Modifying a model associated with an anatomical structure

Abstract

According to an aspect, there is provided a computer-implemented method (200) comprising: receiving (202) an anatomical model of an anatomical structure, the anatomical model comprising a region having a first contour, the first contour comprising a first plurality of points; receiving (204) a reference model having a second contour, the second contour comprising a second plurality of points, each point of the second plurality of points corresponding to a respective point of the first plurality of points; positioning (206) the reference model relative to the region of the anatomical model such that each point of the second plurality of points is offset from its corresponding point of the first plurality of points by a predetermined distance; and providing (208) a user control that enables a user to modify a relative angular position of a first point of the second plurality of points about its position of the corresponding point of the first plurality of points in a plane containing the first point of the second plurality of points and the corresponding point of the first plurality of points.

Description

Technical Field

[0001] The present invention relates to anatomical models of anatomical structures, and more particularly to methods and apparatus for manipulating reference models relative to such anatomical models. Background Technology

[0002] In some medical settings, computer models are used to view or measure (e.g., human or animal) parts of the body and / or simulate procedures to be performed on those parts. For example, it may be advantageous to use a computer model to measure anatomical structures in a human body before performing a specific medical procedure.

[0003] In one example, an annulusoplasty procedure can be performed on the tricuspid valve of a human heart. Such a procedure involves attaching an implant (e.g., an annulusoplasty band) to the right atrium of the human heart. Before performing the procedure, a peripheral portion of the right atrium needs to be measured, which has a fixed distance (e.g., 4 mm according to one example) from the segmented tricuspid annulus along the atrial wall.

[0004] Historically, such measurements were performed manually by medical professionals. However, such manual measurements can be inaccurate, for example, if the medical professional does not measure the fixed distance accurately. Inaccurate measurements may result in the selection of an inappropriately sized annulusop band, which could lead to delays in obtaining a more appropriately sized band. In another example, an inappropriately sized band may be implanted into the object, resulting in undesirable outcomes from the procedure.

[0005] Therefore, there is a desire for improved ways of viewing anatomical models of the object's anatomical structure, as well as more accurate ways of measuring and / or manipulating such models. Summary of the Invention

[0006] The inventors of this disclosure have recognized the shortcomings of existing methods for exploring anatomical targets due to potential inaccuracies and errors in identifying specific areas or regions of the anatomical target, and in some cases, such as when performing measurements or other tasks related to the anatomical target prior to a medical procedure. The inventors have recognized that one or more of these problems can be mitigated or overcome by introducing a mechanism that enables the accurate exploration and / or manipulation of a computer model of the anatomical target or structure. Specifically, the solution recognized by the inventors involves introducing a reference model that partially positions the anatomical structure relative to the anatomical model, and enabling the user to manipulate portions of the reference model within defined constraints to maintain a certain level of accuracy.

[0007] According to a first aspect, a computer-implemented method is provided, comprising: receiving an anatomical model of an anatomical structure, the anatomical model including a region having a first contour, the first contour including a first plurality of points; receiving a reference model having a second contour, the second contour including a second plurality of points, each of the second plurality of points corresponding to a corresponding point in the first plurality of points; positioning the reference model relative to the region of the anatomical model such that each of the second plurality of points is offset from its corresponding point in the first plurality of points by a predetermined distance; defining a central axis for the first contour; and providing user control that enables a user to modify the relative angular position of a first point among the second plurality of points in a first plane about its position in the first plurality of points, such that the first point among the second plurality of points maintains offset from the corresponding point in the first plurality of points by the predetermined distance, wherein the first plane includes the first point among the second plurality of points, the corresponding point among the first plurality of points, and the central axis.

[0008] By providing a mechanism that allows users to modify the angular position of a point in a second set of points relative to its corresponding point in a first set of points, without modifying the distance between that point and its corresponding point in the first set of points, the reference model can be precisely adjusted as desired. This can be particularly beneficial, for example, when the anatomical model is small, or when the predetermined distance between the corresponding points of the first and second sets of points is small.

[0009] In some embodiments, the central axis may be substantially perpendicular to the best-fit plane of the first profile.

[0010] In some embodiments, the method may further include providing data indicating the relative position of a first point among a second plurality of points and its corresponding point among the first plurality of points for presentation to a user.

[0011] In some embodiments, the method may further include receiving, via the user control, an instruction to modify the relative angular position, the relative angular position being the relative angular position of a given point among the second plurality of points about its position at a corresponding point among the first plurality of points.

