US 12,229,950 B2
Dynamic interventional three-dimensional model deformation
Torre Michelle Bydlon, Melrose, MA (US); Paul Thienphrapa, Cambridge, MA (US); and Alvin Chen, Cambridge, MA (US)
Assigned to KONINKLIJKE PHILIPS N.V., Eindhoven (NL)
Appl. No. 17/438,990
Filed by KONINKLIJKE PHILIPS N.V., Eindhoven (NL)
PCT Filed Mar. 13, 2020, PCT No. PCT/EP2020/056902
§ 371(c)(1), (2) Date Sep. 14, 2021,
PCT Pub. No. WO2020/182997, PCT Pub. Date Sep. 17, 2020.
Claims priority of provisional application 62/818,622, filed on Mar. 14, 2019.
Prior Publication US 2022/0156925 A1, May 19, 2022
Int. Cl. G06T 7/12 (2017.01); A61B 34/20 (2016.01); G06T 7/00 (2017.01); G06T 7/149 (2017.01); G06T 15/08 (2011.01)
CPC G06T 7/0012 (2013.01) [A61B 34/20 (2016.02); G06T 7/149 (2017.01); G06T 15/08 (2013.01); A61B 2034/2065 (2016.02); G06T 2207/10121 (2013.01); G06T 2207/30061 (2013.01)] 13 Claims
OG exemplary drawing
 
2. A controller for assisting navigation in an interventional procedure, comprising:
a memory that stores instructions, and
a processor that executes the instructions,
wherein, when executed by the processor, the instructions cause the controller to implement a process that includes:
obtaining a three-dimensional model generated prior to an interventional procedure based on segmenting pathways with a plurality of branches in a subject of the interventional procedure; receiving current positional information from an optical shape sensing of a tracked device, wherein the tracked device is tracked using this optical shape sensing;
determining, during the interventional procedure, whether a current positional information of the tracked device is outside of the pathways in the three-dimensional model; and
when the current positional information of the tracked device is outside of the pathways in the three-dimensional model, deforming the three-dimensional model to the current positional information of the tracked device;
wherein the process implemented when the processor executes the instructions further comprises:
registering the tracked device in the pathways to the three-dimensional model;
calculating an offset between an immediately previous positional information of the tracked device and the current positional information of the tracked device relative to the
three-dimensional model;
transforming the three-dimensional model to the current positional information of the tracked device based on the offset, and
iteratively locally deforming each new branch of the three-dimensional model containing the tracked device each time the tracked device moves to a new branch.