slice image from the determined range of fluoroscopic slices of the F3DR on the display comprises displaying a series of slices of the F3DR.

15. The method of claim 11 , wherein the displaying the second fluoroscopic slice image from of the determined range of slices of the F3DR on the display comprises displaying a series of slices of the F3DR at different capture angles.

16. The method of claim 11 , wherein receiving the second identification of the target in the second fluoroscopic slice image comprises directing a 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 fluoroscopic slices of the F3DR is reduced to achieve better resolution.

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

19. The method of claim 11 , further comprising:
receiving a three-dimensional image data set of the body region of the patient, wherein the three-dimensional image data set includes a marking of the target; and
displaying the three-dimensional image data set.

20. The method of claim 19 , wherein the method is used during a medical procedure, and wherein the three-dimensional image data set is a pre-operative imaging which was used in a planning phase of the medical procedure.

Assignees

• Covidien Lp

Inventors

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

Classifications

• G06T12/00

  Tomographic reconstruction from projections · CPC title

• A61B2034/252

  indicating steps of a surgical procedure · CPC title

• A61B6/488

  involving pre-scan acquisition · CPC title

• A61B6/032

  Transmission computed tomography [CT] · CPC title

• A61B6/12

  Arrangements for detecting or locating foreign bodies · CPC title