US 12,004,815 B2
Modeling a collapsed lung using CT data
Joe D. Sartor, Longmont, CO (US); Arlen K. Ward, Centennial, CO (US); Francesca Rossetto, Longmont, CO (US); Ramesh Raghupathy, New Brighton, MN (US); and Srikara V. Peelukhana, Maple Grove, MN (US)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by Covidien LP, Mansfield, MA (US)
Filed on Jul. 18, 2023, as Appl. No. 18/223,364.
Application 17/385,522 is a division of application No. 16/045,996, filed on Jul. 26, 2018, granted, now 11,071,591, issued on Jul. 27, 2021.
Application 18/223,364 is a continuation of application No. 17/385,522, filed on Jul. 26, 2021, granted, now 11,701,179, issued on Jul. 18, 2023.
Prior Publication US 2023/0363824 A1, Nov. 16, 2023
Int. Cl. A61B 34/10 (2016.01); A61B 1/00 (2006.01); A61B 1/05 (2006.01); A61B 1/267 (2006.01); A61B 5/00 (2006.01); A61B 5/08 (2006.01); A61B 6/00 (2006.01); A61B 6/03 (2006.01); A61B 6/46 (2024.01); G06T 7/00 (2017.01); G06T 17/20 (2006.01); A61B 90/00 (2016.01)
CPC A61B 34/10 (2016.02) [A61B 1/0005 (2013.01); A61B 1/05 (2013.01); A61B 1/2676 (2013.01); A61B 5/0062 (2013.01); A61B 5/0084 (2013.01); A61B 5/08 (2013.01); A61B 6/032 (2013.01); A61B 6/466 (2013.01); A61B 6/5247 (2013.01); G06T 7/0016 (2013.01); G06T 17/20 (2013.01); A61B 2034/105 (2016.02); A61B 2090/367 (2016.02); G06T 2207/10081 (2013.01); G06T 2207/30012 (2013.01); G06T 2207/30061 (2013.01); G06T 2211/428 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of modeling a lung of a patient, comprising:
receiving position data from a surgical instrument being advanced within a thoracic cavity of the patient,
identifying feature points within an actual collapsed lung of the patient based on the position data;
calculating an offset between feature points within the actual collapsed lung of the patient and corresponding feature points within a 3D model of the lung of the patient;
calculating a displacement of the lung of the patient based on the offset, yielding a calculated displacement; and
generating a collapsed lung model based on the calculated displacement.