METHODS AND APPARATUS FOR 3D ROUTE PLANNING THROUGH HOLLOW ORGANS

摘要

Methods and apparatus assist in planning routes through hollow, branching organs in patients to optimize subsequent endoscopic procedures. Information is provided about the organ and a follow-on endoscopic procedure associated with the organ. The most appropriate navigable route or routes to a target region of interest (ROI) within the organ are then identified given anatomical, endoscopic-device, or procedure-specific constraints derived from the information provided. The method may include the step of modifying the viewing direction at each site along a route to give physically meaningful navigation directions or to reflect the requirements of a follow-on live endoscopic procedure. An existing route may further be extended, if necessary, to an ROI beyond the organ. The information provided may include anatomical constraints that define locations or organs to avoid; anatomical constraints that confine the route within specific geometric locations; or a metric for selecting the most appropriate route. For example, the metric may define the closest route to the ROI such that the route satisfies all applicable anatomical, device, and procedural constraints.

主权项

1. A method of planning a route through a tubular organ, comprising the steps of:
generating a 3D image of a tubular organ to be navigated during an actual, follow-on endoscopic procedure using an endoscopic device; wherein the generated image of the tubular organ includes a target region of interest (ROI); receiving constraint information regarding one or more of the following:
the anatomy of the tubular organ,the structure or function of the endoscopic device, andcharacteristics of the endoscopic procedure; automatically generating at least one optimized route to be used by the endoscopic device to reach the ROI during the follow-on endoscopic procedure; wherein the optimized route utilizes the constraint information; and displaying the optimized route in conjunction with the 3D image of a tubular organ.