WO2016001278A1 - Dispositif et procédé pour afficher des informations tridimensionnelles pour une procédure interventionnelle - Google Patents

Dispositif et procédé pour afficher des informations tridimensionnelles pour une procédure interventionnelle Download PDF

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Publication number
WO2016001278A1
WO2016001278A1 PCT/EP2015/064936 EP2015064936W WO2016001278A1 WO 2016001278 A1 WO2016001278 A1 WO 2016001278A1 EP 2015064936 W EP2015064936 W EP 2015064936W WO 2016001278 A1 WO2016001278 A1 WO 2016001278A1
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WO
WIPO (PCT)
Prior art keywords
implant
tissue structure
dimensional data
data
dimensional
Prior art date
Application number
PCT/EP2015/064936
Other languages
English (en)
Inventor
Javier Olivan Bescos
Original Assignee
Koninklijke Philips N.V.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koninklijke Philips N.V. filed Critical Koninklijke Philips N.V.
Publication of WO2016001278A1 publication Critical patent/WO2016001278A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/102—Modelling of surgical devices, implants or prosthesis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/04—Hollow or tubular parts of organs, e.g. bladders, tracheae, bronchi or bile ducts
    • A61F2/06—Blood vessels
    • A61F2/07—Stent-grafts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/82—Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents

