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公开(公告)号：US11786311B2
公开(公告)日：2023-10-17
申请号：US17830111
申请日：2022-06-01
发明人： Prashant Chopra , Vincent Duindam , Lei Xu , Tao Zhao
CPC分类号： A61B34/10 , A61B34/20 , A61B34/30 , G06T19/20 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , G06T2210/41 , G06T2219/2021
摘要： A system comprises one or more processors. The system further comprises memory having computer readable instructions stored thereon that, when executed by the one or more processors, cause the system to: obtain a reference tree of nodes and linkages for a reference three dimensional volumetric representation of a branched anatomical formation in a reference state; based on the reference tree, generate a reference three dimensional geometric model; based on measurements from a sensor system, detect deformation of the branched anatomical formation; based on the detected deformation, obtain a deformed tree of nodes and linkages; and generate a three dimensional deformation field that represents the detected deformation of the branched anatomical formation.
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公开(公告)号：US11376075B2
公开(公告)日：2022-07-05
申请号：US17205173
申请日：2021-03-18
发明人： Prashant Chopra , Vincent Duindam , Lei Xu , Tao Zhao
摘要： A processing system may comprise a central processing unit, a graphics processing unit, and a memory having computer readable instructions. The computer readable instructions may cause the processing system to obtain a reference tree of nodes and linkages based on a reference 3D volumetric representation of a branched anatomical formation in a reference state and obtain, by the central processing unit, a reference 3D geometric model based on the reference tree. The instructions may also cause the processing system to receive, by the graphics processing unit, a non-rigid transform for the nodes of the reference tree and determine, by the graphics processing unit, a rigid transform for the reference tree nodes based on the non-rigid transform. The instructions may also cause the processing system to transform each node into a deformed node, create a 3D deformation field, and create a deformed 3D geometric model of the branched anatomical formation.
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公开(公告)号：US10966790B2
公开(公告)日：2021-04-06
申请号：US16681003
申请日：2019-11-12
发明人： Prashant Chopra , Vincent Duindam , Lei Xu , Tao Zhao
摘要： A processing system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to obtain a reference tree of nodes and linkages based on a reference three dimensional volumetric representation of a branched anatomical formation in a reference state. The computer readable instructions also cause the system to obtain a reference three dimensional geometric model based on the reference tree and detect deformation of the branched anatomical formation due to anatomical motion based on measurements from a shape sensor. The computer readable instructions also cause the system to obtain a deformed tree of nodes and linkages based on the detected deformation and create a three dimensional deformation field that represents the detected deformation of the branched anatomical formation.
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4.发明申请公开(公告)号：US20170189118A1
公开(公告)日：2017-07-06
申请号：US15116115
申请日：2015-02-03
发明人： Prashant Chopra , Vincent Duindam , Tao Zhao , Lei Xu
CPC分类号： A61B34/10 , A61B34/20 , A61B34/30 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , G06T19/20 , G06T2210/41 , G06T2219/2021
摘要： A method of modeling anatomic deformation comprises receiving a reference three dimensional model of a branched anatomical formation in a reference state. The method further comprises applying a three dimensional deformation field to the reference three dimensional model to create a deformed three dimensional model of a deformed state of the branched anatomical formation and dynamically displaying an image of the deformed three dimensional model of the deformed state of the branched anatomical formation.
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5.发明公开公开(公告)号：US20240065769A1
公开(公告)日：2024-02-29
申请号：US18465876
申请日：2023-09-12
发明人： Prashant Chopra , Vincent Duindam , Lei Xu , Tao Zhao
CPC分类号： A61B34/10 , A61B34/20 , A61B34/30 , G06T19/20 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , G06T2210/41 , G06T2219/2021
摘要： A non-transitory machine-readable media stores instructions that, when run by one or more processors, cause the one or more processors to store a deformable model of a patient anatomy and deform the deformable model based on a measured deformation of a branched anatomical structure of the patient anatomy. The deformable model includes a skeleton tree of nodes and linkages representing the branched anatomical structure of the patient anatomy. Each of the nodes is located at a respective bifurcation of the branched anatomical structure, and at each respective bifurcation the corresponding linkages include an orientation. The deformable model is deformed by modifying the orientations of the linkages of the branched anatomical structure.
