WO2016001278A1

WO2016001278A1 - Device and method for displaying three-dimensional information for an interventional procedure

Info

Publication number: WO2016001278A1
Application number: PCT/EP2015/064936
Authority: WO
Inventors: Javier Olivan Bescos
Original assignee: Koninklijke Philips NV
Current assignee: Koninklijke Philips NV
Priority date: 2014-07-03
Filing date: 2015-07-01
Publication date: 2016-01-07
Anticipated expiration: 2017-01-03

Abstract

The present invention relates to a device for displaying three-dimensional information for an interventional procedure, the device comprising: a data acquisition module (10), which is configured to acquire three-dimensional data of a tissue structure and of an implant; a manipulation module (20), 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 (30), which is configured to visualize the modified geometrical property the three-dimensional data of the tissue structure and/or of the implant.

Description

DEVICE AND METHOD FOR DISPLAYING THREE-DIMENSIONAL INFORMATION

FOR AN INTERVENTIONAL PROCEDURE

FIELD OF THE INVENTION

The present invention relates to endovascular intervention preparation. In particular, the present invention relates to a device and a method for displaying three- dimensional information for an interventional procedure.

BACKGROUND OF THE INVENTION

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

measurements and the planning activities may not always be organized in a well-coordinated manner. SUMMARY OF THE INVENTION

There may be a need to improve devices and methods for displaying three- dimensional information for an interventional procedure.

These needs are met by the subject-matter of the independent claims. Further exemplary embodiments are evident from the dependent claims and the following description.

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

In other words, 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.

According to an exemplary embodiment of the present invention, 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. When the user moves the mouse, 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. When the user is satisfied with the location and size of the stent graft, 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.

According to an exemplary embodiment of the present invention, the data acquisition module is configured to acquire three-dimensional data of a vasculature or of a vessel structure.

According to an exemplary embodiment of the present invention, 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.

According to an exemplary embodiment of the present invention, the manipulation module is configured to modify the geometrical property of the tissue structure and/or of the implant selected by a mouse cursor.

According to an exemplary embodiment of the present invention, 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.

According to an exemplary embodiment of the present invention, 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.

According to an exemplary embodiment of the present invention, the manipulation module is configured to modify geometrical properties of multiple tissue structures and/or of multiple implants.

According to an exemplary embodiment of the present invention, 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.

According to an exemplary embodiment of the present invention, 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.

The methods, systems and devices described herein may be implemented as software 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.

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. BRIEF DESCRIPTION OF THE DRAWINGS

A more complete appreciation of the present invention and the attendant advantages thereof will be more clearly understood by reference to the following schematic drawings, which are not to scale, wherein:

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; and

Fig. 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.

DETAILED DESCRIPTION OF EMBODIMENTS The illustration in the drawings is purely schematical and does not intend to provide scaling relations or size information. In different drawings, similar or identical elements are provided with the same reference numerals. Generally, identical parts, units, entities or steps are provided with the same reference symbols in the description.

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. In other words, 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.

Further, 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).

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.

According to an exemplary embodiment of the present invention, 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.

According to an exemplary embodiment of the present invention, a method to derive the three-dimensional shape of the vessel under the mouse cursor is provided by the workstation where the planning. In the case of a platform, the Vessel Navigator application has an algorithm that computes the centerline of the vessel under the mouse cursor.

According to an exemplary embodiment of the present invention, 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.

According to an exemplary embodiment of the present invention, a method to deform the three-dimensional model of the stent graft according to the vasculature in real time is provided.

Given the centerline of the three-dimensional model of the stent graft and the centerline of the vessel, an elastic transformation mapping one line to the other may be defined, and the stent model may be deformed accordingly.

According to an exemplary embodiment of the present invention, a method to visualize the deformed three-dimensional model of the stent graft is provided. In other words, a method to visualize the deformed stent model together with the volumetric data set is provided.

According to an exemplary embodiment of the present invention, a method to manipulate the geometrical properties of the stent graft, such as length and radial size is provided. In other words, a user interface is provided, which allows performing of methods to adapt the position, length, and radial size of the virtual stent graft. According to an exemplary embodiment of the present invention, 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.

As a first step of the method for displaying three-dimensional information, 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.

As a second step of the method for displaying three-dimensional information, 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.

As a third step of the method for displaying three-dimensional information, 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.

It has to be noted that embodiments of the invention are described with reference to different subject matters. In particular, some embodiments are described with reference to method type claims whereas other embodiments are described with reference to the device type claims.

However, a person skilled in the art will gather from the above and the following description that, unless otherwise notified, in addition to any combination of features belonging to one type of subject matter also any combination between features relating to different subject matters is considered to be disclosed with this application.

However, all features can be combined providing synergetic effects that are more than the simple summation of the features.

While the invention has been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive; the invention is not limited to the disclosed embodiments. Other variations to the disclosed embodiments can be understood and effected by those skilled in the art and practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims.

In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite article "a" or "an" does not exclude a plurality. A single processor or controller or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims should not be construed as limiting the scope.

Claims

CLAIMS:

1. Device for displaying three-dimensional information for an interventional procedure, the device comprising:

- a data acquisition module (10), which is configured to acquire three-dimensional data of a tissue structure and of an implant;

- a manipulation module (20), 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 (30), which is configured to visualize the modified geometrical property the three-dimensional data of the tissue structure and/or of the implant.

2. The device according to claim 1,

characterized in that the data acquisition module (10) is configured to acquire three- dimensional data of a vasculature or of a vessel structure.

3. The device according to claim 1 or 2,

characterized in that the data acquisition module (10) is configured to acquire three- dimensional data by means of X-ray computed tomography or of magnetic resonance imaging or any other medical imaging technique.

4. The device according to one of the preceding claims 1 to 3,

characterized in that the manipulation module (20) is configured to modify the geometrical property of the tissue structure and/or of the implant selected by a mouse cursor.

5. The device according to one of the preceding claims 1 to 4,

characterized in that the manipulation module (20) is configured to modify the geometrical property of the tissue structure and/or of the implant in real time.

6. The device according to one of the preceding claims 1 to 5,

characterized in that the manipulation module (20) is configured to modify a length or a radius or a volume or an area as the geometrical property of the tissue structure and/or of the implant.

7. The device according to one of the preceding claims 1 to 6,

characterized in that the manipulation module (20) is configured to modify geometrical properties of multiple tissue structures and/or of multiple implants.

8. The device according to one of the preceding claims 1 to 7,

characterized in that the data acquisition module (10) is configured to acquire three- dimensional data of a stent.

9. The device according to one of the preceding claims 1 to 8,

characterized in that the data acquisition module (10) is configured to acquire three- dimensional data of the implant by using information about the volumetric data of the implant.

10. A medical imaging system (200) comprising a device (1) according to one of the preceding claims 1 to 9.

11. A method for displaying three-dimensional information for an interventional procedure, the method comprising the steps of:

- Acquiring (SI) three-dimensional data of a tissue structure and of an implant by means of a data acquisition module (10);

- 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); and - 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).

12. Computer program comprising a program code for performing the method according to claim 11 , when the computer program runs on a computer.