US 11,896,316 B2
Systems and methods for generating anatomic tree structures using backward pathway growth
Pechin Chien Pau Lo, Santa Clara, CA (US); Jun Ma, Santa Clara, CA (US); and Tao Zhao, Sunnyvale, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Aug. 9, 2019, as Appl. No. 16/536,591.
Claims priority of provisional application 62/721,954, filed on Aug. 23, 2018.
Prior Publication US 2020/0060771 A1, Feb. 27, 2020
Int. Cl. A61B 34/20 (2016.01); A61B 34/00 (2016.01); G06T 7/00 (2017.01); G06T 7/10 (2017.01); G06T 17/00 (2006.01); A61B 90/00 (2016.01); A61B 34/30 (2016.01); A61B 34/10 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 34/25 (2016.02); A61B 90/37 (2016.02); G06T 7/0012 (2013.01); G06T 7/10 (2017.01); G06T 17/00 (2013.01); A61B 2034/105 (2016.02); A61B 2034/301 (2016.02); A61B 2090/374 (2016.02); A61B 2090/378 (2016.02); A61B 2090/3735 (2016.02); A61B 2090/3762 (2016.02); G06T 2207/30004 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method comprising:
receiving anatomic image data comprising a plurality of graphical units;
generating an initial segmented set of the plurality of graphical units associated with an anatomic tree structure;
receiving an indication of a first user selected graphical unit from the plurality of graphical units, the first user selected graphical unit being outside the initial segmented set of the plurality of graphical units;
applying a cost function to determine a first sequence of the plurality of graphical units from the first user selected graphical unit outside the initial segmented set to the initial segmented set of the plurality of graphical units;
receiving an indication of a second user selected graphical unit from the plurality of graphical units, the second user selected graphical unit being selected from the first sequence of the plurality of graphical units; and
applying the cost function to determine a second sequence of the plurality of graphical units from the second user selected graphical unit to the initial segmented set of the plurality of graphical units.