Systems and methods for providing surgical guidance

Patent metadata

Field	Value
Publication number	US-12324635-B2
Application number	US-202418608799-A
Country	US
Kind code	B2
Filing date	Mar 18, 2024
Priority date	Sep 9, 2019
Publication date	Jun 10, 2025
Grant date	Jun 10, 2025

Abstract

Surgical guidance systems and methods visually mark a structure of interest (SOI) of an organ on intraoperative images captured by a locatable imaging device. A location of the SOI relative to a body structure (e.g., a passageway system) associated with the organ is determined in a preoperative image that is captured by a medical diagnostic imaging (MDI) system. The location of the SOI relative to the body structure in the preoperative image is then mapped onto a reconstructed version of the body structure based on location information provided by localization sensors distributed on the body structure. An intraoperative image taken by the locatable imaging device is aligned with the reconstructed version of the body structure and an image object representing the SOI is overlaid on the intraoperative image at a location that is mapped from the reconstructed version of the body structure.

First claim

What is claimed is:

1. A system comprising:
an endoscope;
a display;
a processor operatively coupled to the endoscope and the display; and
a memory having stored thereon a preoperative image of a body structure and a structure of interest (SOI), and instructions, which, when executed by the processor, cause the processor to:
determine a location of the SOI relative to the body structure in the preoperative image;
generate a reconstructed body structure;
determine a location of the SOI relative to the reconstructed body structure based on the preoperative image;
receive an intraoperative image captured by the endoscope and a corresponding location of the endoscope;
align the location of the endoscope with the reconstructed body structure, yielding an aligned location of the endoscope;
determine a location of the SOI relative to the intraoperative image based on the location of the SOI relative to the reconstructed body structure and the aligned location of the endoscope; and
display, on the display, the intraoperative image and an object representing the SOI overlaid on the intraoperative image at the location of the SOI relative to the intraoperative image.

2. The system of claim 1 , wherein the body structure includes passageways, and
wherein the instructions further cause the processor to:
reconstruct the passageways, yielding reconstructed passageways;
determine a spatial relationship between the reconstructed passageways and the passageways in the preoperative image; and
map the location of the SOI relative to the passageways in the preoperative image to the location of the reconstructed passageways.

3. The system of claim 2 , further comprising at least one location sensor,
wherein the body structure includes passageways, and
wherein the instructions further cause the processor to:
receive location data from at least one location sensor in the passageways; and
reconstruct the passageways based on the location data.

4. The system of claim 1 , further comprising at least one location sensor coupled to the endoscope,
wherein the instructions further cause the processor to determine, at a time the intraoperative image is captured, the location of the endoscope relative to the location of the reconstructed body structure based on location information from the at least one location sensor.

5. The system of claim 1 , wherein the body structure includes airways of a lung.

6. The system of claim 1 , wherein the instructions further cause the processor to:
generate the object representing the SOI; and
apply morphological properties of the SOI in the preoperative image to the object.

7. The system of claim 1 , wherein the instructions further cause the processor to modify the preoperative image according to a change in an imaging perspective of the endoscope with respect to the body structure.

8. The system of claim 7 , wherein the change in the imaging perspective of the endoscope includes a change in distance between the endoscope and the body structure or a change in an imaging angle of the endoscope.

9. The system of claim 7 , wherein the instructions further cause the processor to modify a size, a shape, a proportionality, or an orientation of a feature of the preoperative image.

10. The system of claim 7 , wherein the instructions further cause the processor to display the modified preoperative image together with the intraoperative image.

11. The system of claim 1 , wherein the instructions further cause the processor to modify the preoperative image such that a viewpoint of the preoperative image matches a viewpoint of the intraoperative image.

12. The system of claim 1 , wherein the SOI includes an anatomic structure selected from the group consisting of a diseased organ portion, a diseased lung portion, an abnormal tissue, an abnormal organ, a benign anatomic structure, and an organ structure.

13. A system comprising:
a display;
a processor operatively coupled to the display; and
a memory having stored thereon at least one radiographic image of passageways associated with a body structure and a structure of interest (SOI), and instructions, which, when executed by the processor, cause the processor to:
determine a location of the SOI relative to the passageways based on the at least one radiographic image of the passageways;
receive endoscopic images;
determine a location of the SOI relative to each endoscopic image based on the location of the SOI relative to reconstructed passageways and a relationship between each endoscopic image and the reconstructed passageways;
overlay an object representing the SOI on each endoscopic image at the location of the SOI relative to each endoscopic image, yielding modified endoscopic images; and
display, by the display, the modified endoscopic images.

14. The system of claim 13 , wherein the instructions further cause the processor to:
generate the object representing the SOI; and
applying a size, a shape, and an orientation to the object complying with a size, a shape, and an orientation of the SOI relative to the passageways in the at least one radiographic image of the passageways.

15. The system of claim 13 , wherein the instructions further cause the processor to:
modify the at least one radiographic image such that a viewpoint of the radiographic image matches a viewpoint of the endoscopic images, yielding at least one modified image; and
displaying, by the display, the at least one modified image together with the endoscopic images.

16. A system comprising:
at least one location sensor;
an endoscope configured to capture intraoperative images within body passageways; and
a processor; and
a memory having stored thereon a preoperative image of body passageways and a structure of interest (SOI), and instructions, which, when executed by the processor, cause the processor to:
receive location information from the at least one location sensor in the body passageways;
reconstruct the body passageways based on the location information, yielding reconstructed body passageways;
determine, based on the preoperative image, a location of the SOI relative to the body passageways in the preoperative image;
determine, based on the location of the SOI relative to the body passageways in the preoperative image, a location of the SOI relative to the reconstructed body passageways;
receive, from the endoscope, an intraoperative image;
determine a location of the endoscope relative to a location of the reconstructed body passageways;
determine a location of the SOI relative to the intraoperative image based on the location of the SOI relative to the reconstructed body passageways and the location of the endoscope relative to the location of the reconstructed body passageways; and
overlay an object representing the SOI on the intraoperative image at the location of the SOI relative to the intraoperative image.

17. The system of claim 16 , wherein the instructions further cause the processor to:
determine the location of the SOI relative to the reconstructed body passageways by determining a spatial relationship between the reconstructed body passageways and the body passageways in the preoperative image; and
determine the location of the SOI relative to the reconstructed body passageways by mapping the location of the SOI in the preoperative image to the reconstructed body passageways.

18. The system of claim 17 , wherein the at least one location sensor is coupled to a catheter, and
wherein the instructions further cause the processor to:
receive l

Assignees

• Covidien Lp
• Coviden Lp

Inventors

• Kopel Evgeni
• Weingarten Oren P
• Birenbaum Ariel

Classifications

• G06T2207/30061

  Lung · CPC title

• G06T2207/20221

  Image fusion; Image merging · CPC title

• G06T2207/10081

  Computed x-ray tomography [CT] · CPC title

• G06T2207/10016

  Video; Image sequence · CPC title

• G06T7/0014

  using an image reference approach · CPC title