Systems and methods for automatically generating an anatomical boundary

Patent metadata

Field	Value
Publication number	US-12383341-B2
Application number	US-202017789958-A
Country	US
Kind code	B2
Filing date	Dec 19, 2020
Priority date	Dec 30, 2019
Publication date	Aug 12, 2025
Grant date	Aug 12, 2025

Abstract

A medical system comprises a display system, a user input device, and a control system communicatively coupled to the display system and the user input device. The control system is configured to display image data of an anatomical region via the display system, determine a target location in the anatomical region, and determine an anatomical boundary based on the target location. The anatomical boundary indicates a surface of an anatomical structure in the anatomical region. The control system is further configured to determine a trajectory zone around a path between an exit point and the target location. The control system is further configured to determine a zone boundary based on an intersection of the trajectory zone with the anatomical boundary.

First claim

What is claimed is:

1. A medical system comprising:
a display system; and
a control system communicatively coupled to the display system, the control system configured to:
display image data of an anatomical region via the display system;
determine a target location in the anatomical region;
determine an anatomical boundary based on the target location, the anatomical boundary indicating a surface of an anatomical structure in the anatomical region, the anatomical structure to be avoided by a tool extendable from a medical instrument;
determine a trajectory zone around a path between a distal end of the medical instrument and the target location, wherein the target location is between the distal end of the medical instrument and the anatomical boundary; and
determine a zone boundary based on an intersection of the trajectory zone with the anatomical boundary.

2. The medical system of claim 1 , wherein the control system is further configured to display the zone boundary with the image data via the display system.

3. The medical system of claim 1 , wherein determining the anatomical boundary further comprises determining at least one intersection of a target border region with the anatomical structure.

4. The medical system of claim 1 , wherein determining the trajectory zone comprises determining a distance between the distal end of the medical instrument and a distal end of the tool extendable from the medical instrument.

5. The medical system of claim 4 , wherein the control system is further configured to display an intersection point between the zone boundary and a tool trajectory of the tool.

6. The medical system of claim 4 , wherein the tool includes a needle.

7. The medical system of claim 1 , wherein the trajectory zone is cone-shaped.

8. The medical system of claim 7 , wherein an angle of the cone-shaped trajectory zone is adjustable.

9. The medical system of claim 1 , wherein determining the zone boundary comprises determining additional trajectory zones and determining the zone boundary based on an intersection of each trajectory zone with the anatomical boundary.

10. The medical system of claim 1 , wherein the control system is further configured to display guidance information via the display system during the determination of the zone boundary.

11. The medical system of claim 1 , wherein the control system is further configured to deform the zone boundary to conform with deformations of an anatomic model derived from the image data based on movement of a patient anatomy and display the deformed zone boundary.

12. The medical system of claim 1 , wherein the control system is further configured to display the anatomical boundary overlaid on fluoroscopic image data obtained during a patient procedure.

13. The medical system of claim 1 , wherein the control system is further configured to:
receive a user input via a user input device while the medical instrument is located within the anatomical region; and
responsive to the user input, direct an orientation of the distal end of the medical instrument away from the zone boundary.

14. The medical system of claim 1 , wherein the control system is further configured to determine a distance between a distal end of the tool and the zone boundary.

15. The medical system of claim 14 , wherein the control system is further configured to provide a visual, audible, or haptic indicator when the distance between the distal end of the tool and the zone boundary is less than a predetermined threshold distance.

16. The medical system of claim 14 , wherein the control system is further configured to alter an advancement speed of the tool based on the determined distance.

17. The medical system of claim 1 , wherein the control system is further configured to provide one or more suggested deployment locations for the medical instrument, wherein the one or more suggested deployment locations are located at least a threshold distance from the zone boundary.

18. The medical system of claim 1 , wherein the control system is further configured to determine a viability of the path including determining whether the tool extendable from the medical instrument will puncture a portion of interest of a patient anatomy along the path.

19. The medical system of claim 18 , wherein the portion of interest includes at least one of a pleura of the patient anatomy, a fissure of the patient anatomy, or blood vessels in the patient anatomy.

20. The medical system of claim 1 , wherein the control system is further configured to display the target location with the image data via the display system.

Assignees

• Intuitive Surgical Operations

Inventors

• Wang Bai
• Cruse Ii Energy
• Janku Joy
• Li Sida
• Zhang Hui
• Zhao Tao

Classifications

• A61B34/25 Primary

  User interfaces for surgical systems · CPC title

• A61B2034/107

  Visualisation of planned trajectories or target regions · CPC title

• G06T2219/028

  Multiple view windows (top-side-front-sagittal-orthogonal) · CPC title

• A61B34/20 Primary

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

• G06T2210/21

  Collision detection, intersection · CPC title