Definitions

  • the present invention relates to endovascular intervention preparation.
  • the present invention relates to a device and a method for displaying three- dimensional information for an interventional procedure.
  • WO 01/56491 A2 describes a system and a method for computer aided treatment planning.
  • a method of computer aided treatment planning is performed by generating and manipulating a three-dimensional image of a region which includes at least one anatomical structure.
  • WO 2011/121516 A2 describes a virtual stent deployment which simulates a deployment of an actual stent at a current position of the stent.
  • WO 2013/171039 Al describes a pre-operative simulation of trans-catheter valve implementation.
  • a method for patient-specific virtual implantations is described comprising an estimating of a patient-specific anatomical model of an aorta.
  • US 20120323547 Al describes methods and devices for endovascular interventions. More particularly, assessing intracranial, cerebral aneurysms and planning for endovascular treatment are described. For endovascular interventions, analyzing various measurements of geometric primitives evaluated on an aneurysm is necessary, which allows to carry out treatment and/or surgical planning. Currently, the measurements and the planning are done manually, which tend to be time-consuming and subjective. Further, the
  • An aspect of the invention relates to a device for displaying three-dimensional information for an interventional procedure, the device comprising: a data acquisition module, which is configured to acquire three-dimensional data of a tissue structure of a human body and of an implant; a manipulation module, which is configured to modify a geometrical property of the three-dimensional data of the tissue structure and/or of the implant; and a visualization module, which is configured to visualize the modified geometrical property of the three-dimensional data of the tissue structure and/or of the implant.
  • a further aspect of the present invention relates to a medical imaging system comprising a device according to the previous aspect or according to any implementation form of the previous aspect.
  • a further aspect of the present invention relates to a method for displaying three-dimensional information for an interventional procedure, the method comprising the steps of: Acquiring three-dimensional data of a tissue structure and of an implant by means of a data acquisition module; Modifying a geometrical property of the three-dimensional data of the tissue structure and/or of the implant a by means of manipulation module; and Visualizing the modified geometrical property of the three-dimensional data of the tissue structure and/or of the implant by means of a visualization module.
  • a further aspect of the present invention relates to a computer program comprising a program code for performing the method according to the previous aspect or according to any implementation form of the previous aspect, when the computer program runs on a computer
  • the present invention advantageously provides means for modifying a geometrical property of the three-dimensional data of the tissue structure or means for modifying a geometrical property of the three-dimensional data of the implant which is incorporated during the planned or intended interventional procedure.
  • the modified three-dimensional data of the implant may be then displayed and may be aligned to the three- dimensional data of the tissue structure.
  • the present invention advantageously provides means for sizing and selecting endovascular devices for invasive procedures, involving the use of advanced workstations that allow multiple interactions with complex user interfaces.
  • the present invention may advantageously be used for stent graft planning or the preparation of interventional procedure. Further, the present invention may be advantageously used for other interventional procedures such as minimally invasive heart valve replacement or further invasive procedures.
  • the present invention advantageously provides a tool to size and select the appropriate stent graft for an operation.
  • a stent graft may be selected and modeled from a list of model names or images. Then, the user may move the mouse cursor over the preoperative image data of the patient.
  • the device may advantageously compute the center line of the vessel under the mouse cursor.
  • the device may then adjust the shape of the selected stent graft to the vasculature under the mouse cursor.
  • the virtual stent follows the mouse cursor interactively.
  • the user can modify the length and radial size of the stent graft model interactively, for example, by rolling the mouse wheel.
  • the device may then provide a real time feedback at all times.
  • the user confirms the stent graft position, size, and length by clicking the mouse button for instance.
  • the present invention advantageously provides a user interface that organizes a complex task like stent graft planning.
  • the present invention advantageously provides feedback in real time, allowing the user to modify the stent graft position, length, radial size in very precise manner.
  • the present invention advantageously makes use of three-dimensional data of the vasculature of the patient, such as pre-operative computer tomography, CT, or magnetic resonance imaging data or three-dimensional data derived from ultrasound systems.
  • the present invention advantageously also makes use of in-operative three-dimensional X-ray data, for instance, in reference to cone beam CT and three-dimensional rotational reconstructions.
  • the data acquisition module is configured to acquire three-dimensional data of a vasculature or of a vessel structure.
  • the data acquisition module is configured to acquire three-dimensional data by means of X-ray, of computed tomography or of magnetic resonance imaging or any other medical imaging technique.
  • the manipulation module is configured to modify the geometrical property of the tissue structure and/or of the implant selected by a mouse cursor.
  • the manipulation module is configured to modify the geometrical property of the tissue structure and/or of the implant in real time. This advantageously provides a tool to size and select the appropriate stent graft for an operation.
  • the manipulation module is configured to modify as the geometrical property of the tissue structure and/or of the implant a length or a radius or a volume or an area of the tissue structure and/or of the implant. This advantageously provides a tool to size and select the appropriate stent graft for an operation.
  • the manipulation module is configured to modify geometrical properties of multiple tissue structures and/or of multiple implants.
  • the data acquisition module is configured to acquire three-dimensional data of a stent. This advantageously provides a secure and error-avoiding way of data acquisition.
  • the data acquisition module is configured to acquire three-dimensional data of the implant by using information about the volumetric data of the implant. This advantageously provides a secure and error-avoiding way of data acquisition.
  • a computer program performing the method of the present invention may be stored on a computer-readable medium.
  • a computer-readable medium may be a floppy disk, a hard disk, a CD, a DVD, an USB (Universal Serial Bus) storage device, a RAM (Random Access Memory), a ROM (Read Only Memory) and an EPROM (Erasable Programmable Read Only Memory).
  • a computer-readable medium may also be a data communication network, for example the Internet, which allows downloading a program code.
  • DSP Digital Signal Processor
  • ASIC application specific integrated circuit
  • the present invention can be implemented in digital electronic circuitry, or in computer hardware, firmware, software, or in combinations thereof, e.g. in available hardware of medical imaging systems or in new hardware dedicated for processing the methods described herein.
  • Fig. 1 shows a schematic diagram of a virtual image for explaining the present invention
  • Fig. 2 shows a schematic diagram of a virtual image for explaining the present invention
  • Fig. 3 shows a schematic diagram of a virtual image for explaining the present invention
  • Fig. 4 shows a schematic diagram of a virtual image for explaining the present invention