[0012] The method may further include, in response to receiving an instruction to modify the relative angular position of the given point among the second plurality of points, adjusting the relative angular position of at least one point among the second plurality of points adjacent to the given point, such that the at least one point among the second plurality of points maintains an offset of a predetermined distance from its corresponding point among the first plurality of points.

[0013] In some embodiments, the adjustment amount of the relative angular position of at least one of the second plurality of points is based on a Gaussian distribution.

[0014] In some embodiments, locating the reference model relative to a region of the anatomical model may include estimating the initial position of each of the second plurality of points relative to its corresponding point in the first plurality of points.

[0015] In some embodiments, the second profile may be an open profile. As an example, the second profile may be substantially C-shaped.

[0016] In some embodiments, the method may further include providing user control that enables a user to modify the position of at least one endpoint of a second plurality of points of the second contour.

[0017] In some embodiments, the reference model includes a model of the anatomical implant. The method may also include determining the length of the anatomical implant based on the position of a point among a second plurality of points.

[0018] In some embodiments, the anatomical structure may be an annulus of a heart valve. For example, the anatomical structure may be an annulus of the tricuspid valve or the mitral valve. A reference model may be an annuloplasty annulus (also known as an annuloplasty band).

[0019] According to a second specific aspect, an apparatus is provided that includes a processor configured to perform the steps of the methods disclosed herein.

[0020] In some embodiments, the device may further include a display configured to display a representation of at least a portion of the anatomical structure, an indication of the first point among the second plurality of points relative to the anatomical structure, and an indication of the corresponding point among the first plurality of points relative to the first point and the anatomical structure.

[0021] The device may further include a user interface configured to allow a user to modify at least one of the following: the relative angular position of a first point in a second plurality of points about the position of its corresponding point in the first plurality of points; the position of one or more points in the first plurality of points; and the position of one or more points in the second plurality of points.

[0022] According to a third specific aspect, a computer program product comprising a non-transient computer-readable medium having computer-readable code embodied therein, the computer-readable code being configured to cause, when executed by a suitable computer or processor, the computer or processor to perform the steps of the methods disclosed herein.

[0023] These and other aspects will become apparent from the embodiments described below and will be illustrated with reference to the embodiments described below. Attached Figure Description

[0024] Exemplary embodiments will now be described by way of example only with reference to the following figures, wherein:

[0025] Figure 1 These are illustrations of examples of anatomical models and reference models with anatomical structures;

[0026] Figure 2 This is a flowchart illustrating examples of methods according to various embodiments;

[0027] Figure 3 These are illustrations of examples of anatomical models and reference models;

[0028] Figure 4 The flowchart is a further example of a method according to various embodiments;

[0029] Figure 5 This is an illustration of an example of a portion of a reference model manipulated relative to a scan of an anatomical structure;

[0030] Figure 6 These are schematic illustrations of examples of devices according to various embodiments; and

[0031] Figure 7 This is a schematic illustration of an example of a computer-readable medium communicating with a processor. Detailed Implementation

[0032] According to the various embodiments disclosed herein, this disclosure provides a mechanism that enables a user to view, explore, and precisely manipulate and / or measure portions of a reference model relative to an anatomical model of an object's anatomical structure. In this way, the user is able to manipulate one or more portions of the reference model within one or more defined constraints, such as those required by the environment (e.g., considering the medical procedure to be performed).

[0033] The examples disclosed herein can be applied to a wide range of scenarios. One specific example disclosed herein relates to annulusoplasty, a procedure used to strengthen or tighten a valve in a patient's heart. Transcatheter valve procedures are becoming increasingly common in medical practice, and annulusoplasty can be performed on extensively dilated tricuspid (or mitral) valves where repair or replacement may no longer be feasible. Such procedures require extensive planning, which can be performed using computed tomography (CT) scans and / or echocardiography. The procedure requires implanting a device (e.g., an annulusoplasty band) at a specific location relative to the valve, and prior to this, a cardiologist must determine the precise length and placement of the device. In one example, a band suitable for use in such a procedure requires approximately 40 screws to be placed precisely along the length of the annulusoplasty band, which itself must be correctly sized to match the length of the existing annulus.

[0034] The annulus repair band should be installed at a precise distance of 4 mm from the existing ring along the variable right atrial wall, and such measurements may be difficult to perform manually in an accurate and repeatable manner.

