Systems and methods for routing a vessel line such as a catheter within a vessel
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Publication Number
US-10548669-B2
Publication Date
2020-02-04
Expiration Date
Abstract
The invention relates to systems and methods enabling a personalized solution for allowing more efficient access to the carotid artery (or vertebral arteries) in patients needing endovascular/neurointervention procedures using catheter systems.
Core Innovation
The invention addresses determining a course through blood vessels to reach a destination point by utilizing modeled physical properties of one or more blood vessel lines. A scan data reader models the course of a blood vessel within a body of a patient based on scan data images and creates a three-dimensional vasculature model with post processing for diagnostic analysis. A blood vessel course to the destination point is determined within the three-dimensional vasculature model using a blood vessel line model.
The approach determines whether it is possible to reach the destination point for one or more stored vessel lines based on the physical properties of the one or more blood vessel lines. Blood vessel junctions are modeled by entrance and exit areas through which the blood vessel line must pass to enter a particular blood vessel portion from the junction, and access route parameters are analyzed against stored physical properties of catheter systems to determine a ranking of catheter systems suitable for navigating from an entry point to a destination.
The invention also supports determining external manipulations so that the blood vessel line follows the blood vessel course and enables user interaction with a virtual catheter model. The system provides feedback related to the procedure and uses data corresponding to previous surgical procedures using one or more catheter systems, including performance monitoring and difficulty prediction for reaching a destination point.
Claims Coverage
The document includes three independent claims, covering an apparatus for determining reachability of a modeled endovascular blood vessel line, a system for improving efficiency of catheter-based surgical procedures by ranking catheter systems using access-route analysis, and an apparatus that further incorporates stored data from previous surgical procedures.
Modeling a patient vasculature course from scan data to a destination
The apparatus comprises a scan data reader to model the course of a blood vessel in a body of a patient based on scan data images and to create a three-dimensional vasculature model from the scan data images with post processing for diagnostic analysis. A processor determines a blood vessel course to a destination point within the three-dimensional vasculature model using a blood vessel line model.
Junction reachability using entrance and exit areas
The apparatus determines whether it is possible to reach the destination point for one or more stored vessel lines based on the physical properties of the one or more blood vessel lines. Blood vessel junctions are modeled by entrance and exit areas through which the blood vessel line must pass in order to enter a particular blood vessel portion from the junction.
Ranking catheter systems by comparing access-route parameters to stored catheter physical properties
A system obtains patient specific image data of the patient's vasculature and determines an access route from one or more entry points to the destination and analyzes access route parameters. It accesses a database storing data relating to physical properties of at least one catheter system and analyzes the access route parameters against the physical properties to determine a ranking of catheter systems suitable for navigating from an entry point to a destination, where blood vessel junctions are modeled by entrance and exit areas.
Virtual catheter modeling with co-registration and mechanical-to-electrical user manipulation
The system enables a user to mark the destination within the three-dimensional model, and it supports selecting a catheter system and accessing a virtual model of a selected catheter system. A virtual model of the selected catheter system is co-registered with the three-dimensional model of the patient's vasculature, and user manipulation of the virtual model is enabled within the three-dimensional model via a mechanical-to-electrical interface.
Using stored data corresponding to previous surgical procedures
The apparatus stores physical properties of one or more endovascular blood vessel lines as a blood vessel line model and stores data corresponding to previous surgical procedures using one or more catheter systems. The processor creates the three-dimensional vasculature model, determines a blood vessel course to the destination point using a blood vessel line model, and determines whether it is possible to reach the destination point for one or more of the stored vessel lines based on the physical properties of the one or more blood vessel lines, with junctions modeled by entrance and exit areas.
Across the independent claims, the core inventive coverage is based on constructing a three-dimensional vasculature model from scan data, modeling reachability and junction passage using entrance and exit areas, and evaluating catheter system suitability by comparing access-route parameters against stored physical properties. Additional coverage includes virtual catheter modeling with co-registration and mechanical-to-electrical user manipulation, and incorporating stored data from previous surgical procedures.
Stated Advantages
Improving the efficiency of surgical procedures conducted using catheter systems.
Documented Applications
Navigating a catheter system through a patient's vasculature from an entry point to a destination during a surgical procedure.
Determining access route and ranking catheter systems suitable for navigating from an entry point to a destination.
Real-time-like guidance and performance monitoring during catheter navigation using force visualization and co-registration with x-ray.
Using accumulated procedure and anatomy/catheter/performance data for identifying problematic scenarios and informing catheter design/testing.
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