IP Library › Granted Patent US 12,648,745
Granted Patent B2
US 12,648,745 · App. 18/660,170 · Granted Jun 9, 2026

System and method for local three dimensional volume reconstruction using a standard fluoroscope

Inventors: Ron Barak (Tel Aviv, IL); Oren P. Weingarten (Hod-Hasharon, IL); Ariel Birenbaum (Raanana, IL); Guy Alexandroni (Yehud-Monosson, IL)
Assignee: Covidien LP
A61B6/12A61B6/00A61B6/022A61B6/463A61B6/466A61B6/487A61B6/5235A61B34/20A61B2034/2046A61B2034/2051A61B2034/2065A61B2090/367A61B2090/3762A61B2090/3908A61B2090/3966A61B2090/3983
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Quick Facts
Patent No.
US 12,648,745
App. No.
18/660,170
Filed
May 9, 2024
Granted
Jun 9, 2026
Kind
B2
Art Unit
3797
USPC
600/424
Abstract

A system and method for constructing fluoroscopic-based three dimensional volumetric data from two dimensional fluoroscopic images including a computing device configured to facilitate navigation of a medical device to a target area within a patient and a fluoroscopic imaging device configured to acquire a fluoroscopic video of the target area about a plurality of angles relative to the target area. The computing device is configured to determine a pose of the fluoroscopic imaging device for each frame of the fluoroscopic video and to construct fluoroscopic-based three dimensional volumetric data of the target area in which soft tissue objects are visible using a fast iterative three dimensional construction algorithm.

Claims (37)

1 . A system, comprising:

a medical device;

a computing device including a processor and a display configured to display a graphical user interface, and a computer readable storage medium storing thereon instructions that, when executed by the processor cause the processor to:

construct a 3D volume based on a plurality of intra-procedural images, the 3D volume including a portion of the medical device and a soft tissue target for biopsy or treatment;

determine a position of the soft tissue target for biopsy or treatment in the 3D volume;

determine a position of a distal portion of the medical device in the 3D volume; and

determine tracking system coordinates of the distal portion of the medical device from the determined position of the soft tissue target and the distal portion of the medical device in the 3D volume.

2 . The system of claim 1 , wherein the instructions, when executed by the processor, present the 3D volume on the graphical user interface.

3 . The system of claim 1 , wherein the instructions, when executed by the processor, present two-dimensional (2D) slices of the 3D volume on the graphical user interface.

4 . The system of claim 1 , wherein the instructions, when executed by the processor, present a re-projected two-dimensional image from the 3D volume on the graphical user interface.

5 . The system of claim 1 , wherein the distal portion of the medical device includes one or more of an ultrasound probe, a marker placement tool, a biopsy tool, an ablation tool, a sensor probe, an aspirating needle, a laser probe, or an optical probe.

6 . The system of claim 1 , wherein the instructions, when executed by the processor, present a 3D model of at least one organ on the graphical user interface.

7 . The system of claim 6 , wherein the 3D model is generated from computed tomography (CT) images and includes a representation of the soft tissue target for biopsy or treatment.

8 . The system of claim 7 , wherein the instructions when executed by the processor receives an indication of a location of the distal portion of the medical device within the patient and displays a representation of the distal portion of the medical device in the 3D model.

9 . The system of claim 8 , further comprising a tracking system configured for determining a location of a distal portion of the medical device within the patient.

10 . The system of claim 9 , wherein the tracking system is an electromagnetic (EM) tracking system and the distal portion of the medical device includes an EM sensor.

11 . The system of claim 8 , wherein the instructions when executed by the processor updates a location of the representation of the distal portion of the medical device in the 3D model based on the determined tracking system coordinates of the distal portion of the medical device from the position of the soft tissue target and the medical device in the 3D volume.

12 . The system of claim 11 , wherein the intra-procedural images are captured from a fluoroscopic sweep about a portion of the patient.

13 . The system of claim 1 , wherein each intra-procedural image depicts one or more radio-opaque markers.

14 . A system, comprising:

a robotically driven medical device; and

a computing device including a processor and a display configured to display a graphical user interface, and a computer readable storage medium storing thereon instructions that when executed by the processor cause the processor to:

construct a 3D volume of a target area based on a plurality of intra-procedural images, the 3D volume including a portion of the medical device and a soft tissue target for biopsy or treatment;

determine a position of the soft tissue target for biopsy or treatment in the 3D volume;

determine a position of a distal portion of the medical device in the intra-procedural images; and

determine tracking system coordinates of the distal portion of the medical device from the determined position of the soft tissue target and the distal portion of the medical device in the 3D volume.

15 . The system of claim 14 , wherein the instructions, when executed by the processor, present two-dimensional (2D) slices of the 3D volume on the graphical user interface.

16 . The system of claim 14 , wherein the instructions, when executed by the processor, present a re-projected two-dimensional image from the 3D volume on the graphical user interface.

17 . The system of claim 14 , wherein the distal portion of the medical device includes one or more of an ultrasound probe, a marker placement tool, a biopsy tool, an ablation tool, a sensor probe, an aspirating needle, a laser probe, or an optical probe.

18 . The system of claim 14 , wherein the instructions, when executed by the processor, present, on the graphical user interface, a 3D model of at least one organ derived from the plurality of intra-procedural images, wherein the 3D model depicts a location of the soft tissue target and a representation of a determined location of the distal portion of the medical device within a patient.

19 . A system, comprising:

a computing device including a processor and a display configured to display a graphical user interface, and a computer readable storage medium storing thereon instructions that, when executed by the processor cause the processor to:

construct a three-dimensional (3D) volume based on a plurality of intra-procedural images, the 3D volume including a portion of a medical device and a soft tissue target for biopsy or treatment;

determine a position of soft tissue target for biopsy or treatment in the 3D volume;

determine a position of a distal portion of the medical device in the 3D volume; and

determine tracking system coordinates of distal portion of the medical device from the determined position of the soft tissue target and the distal portion of the medical device in the 3D volume.

20 . The system of claim 19 , wherein the instructions when executed by the processor updates a depicted location of the distal portion of the medical device in the 3D model based on the determined tracking system coordinates of the distal portion of the medical device from the position of the soft tissue target and the medical device in the 3D volume.

Assignments (1)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded May 10, 2024
From: BARAK, RON; WEINGARTEN, OREN P.; BIRENBAUM, ARIEL; ALEXANDRONI, GUY
To: COVIDIEN LP
Reel/Frame 067378/0876 →
Continuity (6)
Continuation 18101032 · Jan 24, 2023
Continuation 16886573 · May 28, 2020
Continuation 15892053 · Feb 8, 2018
Continuation In Part 15224812 · Aug 1, 2016
Provisional Application 62201750 · Aug 6, 2015
Related Publication 20240366163A1 · Nov 7, 2024
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