[0035] Now refer to the attached diagram, Figure 1 An example of a portion of an anatomical structure 102 with an anatomical model 104 and a reference model 106 is shown. Anatomical structure 102 can be any anatomical structure or target of an object (e.g., a person or animal), such as the valves of an object's heart. Anatomical model 104 can be a computer-generated model, generated, for example, based on scans of an anatomical structure. Figure 1 In the example shown, the anatomical structure 102 is substantially cylindrical in shape, and therefore, in this example, the anatomical model 104 is substantially annular. The reference model 106 is a computer-generated model that may be based on the anatomical structure 102 and / or the anatomical model 104. In some examples, the reference model 106 may be based on a template or on a previous reference model used for similar purposes or with respect to similar anatomical structures. Figure 2 In the example shown, the shape of reference model 106 is substantially the same as that of anatomical model 104 (e.g., a ring shape). However, as will be apparent from other examples discussed herein, the shape of reference model 106 may differ from that of anatomical model 104. For example, the shape of reference model 106 may match or be based on a portion of anatomical model 104; for example, in the example where the anatomical model is ring-shaped, the reference model may in some cases be C-shaped.

[0036] Reference model 106 can be used for various purposes. In one example, reference model 106 can be used to measure the dimensions of a portion of an anatomical structure at a specific location (e.g., relative to a specific location on anatomical model 104). In another example, as discussed above, reference model 106 can be used to indicate the location of an implant to be placed on anatomical structure 102 at a specific location relative to anatomical model 104. In either example, reference model 106 can be positioned at a defined or fixed distance from anatomical model 104, as indicated by arrow 108. Figure 1 The arrows 108 are represented in the diagram. Each arrow 108 has a defined length such that the reference model 106 is positioned at a constant distance from the anatomical model 104 along its length. In some examples, the defined separation between the reference model 106 and the anatomical model 104 can vary at different locations, such that a portion of the reference model 106 is separated from the anatomical model by a first distance, while another portion of the reference model is separated from the anatomical model by a second distance different from the first distance.

[0037] Each of the anatomical model 104 and the reference model 106 may have at least a portion that includes or follows a contour. For example, in Figure 1 In the example shown, anatomical model 104 is a contour that substantially follows the walls of anatomical structure 102. The contour of reference model 106 may, for example, be based on the contour of anatomical model 104 separated by a defined distance, as described above.

[0038] The central axis AB of the first profile passes through the center of the first profile. Figure 1 In this context, the central axis AB is perpendicular to the plane in which the first contour is located (i.e., the best-fit plane of the first contour).

[0039] According to a first aspect, the present invention provides a method. The embodiments disclosed herein provide a mechanism by which a user can manipulate a reference model 106, as described below. Figure 2 The subject of discussion.

[0040] Figure 2 This is a flowchart illustrating an example of method 200. Method 200 may include a computer-implemented method for manipulating the model. One or more processors (such as the processor(s) disclosed herein) may be used to perform one or more steps of the methods disclosed herein. The one or more processors may form part of one or more computing devices or servers, for example, as part of a cloud computing environment.

[0041] Method 200 includes receiving an anatomical model 104 of an anatomical structure 102 at step 202, the anatomical model including a region having a first contour including a first plurality of points. The anatomical model 104 can be received from a storage device (e.g., memory) of a computing device, wherein various anatomical models may be stored, for example, in a database. In some examples, the processor may obtain (e.g., be sent) the anatomical model 104 in response to a request indicating the nature or type of the desired anatomical model. The anatomical model 104 may include a model of an entire body part or anatomical structure, or it may include a specific portion or region of a body part or anatomical structure.

[0042] The anatomical model 104 may have been generated from imaging data that segmented the anatomical structure 102. The imaging data used to generate the anatomical model can be any type of imaging data suitable for segmenting anatomical structures; for example, depending on the type of anatomical structure, the imaging data can be ultrasound imaging data, computed tomography imaging data, or magnetic resonance imaging. In some examples, the anatomical structure is a ring of a heart valve, and the anatomical model can be generated by segmenting this ring in ultrasound imaging data of the heart.

[0043] The anatomical model 104 includes a region having a first contour comprising a plurality of points. For example, the region of the anatomical model 104 may represent the cylindrical wall of a valve of an object heart, and this region of the anatomical model may include a contour extending around the cylindrical wall. The contour may be represented, for example, by a line following a path. The contour includes a plurality of points, which may be spaced apart, for example, along the contour or line following the same path. The contour may include any number of points. However, as will become apparent, the plurality of points on the contour are used to manipulate the reference model 106 relative to the anatomical model 104, and therefore, the greater the number of points among the plurality of points, the higher the level of control by the user over the manipulation of the reference model.

