Granted Patent B2

US 12,458,449 · App. 18/141,544 · Granted Nov 4, 2025

Inventors: Qi Tang (Shanghai, CN); Darren G. Girotto (Louisville, CO); Jianxin Ou (Shanghai, CN)

Assignee: Covidien LP

A61B34/20A61B18/1815A61B90/37G06T7/0012G06T7/20G06T7/70G06V20/20A61B2018/00577A61B2018/1823A61B2018/1869A61B2034/2065A61B2090/3762A61B2090/378G06T2207/20224G06T2207/30241G06V2201/034

Abstract

Claims (58)

1 . A method, comprising:

receiving image data of at least a portion of a patient's body;

identifying, in the image data, a first portion of a percutaneous tool in contact with one or more layers of the patient's skin;

determining, from the image data, a trajectory of a percutaneous tool inserted through the patient's skin based on an angle at which the first portion of the percutaneous tool intersects the one or more layers of the patient's skin;

identifying, based on the determined trajectory of the percutaneous tool and an entry point through the patient's skin of the percutaneous tool, a remaining second portion of the percutaneous tool disposed within the patient's body and excluding the first portion of the percutaneous tool in contact with the one or more layers of the patient's skin; and

displaying the first and second portions of the percutaneous tool on the image data.

2 . The method according to claim 1 , wherein identifying the second portion of the percutaneous tool is based on characteristic data of the percutaneous tool.

3 . The method according to claim 2 , wherein the characteristic data of the percutaneous tool includes at least one of a length of the percutaneous tool or a flexibility metric of the percutaneous tool.

4 . The method according to claim 1 , further comprising:

determining a path from the entry point to a target location in the image data; and

displaying the first and second portions of the percutaneous tool, the trajectory, and the path on the image data.

5 . The method according to claim 4 , further comprising:

determining a difference between the trajectory and the path; and

displaying guidance for adjusting an angle of the percutaneous tool based on the difference between the trajectory and the path.

6 . The method according to claim 1 , further comprising:

receiving a configuration setting for an ablation procedure;

determining a projected ablation zone based on the configuration setting and a position of the radiating portion of the percutaneous tool; and

displaying the projected ablation zone on the image data.

7 . The method according to claim 6 , further comprising:

receiving an indication that the radiating portion of the percutaneous tool is activated;

determining a progress of an ablation procedure based on the configuration setting and activation of the percutaneous tool; and

displaying an estimated ablated zone based on the progress of the ablation procedure.

8 . The method according to claim 1 , further comprising:

determining, in the image data, a line between the entry point and a distal portion of the percutaneous tool; and

displaying the determined line on the image data.

9 . The method according to claim 8 , wherein identifying the second portion of the percutaneous tool includes:

identifying, in the image data, high intensity areas along the line; and

including portions of the high intensity areas along a length of the line and within a radius of the line, wherein the radius is determined based on a diameter characteristic of the percutaneous tool.

10 . The method according to claim 9 , wherein identifying the second portion of the percutaneous tool further includes excluding portions of the high intensity areas along the length of the determined line and outside of the radius of the determined line.

11 . A system, comprising:

one or more processors; and

one or more processor-readable media storing instructions which, when executed by the one or more processors, cause performance of:

receiving image data of at least a portion of a patient's body;

identifying, in the image data, a first portion of a percutaneous tool in contact with one or more layers of the patient's skin;

determining, from the image data, a trajectory of a percutaneous tool inserted through the patient's skin based on an angle at which the first portion of the percutaneous tool intersects the one or more layers of the patient's skin;

identifying, based on the determined trajectory of the percutaneous tool and an entry point through the patient's skin of the percutaneous tool, a remaining second portion of the percutaneous tool disposed within the patient's body and excluding the first portion of the percutaneous tool in contact with the one or more layers of the patient's skin; and

displaying the first and second portions of the percutaneous tool on the image data.

12 . The system according to claim 11 , wherein identifying the second portion of the percutaneous tool is based on characteristic data of the percutaneous tool.

13 . The system according to claim 12 , wherein the characteristic data of the percutaneous tool includes at least one of a length of the percutaneous tool or a flexibility metric of the percutaneous tool.

14 . The system according to claim 11 , wherein the one or more processor-readable media further store instructions which, when executed by the one or more processors, cause performance of:

determining a progress of an ablation procedure based on a configuration setting for the ablation procedure and activation of the percutaneous tool; and

displaying an estimated ablated zone based on the progress of the ablation procedure.

15 . A non-transitory processor-readable media storing instructions which, when executed by one or more processors, cause performance of:

receiving image data of at least a portion of a patient's body;

identifying, in the image data, a first portion of a percutaneous tool in contact with one or more layers of the patient's skin;

determining, from the image data, a trajectory of a percutaneous tool inserted through the patient's skin based on an angle at which the first portion of the percutaneous tool intersects the one or more layers of the patient's skin; and

identifying, in the image data, a remaining second portion of the percutaneous tool disposed within the patient's body and excluding the first portion of the percutaneous tool in contact with the one or more layers of the patient's skin based on the trajectory of the percutaneous tool and an entry point through the patient's skin of the percutaneous tool.

16 . The non-transitory processor-readable media according to claim 15 , wherein the non-transitory processor-readable media store further instructions which, when executed by the one or more processors, cause performance of:

determining a path from the entry point to a target location in the image data;

determining whether the trajectory of the percutaneous tool corresponds to the path; and

displaying the first and second portions of the percutaneous tool, the trajectory, and the path on the image data.

17 . The non-transitory processor-readable media according to claim 16 , wherein the non-transitory processor-readable media store further instructions which, when executed by the one or more processors, cause performance of:

determining a difference between the trajectory and the path; and

displaying guidance for adjusting an angle of the percutaneous tool based on the difference between the trajectory and the path.

18 . The non-transitory processor-readable media according to claim 15 , wherein the non-transitory processor-readable media store further instructions which, when executed by the one or more processors, cause performance of:

identifying a position of a radiating portion of the percutaneous tool in the image data;

determining a projected ablation zone based on a configuration setting for an ablation procedure and the position of the radiating portion of the percutaneous tool; and

displaying the projected ablation zone on the image data.

Assignments (5)

Continuity (2)

References Cited (43)