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6.发明申请公开(公告)号：US20190254752A1
公开(公告)日：2019-08-22
申请号：US16405438
申请日：2019-05-07
发明人： Prashant Chopra , Vincent Duindam , Lei Xu , Tao Zhao
摘要： A processing system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to receive a reference three-dimensional volumetric representation of a branched anatomical formation in a reference state and obtain a reference tree of nodes and linkages based on the reference three-dimensional volumetric representation. The computer readable instructions also cause the system to obtain a reference three-dimensional geometric model based on the reference tree and detect deformation of the branched anatomical formation due to anatomical motion based on measurements from a shape sensor. The computer readable instructions also cause the system to obtain a deformed tree of nodes and linkages based on the detected deformation, create a three-dimensional deformation field that represent the detected deformation of branched anatomical, and apply the three-dimensional deformation field to the reference three dimensional geometric model.
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公开(公告)号：US20210236206A1
公开(公告)日：2021-08-05
申请号：US17205173
申请日：2021-03-18
发明人： Prashant Chopra , Vincent Duindam , Lei Xu , Tao Zhao
摘要： A processing system may comprise a central processing unit, a graphics processing unit, and a memory having computer readable instructions. The computer readable instructions may cause the processing system to obtain a reference tree of nodes and linkages based on a reference 3D volumetric representation of a branched anatomical formation in a reference state and obtain, by the central processing unit, a reference 3D geometric model based on the reference tree. The instructions may also cause the processing system to receive, by the graphics processing unit, a non-rigid transform for the nodes of the reference tree and determine, by the graphics processing unit, a rigid transform for the reference tree nodes based on the non-rigid transform. The instructions may also cause the processing system to transform each node into a deformed node, create a 3D deformation field, and create a deformed 3D geometric model of the branched anatomical formation.
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公开(公告)号：US20220378509A1
公开(公告)日：2022-12-01
申请号：US17830111
申请日：2022-06-01
发明人： PRASHANT CHOPRA , Vincent Duindam , Lei Xu , Tao Zhao
摘要： A system comprises one or more processors. The system further comprises memory having computer readable instructions stored thereon that, when executed by the one or more processors, cause the system to: obtain a reference tree of nodes and linkages for a reference three dimensional volumetric representation of a branched anatomical formation in a reference state; based on the reference tree, generate a reference three dimensional geometric model; based on measurements from a sensor system, detect deformation of the branched anatomical formation; based on the detected deformation, obtain a deformed tree of nodes and linkages; and generate a three dimensional deformation field that represents the detected deformation of the branched anatomical formation.
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9.发明申请公开(公告)号：US20200078095A1
公开(公告)日：2020-03-12
申请号：US16681003
申请日：2019-11-12
发明人： Prashant Chopra , Vincent Duindam , Lei Xu , Tao Zhao
摘要： A processing system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to obtain a reference tree of nodes and linkages based on a reference three dimensional volumetric representation of a branched anatomical formation in a reference state. The computer readable instructions also cause the system to obtain a reference three dimensional geometric model based on the reference tree and detect deformation of the branched anatomical formation due to anatomical motion based on measurements from a shape sensor. The computer readable instructions also cause the system to obtain a deformed tree of nodes and linkages based on the detected deformation and create a three dimensional deformation field that represents the detected deformation of the branched anatomical formation.
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10.发明授权公开(公告)号：US10314656B2
公开(公告)日：2019-06-11
申请号：US15116115
申请日：2015-02-03
发明人： Prashant Chopra , Vincent Duindam , Tao Zhao , Lei Xu
摘要： A method of modeling anatomic deformation comprises receiving a reference three dimensional model of a branched anatomical formation in a reference state. The method further comprises detecting deflection of the branched anatomical fomation with a shape sensor to create a three dimensional deformation field. The method further comprises applying the three dimensional deformation field to the reference three dimensional model to create a deformed three dimensional model of a deformed state of the branched anatomical formation. The method further comprises dynamically displaying an image of the deformed three dimensional model of the deformed state of the branched anatomical formation. The method further comprises displaying a composite image including an image of an interventional instrument positioned within the branched anatomical formation and the dynamically displayed image of the deformed three dimensional model of the deformed state of the branched anatomical formation.
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