[0044] At step 204, method 200 includes receiving a reference model 106 having a second contour including a second plurality of points, each of the second plurality of points corresponding to a corresponding point in a first plurality of points. Similar to the anatomical model 104, the reference model 106 includes a contour (i.e., the second contour) also having a plurality of points (i.e., the second plurality of points). The number of points in the second plurality of points may be the same as the number of points in the first plurality of points. In some examples, the contour of the reference model 106 may have a shape similar to or substantially the same as the contour of the anatomical model 104, such as... Figure 1 As shown in the example.

[0045] Method 200 positions the reference model 106 in the region including the anatomical model 104 at step 206, such that each of the second plurality of points is offset from its corresponding point in the first plurality of points by a predetermined distance. For example... Figure 1 As shown in the example, reference model 106 can be positioned such that each point along the contour of the reference model is spaced apart from its corresponding point in a first plurality of points in the region of the anatomical model by a predetermined distance or a predefined distance (e.g., by...). Figure 1 (The distance indicated by arrow 108 in the text). The predetermined distance can be set automatically (e.g., based on literature) or can be defined manually, such as by the user selecting or entering the distance through a user interface. The term "offset" as used herein may mean "separated by".

[0046] In some examples, steps 204 and 206 can be performed together; in other words, the shape of the reference model's contour can be defined by defining a second plurality of points and positioning each of the second plurality of points at a position that is based on a predetermined position of its corresponding point in the first plurality of points.

[0047] The initial angular position of each of the second plurality of points relative to its corresponding point in the first plurality of points can be, for example, arbitrary, or each of the second plurality of points can have the same angular position relative to its corresponding point in the first plurality of points (e.g., each of the second plurality of points can be positioned such that the line between that point and its corresponding point is perpendicular to the best-fit plane of the first contour). At step 207, method 200 includes defining a central axis AB of the first contour. The central axis is a line passing through the center of the first contour. In some examples, the central axis can be the major axis of the anatomical structure 102; for example, if the anatomical structure is the ring of a heart valve, then the central axis is the major axis of that valve. In some examples, the central axis can be defined before positioning the reference model, and each of the second plurality of points can be positioned relative to its corresponding point such that the points of the second plurality of points lie in a plane containing the central axis and its corresponding point in the first plurality of points.

[0048] In some examples, the central axis AB may be perpendicular or substantially perpendicular to the best-fit plane of the first contour. The best-fit plane may be the plane in which the anatomical model lies. A central axis that is "substantially perpendicular" to the best-fit plane of the first contour (as intended herein) creates an angle of approximately 90 degrees between the central axis and the best-fit plane of the first contour. The angle between the central axis and the best-fit plane of the first contour may be within + / - 5 degrees to the vertical, within + / - 10 degrees to the vertical, within + / - 5% of the 90-degree angle, within + / - 10% of the 90-degree angle, and so on.

[0049] At step 208, method 200 includes providing user control that allows a user to modify the relative angular position of a first point among a second plurality of points in a first plane, about its corresponding point among the first plurality of points, the first plane including the first point among the second plurality of points, the corresponding point among the first plurality of points, and a central axis. The user control may be provided through a user interface for a user input device, such as a keyboard, mouse, touchpad, or touchscreen. Through the user control, the user can modify the angular position of the first point among the second plurality of points (i.e., the first point in reference model 106) relative to its corresponding point among the first plurality of points (i.e., the corresponding point in anatomical model 104), while maintaining a predetermined distance between the first point among the second plurality of points and its corresponding point among the first plurality of points. In other words, the position of the corresponding point among the first plurality of points and the distance between the first point and its corresponding point can be kept fixed, and the user can modify the angular position of the first point by rotating the first point among the second plurality of points about the position of its corresponding point among the first plurality of points. The rotation of the angular position of the first point among the second plurality of points is constrained to a first plane, which includes both the first point among the second plurality of points and its corresponding point among the first plurality of points, as well as a central axis. In other words, the position of the first point among the second plurality of points relative to its corresponding point among the first plurality of points is constrained to a circle in the first plane having a radius equal to the predetermined distance. For example, in the case of an annulus of a heart valve, the position of the first point among the second plurality of points relative to its corresponding point among the first plurality of points can be constrained to a circle (with a radius equal to the predetermined distance) in a major axis plane, which includes the first point among the second plurality of points and its corresponding point among the first plurality of points.

[0050] As previously stated, the central axis can be perpendicular to or substantially perpendicular to the best-fit plane of the first profile. Therefore, the first plane can be perpendicular to or substantially perpendicular to the best-fit plane of the first profile.

