System and method for selecting a guidance mode for performing a percutaneous procedure
View Patent ↗A system for planning a percutaneous procedure provides a patient 3-dimensional image data set within which an instrument trajectory is defined, for example, by selecting a skin entry point and a target point. A line, or “planned path,” is generated between the points. The system determines whether the path can be targeted so an optical axis of a movable arm coincides with the path so that a laser can be used for instrument guidance or whether a planned path can be targeted so that a C-arm can be made to coincide with the path so that the extension of the path is projected onto a radiation detector, using x-ray radiation. If neither laser guidance or x-ray guidance can be used, the path is replanned.
1. A method for planning a percutaneous procedure for use in a system comprising an imaging system having a movable arm, an x-ray source and an x-ray detector mounted on the arm and a display and a system controller connected to and in communication with the imaging system and display, comprising:
providing a three-dimensional image data set of a patient tissue region;
obtaining an x-ray image of the patient tissue region using the x-ray source and the x-ray detector;
co-registering the three-dimensional image data set to the x-ray image acquired using the x-ray source and the x-ray detector;
obtaining a planned instrument trajectory within the co-registered three-dimensional image data set and x-ray image based on target point data representative of a target object within the patient tissue region and a skin entry point data representative of a skin entry point; and
selecting by the system one of a plurality of instrument guidance procedures for aligning an instrument along the planned instrument trajectory in response to the planned instrument trajectory and a position of the movable arm;
wherein the plurality of instrument guidance procedures comprises a laser guided procedure, an x-ray guided procedure, and a procedure that replans the instrument trajectory.
2. The method of claim 1 , wherein the laser-guided procedure is selected if a central ray of the x-ray source coincides with the planned instrument trajectory.
3. The method of claim 1 , wherein the x-ray guided procedure is selected if a central ray of the x-ray source does not coincide with the planned instrument trajectory, and an extension of the planned instrument trajectory intersects with the x-ray detector.
4. The method of claim 1 , wherein the instrument trajectory is replanned if a central ray of the x-ray source does not coincide with the planned instrument trajectory and an extension of the planned instrument trajectory does not intersect with the x-ray detector.
5. The method of claim 4 , further comprising a warning signal to a user when a central ray of the x-ray source does not coincide with the planned instrument trajectory and an extension of the planned instrument trajectory does not intersect with the x-ray detector.
6. The method of claim 1 , wherein replanning the instrument trajectory comprises manually replanning the instrument trajectory using a graphical user interface.
7. The method of claim 1 , wherein replanning the instrument trajectory comprises automatically replanning the instrument trajectory.
8. The method of claim 1 , wherein the co-registering step comprises applying a transform to the 3-dimensional image data set such that points in a resulting overlay image align with counterpart points in the x-ray image.
9. The method of claim 1 , wherein the step of aligning an instrument comprises aligning the instrument along a laser beam path generated by a laser pointer, the laser beam path intersecting the skin entry point and the target object.
10. The method of claim 9 , wherein the laser beam path comprises the intersection of at least two laser fan patterns.
11. The method of claim 1 , wherein the step of obtaining an x-ray image of the patient tissue region using the x-ray source and the x-ray detector comprises obtaining a plurality of x-ray images, displaying the plurality of x-ray images on the display along with a three-dimensional rendering of the three-dimensional image data set, and an overlay image representing a 2-dimensional rendering of the 3-dimensional image data set.
12. The method of claim 11 , wherein the skin entry point, the target point and the planned instrument trajectory are graphically displayed in their respective positions on the plurality of displayed x-ray images, the three-dimensional rendering and the overlay image.
13. A method for planning a percutaneous procedure comprising the activities of:
employing an imaging system having a movable arm, an x-ray source and an x-ray detector mounted on the arm and a display and a system controller connected to and in communication with the imaging system and display, and a machine-readable storage medium encoded with a computer program code such that, when the computer program code is executed by at least one processor in the imaging system, the at least one processor performs a method including,
providing a three-dimensional image data set of a patient tissue region;
obtaining an x-ray image of the patient tissue region using the x-ray source and the x-ray detector;
co-registering the three-dimensional image data set to the x-ray image acquired using the x-ray source and the x-ray detector;
obtaining a planned instrument trajectory within the co-registered three-dimensional image data set and x-ray image based on target point data representative of a target object within the patient tissue region and a skin entry point data representative of a skin entry point; and
selecting by the system one of a plurality of instrument guidance procedures for aligning an instrument along the planned instrument trajectory in response to the planned instrument trajectory and a position of the movable arm;
wherein the plurality of instrument guidance procedures comprises a laser-guided procedure, an x-ray guided procedure, and a procedure that replans the instrument trajectory.
14. The method of claim 13 , wherein the laser-guided procedure is selected if a central ray of the x-ray source coincides with the planned instrument trajectory.
15. The method of claim 13 , wherein the x-ray guided procedure is selected if a central ray of the x-ray source does not coincide with the planned instrument trajectory, and an extension of the planned instrument trajectory intersects with the x-ray detector.
16. The method of claim 13 , wherein the instrument trajectory is replanned if a central ray of the x-ray source does not coincide with the planned instrument trajectory and an extension of the planned instrument trajectory does not intersect with the x-ray detector.
17. The method of claim 16 , further comprising a warning signal to a user when a central ray of the x-ray source does not coincide with the planned instrument trajectory and an extension of the planned instrument trajectory does not intersect with the x-ray detector.
18. The method of claim 13 , wherein replanning the instrument trajectory comprises manually replanning the instrument trajectory using a graphical user interface.
19. The method of claim 13 , wherein replanning the instrument trajectory comprises automatically replanning the instrument trajectory.
20. The method of claim 13 , wherein the co-registering step comprises applying a transform to the 3-dimensional image data set such that points in a resulting overlay image align with counterpart points in the x-ray image.
21. The method of claim 13 , wherein the step of aligning an instrument comprises aligning the instrument along a laser beam path generated by a laser pointer, the laser beam path intersecting the skin entry point and the target object.
22. The method of claim 21 , wherein the laser beam path comprises the intersection of at least two laser fan patterns.
23. The method of claim 13 , wherein the step of obtaining an x-ray image of the patient tissue region using the x-ray source and the x-ray detector comprises obtaining a plurality of x-ray images, displaying the plurality of x-ray images on the display along with a three-dimensional rendering of the three-dimensional image data set, and an overlay image representing a 2-dimensional rendering of the 3-dimensional image data set.
24. The method of claim 23 , wherein the skin entry point, the target point and the planned instrument trajectory are graphically displayed in their respective positions on the plurality of displayed x-ray images, the three-dimensional rendering and the overlay image.