US 12,402,949 B2
System and method, for training an interventionalist to perform an invasive percutaneous intervention or an endoscopic intervention
Giulio Corazza, Morges (CH); Georges Caron, Echandens (CH); and Hussein Ballan, St-Légier (CH)
Assigned to ADIS SA, Lausanne (CH)
Filed by ADIS SA, Lausanne (CH)
Filed on Jul. 5, 2023, as Appl. No. 18/347,182.
Prior Publication US 2025/0009430 A1, Jan. 9, 2025
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/10 (2016.01); G06T 7/246 (2017.01)
CPC A61B 34/10 (2016.02) [G06T 7/251 (2017.01); A61B 2034/104 (2016.02); G06T 2207/10028 (2013.01)] 15 Claims
OG exemplary drawing
 
15. A Method for training an interventionalist to an invasive percutaneous or endoscopic intervention on an organ, by using a tool in this organ, comprising:
providing a pipe comprising an entrance and an exit and having a size and/or a shape similar to a body vessel or a tubular body cavity, the body vessel or the tubular body cavity being connected to the organ, wherein the exit of the pipe physically simulates or represents the exit of the vessel or of the tubular body cavity at its junction with the organ;
inserting said tool by the interventionalist at the entrance of the pipe and to be pushed by the interventionalist through the pipe;
acquiring by at least one stereoscopic camera, images of an end portion of the tool starting from the moment in which said end portion starts exiting from the exit of the pipe;
outputting by a tool tracking module, a first set of coordinates of 3D points that defines the 3D position of a tool's centerline, with regard to the output of said pipe, based on said image,
generating by a real-time 3D model generating unit, a real-time 3D model of this end portion of the tool,
merging by a merging unit, in real-time in a common environment said real-time 3D model of this end portion of the tool and a pre-computed 3D model of at least a portion of the organ;
showing by a display to the interventionalist said common environment, so that the interventionalist can see in real-time on the display where the real-time 3D model of the end portion of the tool is located with respect to the pre-computed 3D model of the portion of the organ, thus making the training of the interventionalist possible,
characterised in that the method comprises
receiving by a real-time re-computing position unit, the first set of coordinates and outputting a second set of coordinates of 3D points that defines the 3D position of the tool's centerline, with regard to the output of said pipe, wherein the second set of coordinates is different from the first set of coordinates if there is a collision between the real-time 3D model of the end portion of the tool with an inner wall of the 3D model of the portion of the organ,
wherein the second set of coordinates describes a deformation of the real-time 3D model of the end portion of the tool after this collision, the second set of coordinates belonging to a space defined by the 3D model of the portion of the organ.