Broncus Medical Inc.

The Penn State Research Foundation

X-nav Technologies, LLC

Jason David Gibbs

Henky Wibowo

Lav Rai

William E Higgins

Kun-Chang Yu

Scott A Merritt

Kongkuo Lu

Michael W Graham

Edward J Marandola

Robert W Emery, Iii

Christopher W Scharff

Ben Chow

Glenn A Straub

This invention relates generally to medical imaging and, in particular, to a method and system for automatic lymph node station mapping, automatic path or route report generation. A computer-based system for automatically locating the central chest lymph-node stations in a 3D MDCT image is described. Automated analysis methods extract the airway tree, airway-tree centerlines, aorta, pulmonary artery, lungs, key skeletal structures, and major-airway labels. Geometrical and anatomical cues arising from the extracted structures are used to localize the major nodal stations. The system calculates and displays the nodal stations in 3D. Visualization tools within the system enable the user to interact with the stations to locate visible lymph nodes.

Medical image reporting system and method

A visual guidance system for use in a surgical procedure. The system includes an image processing unit programmed to receive a three-dimensional image of a surgical area, information on an instrument being used in the procedure, and a surgical plan including a planned trajectory that the instrument should follow. The image processing unit generates a derived representation of the surgical procedure depicting the movement of the instrument on the three-dimensional image. A graphical guidance indicator is disposed on the three-dimensional image with a center point of the graphical guidance indicator centered on the planned trajectory, the graphical guidance indicator being displayed orthogonal to the planned trajectory. The derived image and the graphical guidance indicator depict at least five degrees of freedom of motion of the instrument. The graphical guidance indicator is changed based on the movement of the instrument in accordance with the surgical plan.

Visual guidance display for surgical procedure

The present invention is a method to register 3D image data with fluoroscopic images of the chest of a patient. The ribs and spine, which are visible in the fluoroscopic images, are analyzed and a rib signature or cost map is generated. The rib signature or cost map is matched to corresponding structures of the 3D image data of the patient. Registration is evaluated by computing a difference between the fluoroscopic image and a virtual fluoroscopic projected image of the 3D data. Related systems are also described.

Registration of fluoroscopic images of the chest and corresponding 3D image data based on the ribs and spine

A system and method are described for determining candidate fiducial marker locations in the vicinity of a lesion. Imaging information and data are input or received by the system and candidate marker locations are calculated and displayed to the physician. Additionally, interactive feedback may be provided to the physician for manually selected or identified sites. The physician may thus receive automatic real time feedback for a candidate fiducial marker location and adjust or accept a constellation of fiducial marker locations. 3D renderings of the airway tree, lesion, and marker constellations may be displayed.

Automated fiducial marker planning method

Display screen portion with icon

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.

Methods and apparatus for 3D route planning through hollow organs

This invention relates generally to medical imaging and, in particular, to a method and system for reconstructing a model path through a branched tubular organ. Novel methodologies and systems segment and define accurate endoluminal surfaces in airway trees, including small peripheral bronchi. An automatic algorithm is described that searches the entire lung volume for airway branches and poses airway-tree segmentation as a global graph-theoretic optimization problem. A suite of interactive segmentation tools for cleaning and extending critical areas of the automatically segmented result is disclosed. A model path is reconstructed through the airway tree.

A medical analysis method for estimating a motion vector field of the magnitude and direction of local motion of lung tissue of a subject is described. In one embodiment a first 3D image data set of the lung and a second 3D image data set is obtained. The first and second 3D image data sets correspond to images obtained during inspiration and expiration respectively. A rigid registration is performed to align the 3D image data sets with one another. A deformable registration is perforated to match the 3D image data sets with one another. A motion vector field of the magnitude and direction of local motion of lung tissue is estimated based on the deforming step. The motion vector field may be computed prior to treatment to assist with planning a treatment as well as subsequent to a treatment to gauge efficacy of a treatment. Results may be displayed to highlight.

Surgical assistance planning method using lung motion analysis

A method for assisting a physician track a surgical device in a body organ of a subject during a procedure includes fluoroscopic based registration, and tracking. An initial registration step includes receiving a 3D image data of a subject in a first body position, receiving a real time fluoroscopy image data, and estimating a deformation model or field to match points in the real time fluoro image with a corresponding point in the 3D model. A tracking step includes computing the 3D location of the surgical device based on a reference mark present on the surgical device, and displaying the surgical device and the 3D model of the body organ in a fused arrangement.

Fluoroscopy-based surgical device tracking method

A medical analysis method for estimating a motion vector field of the magnitude and direction of local motion of lung tissue of a subject is described. In one embodiment a first 3D image data set of the lung and a second 3D image data set is obtained. The first and second 3D image data sets correspond to images obtained during inspiration and expiration respectively. A rigid registration is performed to align the 3D image data sets with one another. A deformable registration is performed to match the 3D image data sets with one another. A motion vector field of the magnitude and direction of local motion of lung tissue is estimated based on the deforming step. The motion vector field may be computed prior to treatment to assist with planning a treatment as well as subsequent to a treatment to gauge efficacy of a treatment. Results may be displayed to highlight.

A method and system for use with an endoscopic instrument determines anatomical properties of body lumen at various states. Lumen properties such as lumen diameter are identified in two or more states corresponding to, for example, an inflated or deflated state. The lumen states are registered with one another and the anatomical properties are identified in real time at the location of an endoscope or endoscopic instrument used with the endoscope. In one embodiment a diametrical range of an airway is identified in real time at the location of a bronchoscope.

System and method for determining airway diameter using endoscope

Methods and apparatus provide continuous guidance of endoscopy during a live procedure. A data-set based on 3D image data is pre-computed including reference information representative of a predefined route through a body organ to a final destination. A plurality of live real endoscopic (RE) images are displayed as an operator maneuvers an endoscope within the body organ. A registration and tracking algorithm registers the data-set to one or more of the RE images and continuously maintains the registration as the endoscope is locally maneuvered. Additional information related to the final destination is then presented enabling the endoscope operator to decide on a final maneuver for the procedure. The reference information may include 3D organ surfaces, 3D routes through an organ system, or 3D regions of interest (ROIs), as well as a virtual endoscopic (VE) image generated from the precomputed data-set. The preferred method includes the step of superimposing one or both of the 3D routes and ROIs on one or both of the RE and VE images. The 3D organ surfaces and routes may correspond to the surfaces and paths of a tracheobronchial airway tree extracted, for example, from 3D MDCT images of the chest.

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State College, PA, United States of America

Jason David Gibbs