[0051] It will be apparent that modifying the position of the first point by rotating it around its corresponding point in the first plurality of points (i.e., anatomical model 104) will change the shape of the second contour (i.e., the contour of reference model 106). If the positions of other points in the second plurality of points are also modified, further changes will occur in the shape of the second contour.

[0052] Figure 3 This is an illustration of an example of anatomical model 104 and reference model 106 after manipulation of parts of the reference model. Figure 3 The examples shown are based on Figure 1 The example shown in [the text]. However, in [the text]... Figure 3In the example shown, the relative angular positions of one or more points in the second plurality of points (i.e., reference model 106) have been modified around their corresponding positions in the first plurality of points (i.e., anatomical model 104). As a result, Figure 3 The shape of the outline of the anatomical model 104 in the middle is relative to Figure 1 Its shape remains unchanged, while Figure 3 The shape of the contour of the reference model 106 in the middle is relative to Figure 1 Its shape has been modified. It should be understood that... Figure 3 Each of the second plurality of points in the reference model 106 is located at the same level as the reference model 106. Figure 1 At the same predetermined distance from their corresponding points; only the angular position of the points in the second or more sets has changed. In other words, in Figure 3 Each arrow in the middle has 108 with Figure 1 The corresponding arrow in the text has the same length. When with Figure 1 In comparison, any obvious difference in the length of each arrow is attributed to representing a three-dimensional structure in a two-dimensional diagram.

[0053] Apart from Figure 2 In addition to the steps shown, additional steps can be performed. Figure 4 The flowchart is another example of method 400, which includes various steps that can optionally be performed. The steps of method 400 can be performed after steps 202 to 208 of method 200 discussed above.

[0054] To enable easy and accurate modification and manipulation of the positions of points in the contour of reference model 106, data representing the anatomical model 104, the reference model, the contour, and the points of those contours can be provided for display to a user. Therefore, method 400 may include providing, at step 402, data indicating the relative positions of a first point among a second plurality of points and its corresponding point among the first plurality of points for presentation to a user. In some embodiments, only the position of the first point among the second plurality of points and its corresponding point among the first plurality of points may be presented to the user, while in other embodiments, the positions of the first plurality of points and / or other points among the second plurality of points may also be presented to the user. Step 402 of providing data for presentation to a user may include providing data for presentation on a display, such as a display screen of a computing device. In other examples, for instance, the data may be provided for display in some other format, such as in a 3D environment or in an augmented reality environment.

[0055] In addition to providing user control at step 208 of method 200, method 400 may further include receiving, at step 404, an indication via user control to modify the relative angular position of a given point among the second plurality of points about its corresponding point among the first plurality of points. In other words, the processor executing method 400 may receive data indicating user control via which the angular position of a point among the second plurality of points is modified. As indicated above, in one example, the modification of the angular position of a point among the second plurality of points may be performed by a user who selects a point on the screen (e.g., with a cursor) and drags the given point among the second plurality of points to its desired position. In another example, a user may scroll a bar or dial presented on the screen to adjust the rotation of the given point among the second plurality of points about its corresponding point among the first plurality of points.

[0056] Figure 5 This is an illustration of an example of a reference model manipulated relative to a scan of an anatomical structure. Figure 5 A and 5B are scanned images of parts of the anatomical structure. Figure 5 In A, the first point 502 in the second plurality of points (i.e., reference model 106) is indicated together with its corresponding point 504 in the first plurality of points (i.e., anatomical model 104). The first point 502 and its corresponding point 504 are connected by a marker or indicator 506, which indicates a predetermined distance or separation between the first point 502 and the corresponding point 504. Figure 5 In A, the position of the corresponding point 504 is determined by the position of the first contour (i.e., the contour of the anatomical structure). Figure 5 The first point 502 in A is shown in the default position relative to the corresponding point 504, which in this example is directly above the first point.

[0057] Figure 5 Example B illustrates an example where cursor 508 is used (e.g., by user operation) to drag the position of first point 502 to modify its relative angular position around its corresponding point 504. In this example, the position of first point 502 has been moved to the left, representing a counter-clockwise rotation relative to its corresponding point 504. After this movement, the position of first point 502 remains at the same predetermined distance from its corresponding point 504.

[0058] The nature of the modification to the position of the first point 502 can depend on the intended purpose. In one example, where reference model 106 represents the location of the annulusoplasty ring to be implanted, it may be desirable to position a point (e.g., point 502) among a second plurality of points such that the first point 502 and its corresponding point 504 are separated from each other along a line substantially parallel to the wall of the illustrated anatomical structure, as... Figure 5 The example in B is shown.

[0059] Refer again Figure 4 Once an instruction to modify has been received via user control, method 400 may include providing data indicating the modification for presentation to the user.

