Granted Patent B2

US 12,114,933 · App. 17/139,361 · Granted Oct 15, 2024

Inventors: Hyun Gi Seo (Goyang-si, KR); Donghoon Yu (Gimpo-si, KR); Jaeyoun Yi (Seoul, KR); Byeong Soo Kim (Bucheon-si, KR); Hyunwoo Kim (Seoul, KR); Ji Min Kim (Jeonju-si, KR)

Assignee: Coreline Soft Co., Ltd.

A61B34/10A61B34/25A61B34/37A61B2034/107

Abstract

Claims (34)

1. A system for an interventional procedure using medical images, the system comprising:

a robot arm provided with a medical tool, and configured to operate such that the medical tool follows intervention trajectories;

a master device configured to perform control so that the medical tool of the robot arm follows the intervention trajectories;

an image processing device configured to:

register plan images, in which a surgical plan including the intervention trajectories of the medical tool is set up, and preoperative (pre-op) images acquired at a surgical site before surgery so that the surgical plan is transferred to the pre-op images; and

register the pre-op images and intraoperative (intra-op) images acquired at the surgical site during the surgery; and

a user interface device configured to visualize a predicted arrival location of a tip of the medical tool for a target point when the robot arm operates according to the surgical plan by using the pre-op images, to which the surgical plan has been transferred, and the intra-op images in conjunction with the image processing device,

wherein the image processing device is further configured to:

distinguish a first area and a second area in the pre-op images before the registration of the pre-op images and the plan images, based on correlations of each of the first area and the second area with the surgical plan, wherein anatomical structures in the second area are on the intervention trajectories or a procedure target area of the surgical plan whereas anatomical structures in the first area are not;

for the first area, identify second anatomical structures based on a segmentation-based identification by performing image segmentation instead of a registration-based identification; and

for the second area, register third anatomical structures in the second area and first anatomical structures corresponding to the third anatomical structures in the plan images.

2. The system of claim 1 , wherein the image processing device is further configured to distinguish the first and second areas in the pre-op images based on characteristics of the second and third anatomical structures in the pre-op images.

3. The system of claim 1 , wherein the image processing device is further configured to:

segment the first anatomical structures in the plan images; and

map the intervention trajectories, included in the surgical plan, to the first anatomical structures.

4. The system of claim 1 , wherein the image processing device is further configured to register the pre-op images and the intra-op images, thereby comparing a current location and direction of the surgical tool in the intra-op images with the intervention trajectories on the surgical plan identified in the pre-op images and determining whether the surgical tool in the intra-op images invades anatomical structures identified in the pre-op images.

5. A method for an interventional procedure using medical images, the method being performed by a computing system, the method comprising:

acquiring or receiving plan images for a patient;

performing image segmentation on the plan images, and identifying first anatomical structures in the plan images;

setting up a surgical plan, including intervention trajectories of a surgical tool, based on the plan images;

mapping the surgical plan to the first anatomical structures, and storing the surgical plan mapped to the first anatomical structures;

loading the stored surgical plan;

acquiring or receiving pre-op images acquired at a surgical site before surgery;

transferring the surgical plan to the pre-op images by registering the plan images and the pre-op images;

acquiring or receiving intra-op images acquired at the surgical site during the surgery; and

mapping a current location and trajectory of the surgical tool, identified in the intra-op images, to anatomical structures in the pre-op images by registering the pre-op images and the intra-op images,

wherein the transferring comprises:

distinguishing a first area and a second area in the pre-op images before the registering the plan images and the pre-op images, based on correlations of each of the first area and the second area with the surgical plan, wherein anatomical structures in the second area are on the intervention trajectories or a procedure target area of the surgical plan whereas anatomical structures in the first area are not;

identifying, for the first area, second anatomical structures based on a segmentation-based identification by performing image segmentation instead of a registration-based identification; and

registering, for the second area, the first anatomical structures in the plan images and third anatomical structures in the second area corresponding to the first anatomical structures.

6. The method of claim 5 , further comprising distinguishing the first and second areas in the pre-op images based on characteristics of the second and third anatomical structures in the pre-op images.

7. The method of claim 5 , further comprising:

comparing a current location and direction of the surgical tool in the intra-op images with the intervention trajectories on the surgical plan identified in the pre-op images; and

determining whether the surgical tool in the intra-op images invades anatomical structures identified in the pre-op images.

Assignments (1)

Priority Claims (1)

Continuity (1)

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