  • Fig. 5 shows a schematic diagram of a virtual image for explaining the present invention
  • Fig. 6 shows a schematic diagram of a virtual image for explaining the present invention
  • Fig. 7 shows a schematic diagram of a virtual image for explaining the present invention
  • Fig. 8 shows a schematic diagram of a virtual image for explaining the present invention
  • Fig. 9 shows a schematic diagram of a device for displaying three- dimensional information for an interventional procedure according to an exemplary embodiment of the present invention.
  • Fig. 10 shows a schematic diagram of medical imaging device according to an exemplary embodiment of the present invention.
  • Fig. 11 shows a schematic flow-chart diagram of a method for
  • Figure 1 shows a schematic diagram of a virtual image for explaining the present invention.
  • Figure 1 shows a schematic diagram of a vessel structure or a tissue structure, which is selected due to the mouse cursor being positioned above the tissue structure.
  • the tissue structure may be segmented or display using a color, e.g. a green shape. Further, a centerline of the tissue structure may be derived from the segmentation.
  • Figure 2 shows a schematic diagram of a virtual image for explaining the present invention.
  • Figure 2 shows a stent model, which may be deformed to match the vessel geometry of the tissue structure. The deformation may be achievable by modifying a geometrical property of the three-dimensional data of the implant, e.g. the stent model.
  • Figure 3 shows a schematic diagram of a virtual image for explaining the present invention.
  • Figure 3 shows a stent model, way was moved due a movement of the cursor.
  • the virtual stent which might be colored blue, may follow the mouse.
  • the movement may be achievable by modifying multiple geometrical properties of the three- dimensional data of the implant, e.g. the stent model.
  • Figure 4 shows a virtual image for explaining the present invention.
  • Figure 4 shows a stent model, which was further moved due a movement of the cursor.
  • the moving of the stent may be performed by means of a manipulation module 20.
  • Figures 5 and 6 each show a schematic diagram of a virtual image for explaining the present invention.
  • Each of Figures 5 and 6 shows a stent model, wherein the length of the virtual stent was changed by, for example, rolling the mouse wheel.
  • the modifying of the geometrical property of the three-dimensional data of the tissue structure and/or of the implant may be performed by means of a manipulation module 20.
  • Figure 7 shows a schematic diagram of a virtual image for explaining the present invention.
  • Figure 7 shows a stent model, wherein a radial size of the stent was modified by, for example, rolling the mouse wheel while keeping pressed a key like the control key.
  • Figure 8 shows a schematic diagram of a virtual image for explaining the present invention.
  • Figure 8 shows a complex procedure requiring one large stent for the aorta and four small stent grafts for the branching vessels.
  • Figure 9 shows a schematic diagram of a device for displaying three- dimensional information for an interventional procedure according to an exemplary embodiment of the present invention.
  • a device 1 for displaying three-dimensional information for an interventional procedure may comprise a data acquisition module 10, a manipulation module 20, and a visualization module 30.
  • the data acquisition module 10 may be configured to acquire three- dimensional data of a tissue structure of a human body and of an implant.
  • the data acquisition module 10 may be a functional unit of an electrical system or an embedded system or, for instance, a hardware-based data processing unit, configured to derive three-dimensional data of the implant from the specifications documents of the implant manufacturer or further data sources.
  • the manipulation module 20 may be configured to modify a geometrical property of the three-dimensional data of the tissue structure and/or of the implant.
  • the manipulation module 20 may be configured to modify a plurality of geometrical properties of the three-dimensional data of the tissue structure and/or of the implant implying a geometric mapping.
  • the visualization module 30 may be configured to visualize the modified geometrical property the three-dimensional data of the tissue structure and/or of the implant.
  • the visualization module 30 may be a flat panel display, an electronic visual display, or a video display. Further the visualization module 30 may comprise a video card, also called a video adapter, display card, graphics card, graphics board, display adapter, graphics adapter or frame buffer and sometimes preceded by the word discrete or dedicated to emphasize the distinction between this implementation and integrated graphics, representing an expansion card which generates a feed of output images to a display (such as a computer monitor).
  • a video card also called a video adapter, display card, graphics card, graphics board, display adapter, graphics adapter or frame buffer and sometimes preceded by the word discrete or dedicated to emphasize the distinction between this implementation and integrated graphics, representing an expansion card which generates a feed of output images to a display (such as a computer monitor).
  • the manipulation module 20 may be a functional unit of an electrical system or an embedded system or, for instance, a hardware-based data processing unit.
  • the data acquisition module 10, the manipulation module 20, and the visualization module 30 may be implemented as software modules or as circuits in a Digital Signal Processor, DSP, in a micro-controller or in any other side-processor or as hardware circuit within an application specific integrated circuit, ASIC.
  • DSP Digital Signal Processor
  • ASIC application specific integrated circuit
  • a three- dimensional data of the vasculature of the patient such as a preoperative CT or MR data set or three-dimensional ultrasound data, may be used as input data describing the vasculature of the patient.
  • the input data could also be a polygon mesh describing the vasculature of the patient.
  • a method to derive the three-dimensional shape of the vessel under the mouse cursor is provided by the workstation where the planning.
  • the Vessel Navigator application has an algorithm that computes the centerline of the vessel under the mouse cursor.
  • a three- dimensional model of each stent graft to be planned can be provided by the stent
  • manufactures created synthetically from the specifications of the stent graft, or derived from a three-dimensional volumetric data of the stent graft.
  • a method to deform the three-dimensional model of the stent graft according to the vasculature in real time is provided.
  • an elastic transformation mapping one line to the other may be defined, and the stent model may be deformed accordingly.
  • a method to visualize the deformed three-dimensional model of the stent graft is provided.
  • a method to visualize the deformed stent model together with the volumetric data set is provided.
  • a method to manipulate the geometrical properties of the stent graft, such as length and radial size is provided.
  • a user interface is provided, which allows performing of methods to adapt the position, length, and radial size of the virtual stent graft.
  • the system should provide feedback in real time.
  • Figure 10 shows a schematic diagram of medical imaging device according to an exemplary embodiment of the present invention.
  • a medical imaging system 200 may comprise a device 1 for displaying three- dimensional information for an interventional procedure.
  • Figure 11 shows a schematic flow-chart diagram of a method for displaying three-dimensional information for an interventional procedure according to a further embodiment of the present invention.
  • acquiring S 1 three-dimensional data of a tissue structure of a human body and of an implant by means of a data acquisition module 10 may be conducted.
  • modifying S2 a geometrical property of the three-dimensional data of the tissue structure and/or of the implant a by means of manipulation module 20 may be performed.
  • visualizing S3 the modified geometrical property of the three-dimensional data of the tissue structure and/or of the implant by means of a visualization module 30 may be performed.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

