Systems and methods for navigation in image-guided medical procedures

Abstract

Medical imaging systems and methods are provided herein that provide for navigation and procedure planning without segmentation. A method comprises receiving, by a medical imaging system having at least: one processing device, three-dimensional image data of a patient anatomy. The method also comprises filtering the three-dimensional data to display a portion of the three-dimensional image data that is associated with the patient anatomy and receiving, at the processing device, input from an operator input device. The input comprises navigational directions for virtual movement within a space defined by the three-dimensional image data. The method also includes tracking the virtual movement and generating a first model of the patient anatomy based on the tracked virtual movement.

1 - 19 . (canceled) 
     
     
         20 . A method comprising:
 receiving, by a medical imaging system having at least one processing device, three-dimensional image data of a patient anatomy;   segmenting the three-dimensional image data to generate an anatomical model from the three-dimensional image data;   receiving, at the processing device, input from an operator input device, the input defining a pathway model within an image space defined by the three-dimensional image data and associated with an anatomical passageway of the patient anatomy; and   generating a hybrid model of the patient anatomy from the pathway model and from the anatomical model.   
     
     
         21 . The method of  claim 20  wherein the anatomical model is a line model. 
     
     
         22 . The method of  claim 20  wherein the anatomical model is a surface model. 
     
     
         23 . The method of  claim 20  further comprising determining a termination point of the anatomical model wherein the pathway model is defined beginning from the termination point. 
     
     
         24 - 38 . (canceled) 
     
     
         39 . The method of  claim 20 , wherein the input from the operator input device comprises navigational directions for virtual movement within the image space defined by the three-dimensional image data. 
     
     
         40 . The method of  claim 20 , wherein the hybrid model comprises a proximal centerline derived from the anatomical model and a distal centerline derived from the pathway model. 
     
     
         41 . The method of  claim 40 , wherein the anatomical passageway has a first diameter and the distal centerline is associated with the anatomical passageway, and wherein the proximal centerline is associated with a second anatomical passageway having a second diameter, the second diameter being larger than the first diameter. 
     
     
         42 . The method of  claim 20 , wherein the hybrid model comprises at least one centerline derived from the anatomical model and at least one centerline derived from the pathway model. 
     
     
         43 . The method of  claim 20 , wherein the hybrid model comprises a proximal centerline model portion and a distal centerline model portion, both the proximal and distal centerline model portions being derived from the anatomical model, the hybrid model further comprising a navigational pathway model portion derived from the pathway model and extending between the proximal and distal centerline model portions. 
     
     
         44 . A system for processing medical images, the system comprising:
 an operator input device;   a memory configured for storing three-dimensional image data of at least a portion of a patient anatomy;   a processing device in communication with the memory, the processing device configured to execute instructions to perform operations comprising:   receiving three-dimensional image data of a patient anatomy;   segmenting the three-dimensional image data to generate an anatomical model from the three-dimensional image data;   receiving input from the operator input device, the input defining a pathway model within an image space defined by the three-dimensional image data and associated with an anatomical passageway of the patient anatomy; and   generating a hybrid model of the patient anatomy from the pathway model and from the anatomical model.   
     
     
         45 . The system of  claim 44 , wherein the anatomical model is a line model. 
     
     
         46 . The system of  claim 44 , wherein the anatomical model is a surface model. 
     
     
         47 . The system of  claim 44 , wherein the processing device is configured to further execute instructions to perform determining a termination point of the anatomical model wherein the pathway model is defined beginning from the termination point. 
     
     
         48 . The system of  claim 44 , wherein the input from the operator input device comprises navigational directions for virtual movement within the image space defined by the three-dimensional image data. 
     
     
         49 . The system of  claim 44 , wherein the hybrid model comprises a proximal centerline derived from the anatomical model and a distal centerline derived from the pathway model. 
     
     
         50 . The system of  claim 49 , wherein the anatomical passageway has a first diameter and the distal centerline is associated with the anatomical passageway, and wherein the proximal centerline is associated with a second anatomical passageway having a second diameter, the second diameter being larger than the first diameter. 
     
     
         51 . The system of  claim 44 , wherein the hybrid model comprises at least one centerline derived from the anatomical model and at least one centerline derived from the pathway model. 
     
     
         52 . The system of  claim 44 , wherein the hybrid model comprises a proximal centerline model portion and a distal centerline model portion, both the proximal and distal centerline model portions being derived from the anatomical model, the hybrid model further comprising a navigational pathway model portion derived from the pathway model and extending between the proximal and distal centerline model portions. 
     
     
         53 . A computer-readable storage medium storing instructions that, when executed by one or more processors, cause the one or more processors to perform:
 receiving three-dimensional image data of a patient anatomy;   segmenting the three-dimensional image data to generate an anatomical model from the three-dimensional image data;   receiving input from an operator input device, the input defining a pathway model within an image space defined by the three-dimensional image data and associated with an anatomical passageway of the patient anatomy; and   generating a hybrid model of the patient anatomy from the pathway model and from the anatomical model.   
     
     
         54 . The computer-readable storage medium of  claim 53 , wherein the hybrid model comprises at least one centerline derived from the anatomical model and at least one centerline derived from the pathway model.