[0060] In some embodiments, adjusting one point among the second plurality of points (i.e., the contour of reference model 106) can cause automatic modification of other points among the second plurality of points. Therefore, at step 406, method 400 may include adjusting the relative angular position of at least one point among the second plurality of points adjacent to the given point in response to receiving an instruction to modify the relative angular position of a given point among the second plurality of points. In this way, modifying the relative angular position of a point in the contour of reference model 106 will cause one or more adjacent or nearby points in the contour to be modified in a similar manner, as if the points were connected to each other by a rope or elastic body. In other words, modifying the relative angular position of a given point in the contour of reference 106 can affect the relative angular positions of one or more points near or adjacent to the given point. This has the advantage that the user does not need to adjust the angular position of each individual point among the second plurality of points; adjusting the angular position of one point will cause the angular positions of adjacent points to be automatically adjusted accordingly. The user may select or pre-program one or more points whose positions are affected. In some examples, the angular positions of a defined number of points on either side of the given point can be adjusted, while in other examples, the angular positions of points within a defined distance along the contour from the given point can be adjusted. This can lead to more realistic modifications to the contour and avoid unrealistic or extreme outlier points in the contour. It should be understood that modifications to the relative angular positions of one or more adjacent or nearby points ensure that each modified point maintains a predetermined offset from its corresponding point among a first plurality of points. In some embodiments, the adjustment amount of the relative angular position of at least one point among a second plurality of points can be based on a Gaussian distribution. In other words, a modification to the relative angular position of a given point can result in a relatively large adjustment to the relative angular positions of points immediately adjacent to the given point, and a relatively small adjustment to the relative angular positions of points further away from the given point. Using a Gaussian distribution to adjust adjacent points can help make the adjustments more realistic in a way that likely corresponds to the contour of an anatomical model, thereby avoiding sharp points appearing in the second contour.

[0061] Please note the above references. Figure 5As described in A, when locating the reference model 106 relative to the anatomical model (step 206), the first point 502 can be in a default position relative to its corresponding point 504. This can be applied to all points in the reference model 106. Therefore, locating the anatomical model relative to the reference model (step 206 of method 200) can include estimating the initial position of each of the second plurality of points relative to its corresponding point in the first plurality of points. Depending on the nature of the anatomical structure or the anatomical model 104, the estimated initial position of each point can be based on a default position or a predefined position. Estimating the initial position can help save the user time, as the user does not need to indicate the initial position for each point in the reference model. Automatic placement can also improve accuracy.

[0062] exist Figure 1 and 3 In the example shown, reference model 106 includes a closed contour (e.g., a loop). In other examples, however, the second contour may be an open contour. In such an example, the contour may have a first end located at a first endpoint among a second plurality of points, and a second end located at a second endpoint among a second plurality of points. In one example, the second contour may be substantially C-shaped. In examples where the second contour is an open contour, the positions of one or both endpoints of the second contour may be defined or selected by the user, for example, by the user indicating one or more expected endpoints on the representation of reference model 106 on the screen. Therefore, method 400 may include providing user control at step 408, which enables the user to modify the position of at least one endpoint among the second plurality of points of the second contour.

[0063] Modifications to the position of at least one endpoint can be restricted such that the shape of the remaining portion of the second contour remains unaffected after the modification. For example, if the position of at least one endpoint is modified to reduce the length of the second contour, the modification can be restricted to the area along the second contour. If the position of at least one endpoint is modified to increase the length of the second contour, the modification can be restricted to a virtual contour that closes the second contour. The shape of the virtual contour can be defined, for example, based on the shape of the second contour and the shape of the first contour; for example, in the case where the first contour has a ring shape and the second contour has a C-shape corresponding to a portion of the ring shape of the first contour, the virtual contour can be defined such that the second contour and the virtual contour together form the ring shape of the first contour.

[0064] As described above, the methods disclosed herein can be used for a wide variety of purposes. In one example, reference model 106 may represent a medical device, such as an anatomical implant to be applied to a specific location relative to a region of an anatomical structure. In such an example, the methods disclosed herein can be used to determine one or more dimensions of the anatomical implant based on the anatomical structure of the object. By performing the disclosed methods, the size and / or shape of the anatomical implant can be accurately determined before implantation into the object. In this way, the possibility of implanting an unsuitable device or implant can be greatly reduced. Therefore, in some embodiments, reference model 106 may include a model of the anatomical implant. Method 400 may also include determining the length of the anatomical implant at step 410 based on the position of a point among a second plurality of points.