La présente invention concerne un dispositif pour afficher des informations tridimensionnelles pour une procédure interventionnelle, le dispositif comprenant : un module d'acquisition de données (10) qui est configuré pour l'acquisition de données tridimensionnelles d'une structure de tissu et d'un implant; un module de manipulation (20), qui est configuré pour modifier une propriété géométrique des données tridimensionnelles de la structure de tissu et/ou de l'implant; et un module de visualisation (30), qui est configuré pour visualiser la propriété géométrique modifiée des données tridimensionnelles de la structure de tissu et/ou de l'implant.
PCT/EP2015/064936 2014-07-03 2015-07-01 Dispositif et procédé pour afficher des informations tridimensionnelles pour une procédure interventionnelle WO2016001278A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP14175604.9 2014-07-03
EP14175604 2014-07-03

Publications (1)

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WO2016001278A1 true WO2016001278A1 (fr) 2016-01-07

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL2016792A (en) * 2016-05-18 2017-11-23 Endovascular Diagnostics B V Method for determining a parameter which is indicative for the position and apposition of a tubular member, such as a stent graft, inserted in a lumen of an anatomical vessel or duct of a patient

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001056491A2 (fr) 2000-02-04 2001-08-09 The Research Foundation Of State University Of New York Systeme et procede de planification informatisee de traitement
WO2011121516A2 (fr) 2010-04-01 2011-10-06 Koninklijke Philips Electronics N.V. Déploiement d'endroprothèse virtuel
US20120323547A1 (en) 2011-06-20 2012-12-20 Siemens Corporation Method for intracranial aneurysm analysis and endovascular intervention planning
WO2013171039A1 (fr) 2012-05-16 2013-11-21 Feops Bvba Simulation avant opération d'une implantation de valve transcathéter

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001056491A2 (fr) 2000-02-04 2001-08-09 The Research Foundation Of State University Of New York Systeme et procede de planification informatisee de traitement
WO2011121516A2 (fr) 2010-04-01 2011-10-06 Koninklijke Philips Electronics N.V. Déploiement d'endroprothèse virtuel
US20120323547A1 (en) 2011-06-20 2012-12-20 Siemens Corporation Method for intracranial aneurysm analysis and endovascular intervention planning
WO2013171039A1 (fr) 2012-05-16 2013-11-21 Feops Bvba Simulation avant opération d'une implantation de valve transcathéter

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL2016792A (en) * 2016-05-18 2017-11-23 Endovascular Diagnostics B V Method for determining a parameter which is indicative for the position and apposition of a tubular member, such as a stent graft, inserted in a lumen of an anatomical vessel or duct of a patient
WO2017198778A1 (fr) * 2016-05-18 2017-11-23 Endovascular Diagnostics B.V. Procédé de détermination d'un paramètre indicatif de la position et de l'apposition d'un élément tubulaire, tel qu'une endoprothèse couverte, inséré dans une lumière d'un vaisseau ou d'un conduit anatomique d'un patient
US11179201B2 (en) 2016-05-18 2021-11-23 Endovascular Diagnostics B.V. Method for determining a parameter which is indicative for the position and apposition of a tubular member, such as a stent graft, inserted in a lumen of an anatomical vessel or duct of a patient

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