US 11,701,179 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. 26, 2021, as Appl. No. 17/385,522.
Application 17/385,522 is a division of application No. 16/045,996, filed on Jul. 26, 2018, granted, now 11,071,591.
Prior Publication US 2022/0015831 A1, Jan. 20, 2022
Int. Cl. A61B 34/10 (2016.01); A61B 5/08 (2006.01); A61B 6/00 (2006.01); A61B 5/00 (2006.01); A61B 1/05 (2006.01); A61B 1/267 (2006.01); A61B 1/00 (2006.01); G06T 17/20 (2006.01); G06T 7/00 (2017.01); A61B 6/03 (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)] 14 Claims
OG exemplary drawing
 
1. A method of modeling a lung of a patient, comprising:
calculating a displacement of the lung of the patient in a collapsed state based on preoperative images of the lung of the patient, yielding a calculated displacement of the lung of the patient;
generating a collapsed lung model of the lung of the patient based on the calculated displacement of the lung of the patient;
acquiring positional data from a surgical instrument being advanced within a thoracic cavity of the patient, the positional data corresponding to an actual collapsed lung of the patient;
calculating an offset between first markers relating to points located on the actual collapsed lung of the patient and second markers relating to corresponding points located on the calculated displacement of the lung of the patient;
recalculating the displacement of the lung of the patient in a collapsed state based on the offset between the first markers and the second markers, yielding a recalculated displacement of the lung of the patient; and
regenerating the collapsed lung model of the lung of the patient based on the recalculated displacement of the lung of the patient.