[0065] According to another aspect, the present invention provides an apparatus. Figure 6 This is an illustration of an example of apparatus 600. Apparatus 600 can be used to perform the methods disclosed herein. Apparatus 600 includes a processor 602 configured to perform the steps of methods 200, 400 disclosed herein. In some examples, apparatus 600 may be a computing device, such as a workstation, desktop computer, laptop computer, tablet computer, smartphone, or wearable device, or the apparatus may include devices forming part of a cloud computing environment, such as a server.

[0066] In some embodiments, the device 600 may further include a display 604. The display 604 may be configured to display: a representation of at least a portion of an anatomical structure, an indication of a first point among a second plurality of points relative to the anatomical structure, and indications of corresponding points among the first plurality of points relative to the first point and the anatomical structure. The display 604 may, for example, be configured to display something similar to... Figure 5 The image shown is an image of the device 600. In some embodiments, the device 600 may also include a user interface 606. The user interface 606 may be configured to allow a user to modify at least one of the following: the relative angular position of a first point in a second plurality of points about the position of its corresponding point in the first plurality of points; the position of one or more points in the first plurality of points; and the position of one or more points in the second plurality of points. Modification of the position of one or more points using the user interface may be implemented in the manner disclosed herein.

[0067] According to another aspect, the present invention provides a computer program product. Figure 7This is a schematic illustration of an example of a processor 702 communicating with a computer-readable medium 704. The processor 702 may include the processor 602 described above or similar to it. According to some embodiments, a computer program product includes a non-transient computer-readable medium 704 having computer-readable code embodied therein, configured to cause the computer or processor, when executed by a suitable computer or processor 702, to perform the steps of the methods 200, 400 disclosed herein.

[0068] Therefore, the embodiments disclosed herein provide a mechanism by which a user can manipulate reference model 106 (e.g., to fit a specific portion of an anatomical structure) while maintaining a specific distance or position relative to anatomical model 104. By enabling the user to view and modify the reference model in the manner disclosed herein, accurate positioning can be achieved, which enables, for example, accurate measurements prior to medical procedures.

[0069] Processors 602 and 702 may include one or more processors, processing units, multi-core processors, or modules configured or programmed to control device 600 in a manner described herein. In certain embodiments, processors 602 and 702 may include multiple software and / or hardware modules, each configured to perform or be used to perform individual or multiple steps of the methods described herein.

[0070] As used herein, the term "module" is intended to include hardware components such as processors or parts of processors configured to perform specific functions, or software components such as a set of instruction data that has specific functions when executed by a processor.

[0071] It will be appreciated that embodiments of the invention are also applicable to computer programs suitable for putting the invention into practice, particularly computer programs on or within a carrier. Such programs may take the form of source code, object code, intermediate source code, and object code such as partially compiled forms, or any other form suitable for use in implementations of methods according to embodiments of the invention. It will also be appreciated that such programs can have many different architectural designs. For example, program code implementing the functionality of the method or system according to the invention may be subdivided into one or more subroutines. Many different ways of distributing functionality among these subroutines will be apparent to those skilled in the art. Subroutines may be stored together in an executable file to form a single program. Such an executable file may include computer-executable instructions, such as processor instructions and / or interpreter instructions (e.g., Java interpreter instructions). Alternatively, one or more or all subroutines may be stored in at least one external library file and linked statically or dynamically (e.g., at runtime) to a main program. The main program contains at least one call to at least one of the subroutines. Subroutines may also include function calls to each other. Embodiments relating to computer program products include computer-executable instructions corresponding to each processing stage of at least one method of the methods set forth herein. These instructions may be subdivided into subroutines and / or stored in one or more files that can be statically or dynamically linked. Another embodiment relating to a computer program product includes computer-executable instructions corresponding to each module of at least one of the systems and / or products described herein. These instructions may be subdivided into subroutines and / or stored in one or more files that can be statically or dynamically linked.

[0072] The carrier of a computer program can be any entity or device capable of carrying the program. For example, the carrier can include data storage devices such as ROM, for example, CD ROM or semiconductor ROM, or magnetic recording media, for example, hard disk. Furthermore, the carrier can be a transmissible carrier, such as electrical or optical signals, which can be transmitted via cables or optical fibers or through radio or other modules. When the program is implemented with such signals, the carrier can be composed of such cables or other devices or modules. Alternatively, the carrier can be an integrated circuit in which a program is embedded, the integrated circuit being adapted to perform the relevant method or to be used in the performance of the relevant method.

