Interested in licensing this patent?
MTEC can help explore whether this patent might be available for licensing for your application.
Publication Number
US-10245110-B2
Publication Date
2019-04-02
Expiration Date
Abstract
A method of planning an image-guided interventional procedure to be performed on a patient, where expected motion of the patient, such as that of a breathing cycle, is determined on a sequence of preoperative images, and the procedure trajectory is planned accordingly. The method takes into account the initial positions of the interventional entry, the target region, and any obstructions or forbidden regions between the entry point and the target region, and uses object tracking methods of image processing on the preoperative images to determine how the positions of these three elements change relative to each other during the patient's motion cycle. The method may automatically search in at least some of the preoperative images taken at different temporal points of the motion cycle, for a path connecting the entry point with the target and avoiding the obstacles, which provides minimal lateral pressure on the patient's tissues.
Core Innovation
The invention provides a method of pre-operatively planning an image-guided insertion procedure for inserting a tool into a tissue in a region of interest of a subject, where the subject has cyclic breathing motion. The planning obtains a plurality of time-separated images of the region of interest, each image derived at a different time during the breathing cycle, and on a first image defines a tissue entry point, a target point, and one or more forbidden regions into which entry is forbidden by the insertion procedure.
A first trajectory is calculated on the first image between the tissue entry point and the target point to avoid entry into all forbidden regions. The positions of the tissue entry point, the target point, and the one or more forbidden regions are determined in one or more other time-separated images, and based on these positions at least one new trajectory is calculated on at least one other image so that the trajectory avoids entry into all forbidden regions.
The invention further determines whether one or more entry angle and/or one or more predetermined trajectory characteristics exceed one or more predetermined levels along the path of any calculated trajectories. When the predetermined levels are not exceeded, the method determines pre-operatively that the calculated first and/or new trajectories are suitable for the insertion procedure, including suitability based on avoiding forbidden regions and not exceeding trajectory constraints such as curvature. In additional embodiments, a first trajectory is calculated with a curvature limitation, implanted into second and remaining images, and suitability is determined pre-operatively when all implanted trajectories extend from the tissue entry point to the target point while avoiding entry into all forbidden regions.
Claims Coverage
The independent claims are directed to three aspects: a method for dynamic pre-operative planning across breathing-cycle time-separated images, an alternative method that checks suitability using implanted trajectories with curvature limitation, and a system with a user interface and processor to perform the pre-operative planning. Across the independent claims, four inventive features are repeatedly used: defining entry/target/forbidden regions on a first image, determining corresponding positions on other time-separated images, calculating trajectories that avoid forbidden regions, and determining suitability based on trajectory characteristics not exceeding predetermined levels.
Breathing-cycle time-separated image planning with forbidden-region avoidance
Obtaining a plurality of time-separated images of the region of interest, each image derived at a different time during the breathing cycle; defining on a first image a tissue entry point, a target point, and one or more forbidden regions; calculating on the first image a first trajectory between the tissue entry point and the target point that avoids entry into all forbidden regions.
Position determination across other breathing-cycle images and new trajectory calculation
Determining the positions of the tissue entry point, the target point and the one or more forbidden regions in one or more other images of the plurality of time-separated images; calculating, on at least one of the one or more other images, at least one new trajectory between the tissue entry point and the target point, which avoids entry into all of the one or more forbidden regions, based on the positions in the at least one other image.
Suitability determination using entry angle and trajectory characteristics thresholds
Determining if at least one of the entry angle at the tissue entry point and the curvature of any of the calculated first and at least one new trajectories exceeds one or more predetermined levels; and if the one or more predetermined levels are not exceeded, determining pre-operatively that the calculated first and at least one new trajectories are suitable for the insertion procedure.
System for pre-operative trajectory planning with user interface and processor
A user interface adapted to receive user inputs regarding at least positions of a tissue entry point, a target point and one or more forbidden regions defined on a first image of a plurality of time-separated images derived at a different time during the breathing cycle; and at least one processor adapted to determine positions in at least one other image, calculate trajectories on the first and at least one other image that avoid entry into all forbidden regions according to associated positions, determine if predefined trajectory characteristics exceed predetermined levels along any part of the path, and if not exceeded, determine pre-operatively that the calculated trajectories are suitable.
Implanting a curvature-limited trajectory across time-separated images and confirming avoidance
Calculating on a first image a first trajectory that avoids entry into all one or more forbidden regions and does not exceed a predetermined level of curvature; using image processing techniques, determining the positions of the tissue entry point, the target point and the one or more forbidden regions in a second image; implanting the first trajectory into the second image; repeating on all remaining images; and determining if all implanted trajectories extend from the tissue entry point to the target point while avoiding entry into all one or more forbidden regions, and if so, determining pre-operatively that the first trajectory is suitable for the insertion procedure.
Overall, the independent claims cover pre-operative planning that maps entry point/target/forbidden regions across time-separated images derived at different times during the breathing cycle, calculates trajectories that avoid forbidden regions, and determines pre-operative suitability based on trajectory constraints such as entry angle and curvature/trajectory characteristics not exceeding predetermined levels, including an embodiment that implants a curvature-limited trajectory across the time-separated image set.
Stated Advantages
Documented Applications
No documented applications found
Interested in licensing this patent?