RF ablation planner

Patent metadata

Field	Value
Publication number	US-9747684-B2
Application number	US-52316308-A
Country	US
Kind code	B2
Filing date	Jan 10, 2008
Priority date	Jan 24, 2007
Publication date	Aug 29, 2017
Grant date	Aug 29, 2017

Abstract

In planning an ablation procedure, a planned target volume (PTV) is imported, which is typically selected by a doctor but may be computer identified. An initial set of candidate ablation regions that covers the PTV is computed. Ablation probe trajectories that avoid critical structures are computed to provide surgical 5 options for safe entry points and angles. An optimization component determines a minimum number of ablation regions, which fully covers the PTV, and generates locations and orientations for each ablation. A tracking system can be given these ablation targets, enabling the surgeon to control the probe more precisely to the desired location.

First claim

Having thus described the preferred embodiments, the invention is now claimed to be:

1. A system for planning an ablation procedure for ablation of a tissue mass in a patient, including:
a graphical user interface that presents a representation of the mass to a user; and
an optimization component configured to:
receive image data related to the mass;
determine one or more ablation regions to cover the mass; and
determine a unique coverage area (UCA) for each of a predetermined number of candidate ablation regions such that the UCA for a given candidate ablation region includes a portion of a planned target volume (PTV) that is covered solely by the given candidate ablation region;
wherein the optimization component is further configured to generate an initial list of the candidate ablation regions, each having a characteristic point at which a probe associated with an ablation component is positioned to treat a portion of the mass in each ablation region;
wherein the optimization component is further configured to generate the initial list of the candidate ablation regions to achieve maximal coverage of the PTV from a point of tangency on each of N bounding sides that encompass the PTV.

2. The system according to claim 1 , wherein the optimization component is configured to generate the planned target volume (PTV), which includes the mass.

3. The system according to claim 1 , wherein the optimization component is configured to remove a candidate ablation region from the list of candidate ablation regions if the candidate ablation region does not have a UCA.

4. The system according to claim 1 , wherein the optimization component is configured to utilize a ray marching technique to generate at least one candidate insertion point on the skin of the patient, through which the probe associated with the ablation component is inserted along a trajectory to the PTV while avoiding one or more critical regions.

5. The system according to claim 1 , wherein the optimization component is configured to optimize an ablation plan as a function of at least one of functional data associated with the mass, location of one or more heat sinks near the mass, a shape of the probe associated with the ablation component, a size of the probe associated with the ablation component, and a number of different ablation probes utilized during ablation.

6. The system according to claim 1 , wherein the optimization component is configured to optimize an ablation plan as a function of at least one of entry angles of the probe associated with the ablation component, ablation temperature, ablation time, and critical regions.

7. The system according to claim 1 , wherein the optimization component is configured to utilize prior knowledge of at least one of a proximity of the PTV to a critical region, an ablation time associated with the probe associated with the ablation component, an ablation temperature associated with the probe associated with the ablation component, and one or more heat sinks located near the PTV.

8. The system according to claim 1 , wherein the optimum number of ablation regions is a minimum number of ablation regions that covers the mass.

9. The system according to claim 1 , wherein the optimization component is configured to receive information describing the planned target volume (PTV), which encompasses the mass, the information comprising outlined boundaries on one or more different views of the representation of the mass, and wherein the optimization component is configured to generate 3D voxels representing the planned target volume.

10. The system according to claim 1 , wherein N equals six.

11. The system according to claim 1 , wherein the N bounding sides form a tetrahedron.

12. The system according to claim 1 , wherein the N bounding sides form an octahedron.

13. The system according to claim 1 , wherein the N bounding sides form a dodecahedron.

14. The system according to claim 1 , wherein the N bounding sides form an icosahedron.

15. The system according to claim 1 , wherein the N bounding sides form a Kepler-Poinsot solid.

16. The system according to claim 1 , wherein the N bounding sides form a Archimedean solid.

17. The system according to claim 1 , wherein the N bounding sides form a regular polyhedron.

18. The system according to claim 1 , wherein the N bounding sides form an irregular polyhedron.

19. A system for planning an ablation procedure for ablation of a tissue mass in a patient, including:
a graphical user interface that presents a representation of the mass to a user; and
an optimization component configured to:
receive image data related to the mass;
determine one or more ablation regions to cover the mass; and
determine a unique coverage area (UCA) for each of a predetermined number of candidate ablation regions such that the UCA for a given candidate ablation region includes a portion of a planned target volume (PTV) that is covered solely by the given candidate ablation region;
wherein the optimization component is configured to generate the planned target volume (PTV), which includes the mass;
wherein the optimization component is configured to generate an initial list of candidate ablation regions, each having a characteristic point at which a probe associated with an ablation component is positioned to treat a portion of the mass in each ablation region;
wherein the optimization component is configured to execute a binary search algorithm to determine whether the characteristic points of the given candidate ablation region can be moved closer to a centering point of the PTV without compromising coverage of the UCA of the given candidate ablation region.

20. The system according to claim 19 , wherein the optimization component is configured to continue optimizing a model for tumor mass ablation until no candidate ablation region can be moved closer to the centering point and all UCAs are covered.

21. A system for planning an ablation procedure for ablation of a tissue mass in a patient, including:
a graphical user interface that presents a representation of the mass to a user; and
an optimization component configured to:
receive image data related to the mass; and
determine one or more ablation regions to cover the mass;

wherein the optimization component includes:
a routine that selects an initial set of candidate ablation regions that cover a planned target volume (PTV);
a routine that selects a centering point of the PTV;
a routine that determines whether one or more candidate ablation regions in the initial set of candidate ablation regions remain to be evaluated;
a routine that selects a candidate ablation region and evaluates a unique coverage area (UCA) there for;
a routine that determines whether the UCA for the candidate ablation region is equal to zero;
a routine that removes the candidate ablation region from the initial set of candidate ablation regions if the UCA is equal to zero;
a routine that identifies a closest position to the centering point, to which the candidate ablation region is moved, while still covering the UCA, if the UCA is not equal to zero;
a routine that determines that all candidate ablation regions are ready for reevaluation if one or more candidate ablation regions has been moved closer to the centering point; and
a routine that causes all candidate ablation regions to be reevaluated.

22. A system that facilitates planning a tumor ablation procedure to eradicate a tumor in a patient, includin

Assignees

• Trovato Karen I
• Summers-Stay Douglas
• Koninklijke Philips Nv

Inventors

• Trovato Karen I
• Summers-Stay Douglas

Classifications

• G06T2207/30004

  Biomedical image processing · CPC title

• A61B34/20

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

• A61B90/36

  Image-producing devices or illumination devices not otherwise provided for · CPC title

• G06T7/0012 Primary

  Biomedical image inspection · CPC title

• A61B34/10

  Computer-aided planning, simulation or modelling of surgical operations · CPC title