[0073] By studying the accompanying drawings, the disclosure, and the appended claims, those skilled in the art can understand and implement variations of the disclosed embodiments in practicing the principles and techniques described herein. In the claims, the word "comprising" does not exclude other elements or steps, and the words "a" or "an" do not exclude a plurality. A single processor or other unit can perform the functions of several items recited in the claims. Although specific measures are recited in dissimilar dependent claims, this does not indicate that combinations of these measures cannot be advantageously used. Computer programs can be stored / distributed on suitable media, such as optical storage media or solid-state media provided with or as part of other hardware, but computer programs can also be distributed in other forms, such as via the Internet or other wired or wireless telecommunications systems. Any reference numerals in the claims should not be construed as limiting the scope.

Claims

1. A computer-implemented method (200), comprising: Receive (202) an anatomical model of an anatomical structure, the anatomical model including a region having a first contour, the first contour including a first plurality of points; Receive (204) a reference model having a second contour, the second contour including a second plurality of points, each of the second plurality of points corresponding to a corresponding point in the first plurality of points; The reference model is positioned relative to the region of the anatomical model (206) such that each of the second plurality of points is offset from the corresponding point of each point in the first plurality of points by a predetermined distance; Definition (207) refers to the central axis of the first contour; as well as Provide (208) user control, the user control enabling a user to modify the relative angular position of a first point among the second plurality of points in a first plane about the position of the first point at its corresponding point among the first plurality of points, such that the first point among the second plurality of points maintains an offset of the predetermined distance from the corresponding point among the first plurality of points, wherein the first plane includes the first point among the second plurality of points, the corresponding point among the first plurality of points, and the central axis.

2. The computer-implemented method (200, 400) according to claim 1, wherein, The central axis is substantially perpendicular to the best-fit plane of the first profile.

3. The computer-implemented method (200, 400) according to claim 1 or claim 2 further includes: Provide (402) data for presentation to the user, the data indicating the relative position of the first point in the second plurality of points and the corresponding point of the first point in the first plurality of points.

4. The computer-implemented method (200, 400) according to any of the preceding claims further includes: The user control receives (404) an instruction to modify the relative angular position, which is the relative angular position of a given point in the second plurality of points about the position of the given point at its corresponding point in the first plurality of points.

5. The computer-implemented method (200, 400) according to claim 4, further comprising: In response (406), upon receiving an instruction to modify the relative angular position of the given point among the second plurality of points, the relative angular position of at least one point among the second plurality of points adjacent to the given point is adjusted such that the at least one point among the second plurality of points maintains an offset of a predetermined distance from the corresponding point of the at least one point among the first plurality of points.

6. The computer-implemented method (200, 400) according to claim 5, wherein, The adjustment amount of the relative angular position of at least one of the second plurality of points is based on a Gaussian distribution.

7. The computer-implemented method (200, 400) according to any of the preceding claims, wherein, Positioning the reference model relative to the region of the anatomical model includes estimating the initial position of each of the second plurality of points relative to the corresponding point of each of the first plurality of points.

8. The computer-implemented method (200, 400) according to any of the preceding claims, wherein, The second profile is an open profile.

9. The computer-implemented method (200, 400) according to any of the preceding claims, wherein, The second contour is essentially C-shaped.

10. The computer-implemented method (200, 400) according to claim 8 or claim 9, further comprising: Provide user control (408) that enables a user to modify the position of at least one endpoint of the second plurality of points of the second contour.

11. The computer-implemented method (200, 400) according to any of the preceding claims, wherein, The reference model includes a model of the anatomical implant, and the method further includes: The length of the anatomical implant is determined (410) based on the position of the point among the second plurality of points.

12. An apparatus (600) comprising: A processor (602) configured to perform the method (200, 400) according to any one of the preceding claims.

13. The apparatus (600) according to claim 12, further comprising: A display (604) is configured to display a representation of at least a portion of the anatomical structure, an indication of the first point among the second plurality of points relative to the anatomical structure, and an indication of the corresponding point among the first plurality of points relative to the first point and the anatomical structure.

14. The apparatus (600) according to claim 12 or claim 13, further comprising: The user interface (606) is configured to enable a user to modify at least one of the following: The relative angular position of the first point in the second plurality of points around the position of the corresponding point of the first point in the first plurality of points; The position of one or more of the first plurality of points; as well as The position of one or more of the second plurality of points.

15. A computer program product comprising a non-transient computer-readable medium (704) having computer-readable code embodied therein, the computer-readable code being configured to cause the computer or processor (702) to perform the method according to any one of claims 1 to 11 when executed by a suitable computer or processor (702).

Images