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 routes through a 3D image of a tubular organ prior to an actual, follow-on endoscopic procedure, said organ being in the chest region, said method comprising the steps of:
computing a model of an airway tree from 3D image data of the organ; receiving information about a target region of interest (ROI) and the follow-on endoscopic procedure associated with the organ; deriving at least one anatomical constraint, at least one endoscopic-device constraint, and at least one procedure-specific constraint from said information, wherein the deriving step comprises constructing a geometric field of view of a virtual endoscope, and requiring at least a portion of the target region of interest (ROI) to be within the geometric field of view extending from the virtual endoscope; automatically computing a plurality of navigable routes to the target region of interest (ROI) and enabling at least one of said routes to be selected based on said anatomical, endoscopic-device, and procedure-specific constraints derived from the information received; and displaying said at least one selected route in conjunction with said model.