Invisible bifurcation detection within vessel tree images

A vascular tree, image technology, used in image analysis, details involving 3D image data, image enhancement, etc.

Active Publication Date: 2014-10-15
KONINKLJIJKE PHILIPS NV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The image registration method addresses the bifurcation of vascular trees that are not visible (i.e. invisible) in the endoscopic image(s) due to fatty tissue covering the surface of an organ (eg heart)

Method used

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  • Invisible bifurcation detection within vessel tree images
  • Invisible bifurcation detection within vessel tree images
  • Invisible bifurcation detection within vessel tree images

Examples

Experimental program
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Embodiment Construction

[0027] Such as figure 1 As shown, the robotic guidance system uses robotic unit 10 and control unit 20 for any endoscopic procedure involving endoscopic imaging of a vascular tree having one or more bifurcations (ie branches). Examples of such endoscopic procedures include, but are not limited to, minimally invasive cardiac surgery (eg, coronary artery bypass graft surgery or mitral valve replacement).

[0028] The robotic unit 10 comprises a robot 11 , an endoscope 12 rigidly attached to the robot 11 and a video capture device 13 attached to the endoscope 12 .

[0029] A robot 11 is broadly defined herein as any robotic device structurally configured with motorized control of one or more joints to manipulate an end effector as desired for a particular endoscopic procedure. In practice, the robot 11 may have four (4) degrees of freedom, such as a tandem robot with joints connected in series with rigid segments, a robot with joints and rigid segments mounted in a parallel sequ...

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Abstract

An image registration system an endoscope (12) and an endoscope controller (22). In operation, the endoscope (12) generates an intra-operative endoscopic image (14) of a vessel tree within an anatomical region including a plurality of branches of the vessel tree visible within the intra-operative endoscopic image (14) as an indication of a furcation of the vessel tree invisible within the intra-operative endoscopic image (14). The endoscope controller (22) image registers the intra-operative operative endoscopic image (14) of the vessel tree to a pre-operative three- dimensional image (44) of the vessel tree. The image registration includes an image matching of a graphical representation of the furcation of the vessel tree as indicated by the branches of the vessel tree visible within the intra-operative endoscopic image (14) of the vessel tree to a graphical representation of the furcation of the vessel tree visible within the pre-operative three- dimensional image (44) of the vessel tree.

Description

technical field [0001] This application claims the benefit of co-owned patent application "Robotic Control of An Endoscope From Vessel Tree Images". [0002] The present invention generally relates to intraoperative registration between a preoperative three-dimensional ("3D") vascular tree image to an intraoperative endoscopic image(s) of the vascular tree. In particular, the present invention relates to methods incorporating bifurcations for detecting vascular trees that are not visible (i.e. invisible) in endoscopic image(s) due to fatty tissue covering the surface of an organ (e.g. heart) intraoperative registration. Background technique [0003] Coronary artery bypass grafting ("CABG") is a surgical procedure for the revascularization of blocked coronary arteries. Approximately 500,000 procedures are performed in the United States each year. In conventional CABG, the patient's sternum is opened and the patient's heart is fully exposed to the surgeon. Although the hea...

Claims

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Application Information

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IPC IPC(8): A61B1/00G06T7/00
CPCG06T2200/04G06T2207/10072G06T2207/20072G06T7/003A61B1/0005G06T2207/10068A61B1/00009G06T2207/30101G06T7/337A61B1/000094
Inventor A·波波维奇H·埃尔哈瓦林
Owner KONINKLJIJKE PHILIPS NV
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