Systems, devices and methods for lymph specimen tracking, drainage determination, visualization and treatment

Abstract

Disclosed are systems and methods of lymphatic specimen tracking, visualization, and lymph node drainage pathway determination. An exemplary method includes receiving computed tomographic (CT) image data corresponding to a CT scan, generating a three-dimensional (3D) model of at least a portion of a patient's body based on the CT image data, identifying one or more lymph nodes in the 3D model, performing a registration of the 3D model with one or more physical locations in the patient's body, determining an expected lymph node drainage pathway away from a region of interest through one or more lymph nodes, and displaying the 3D model and the expected lymph node drainage pathway.

1 - 20 . (canceled) 
     
     
         21 . A method of lymphatic specimen tracking, visualization, and lymph node drainage pathway determination, the method comprising:
 generating a three-dimensional (3D) model of at least a portion of a patient's body;   identifying two or more lymph nodes in the 3D model;   identifying a drainage tier of each of the two or more lymph nodes, the drainage tier including one of sentinel nodes, one or more secondary nodes, or one or more tertiary nodes;   measuring radiation emission levels from the one or more lymph nodes; and   displaying a lymph node data user interface including:
 an image of a first lymph node of the two or more lymph nodes and first lymph node information data including the radiation emission levels measured for the first lymph node; and 
 an image of a second lymph node of the two or more lymph nodes and second lymph node information data including the radiation emission levels measured for the second lymph node, wherein the image of the first lymph node is displayed in a first configuration based on the identified drainage tier of the first lymph node and wherein the image of the second lymph node is displayed in a second configuration different from the first configuration based on the identified drainage tier of the second lymph node. 
   
     
     
         22 . The method according to  claim 21 , further comprising:
 injecting a region of interest with a marking agent;   sampling at least one of the two of more lymph nodes based on an expected lymph node drainage pathway; and   measuring the marking agent within the sampled lymph node.   
     
     
         23 . The method according to  claim 22 , wherein the marking agent is selected from the group consisting of an optical coloring agent and a radioactive tracer. 
     
     
         24 . The method according to  claim 22 , further comprising:
 determining a measured lymph node drainage pathway away from the region of interest through at least one of the two or more lymph nodes based on the marking agent measured within the sampled lymph node; and   displaying the measured lymph node drainage pathway.   
     
     
         25 . The method according to  claim 24 , wherein the marking agent is a radioactive agent and the displaying of the measured lymph node drainage pathway includes:
 displaying measured emissions of the marking agent.   
     
     
         26 . The method according to  claim 22 , wherein the lymph node data user interface includes one or more of a lymph node name, procedure type, patient information, date, marking agent measured, or clinician information. 
     
     
         27 . The method according to  claim 21 , wherein the image of the first lymph node is displayed in a first color based on the identified drainage tier of the first lymph node and wherein the image of the second lymph node is displayed in a second color different from the first color based on the identified drainage tier of the second lymph node. 
     
     
         28 . The method according to  claim 21 , further comprising:
 determining an expected lymph node drainage pathway away from a region of interest through at least one of the one or more lymph nodes; and   displaying the 3D model and the expected lymph node drainage pathway.   
     
     
         29 . A system for lymphatic specimen tracking and visualization, the system comprising:
 one or more processors configured to execute instructions which, when executed, cause the one or more processors to:
 generate a three-dimensional (3D) model of at least a portion of a patient's body; 
 identify two or more lymph nodes inside the 3D model; 
 identify a drainage tier of each lymph node of the two or more lymph nodes, the drainage tier including one of sentinel nodes, one or more secondary nodes, or one or more tertiary nodes; 
 measure radiation emission levels from the two or more lymph nodes; 
 cause a display to display a user interface including:
 an image of a first lymph node of the two or more lymph nodes and first lymph node information data including the radiation emission levels measured for the first lymph node; and 
 an image of a second lymph node of the two or more lymph nodes and second lymph node information data including the radiation emission levels measured for the second lymph node, wherein the image of the first lymph node is displayed in a first configuration based on the identified drainage tier of the first lymph node and wherein the image of the second lymph node is displayed in a second configuration different from the first configuration based on the identified drainage tier of the second lymph node. 
 
   
     
     
         30 . The system according to  claim 29 , wherein the instructions, when executed, further cause the one or more processors to:
 generate the user interface, the user interface including a sampling window configured to display the identified two or more lymph nodes and a surgical tool as the surgical tool interacts with the identified two or more lymph nodes inside the patient's body.   
     
     
         31 . The system according to  claim 29 , wherein the instructions, when executed, further cause the one or more processors to:
 generate the user interface, the user interface including a measured drainage window configured to display a lymph node drainage pathway.   
     
     
         32 . The system according to  claim 29 , wherein the instructions, when executed, further cause the one or more processors to:
 generate the user interface, the user interface including a procedure window configured to display and track a surgical procedure being performed.   
     
     
         33 . The system according to  claim 29 , wherein the instructions, when executed, further cause the one or more processors to:
 receive a previous 3D model of at least a portion of the patient's body from a previous procedure including previous lymph node information data from the previous procedure; and   update the 3D model and the lymph node information data based on the previous 3D model and previous lymph node information data.   
     
     
         34 . The system according to  claim 29 , wherein the instructions, when executed, further cause the one or more processors to:
 generate the user interface, the user interface including a removal window configured to display and update the first and second lymph node information data during a surgical procedure.   
     
     
         35 . The system according to  claim 29 , wherein the first and second lymph node information data include one or more of lymph node name, patient information, date, or clinician information. 
     
     
         36 . The system according to  claim 29 , wherein the instructions, when executed, further cause the one or more processors to:
 generate the user interface, the user interface including a location window configured to display a portion of the 3D model that corresponds with the images obtained by a laparoscopic camera.   
     
     
         37 . A non-transitory computer readable storage medium, storing instructions, which when executed by a processor, cause the processor to:
 generate a three-dimensional (3D) model of at least a portion of a patient's body;   output a display for identifying two or more lymph nodes inside the 3D model;   identify a drainage tier of each lymph node of the two or more lymph nodes, the drainage tier including one of sentinel nodes, one or more secondary nodes, or one or more tertiary nodes;   receive measured radiation emission levels corresponding to the two or more lymph nodes;   generate a user interface including:
 an image of a first lymph node of the two or more lymph nodes and first lymph node information data including the radiation emission levels measured for the first lymph node; and 
 an image of a second lymph node of the two or more lymph nodes and second lymph node information data including the radiation emission levels measured for the second lymph node, wherein the image of the first lymph node is displayed in a first configuration based on the identified drainage tier of the first lymph node and wherein the image of the second lymph node is displayed in a second configuration different from the first configuration based on the identified drainage tier of the second lymph node. 
   
     
     
         38 . The non-transitory computer readable storage medium according to  claim 37 , wherein the instructions, when executed, further cause the processor to:
 generate the user interface, the user interface including a measured drainage window configured to display a lymph node drainage pathway.   
     
     
         39 . The non-transitory computer readable storage medium according to  claim 37 , wherein the instructions, when executed, further cause the processor to:
 generate the user interface, the user interface including a procedure window configured to display and track a surgical procedure being performed.   
     
     
         40 . The non-transitory computer readable storage medium according to  claim 37 , wherein the instructions, when executed, further cause the processor to:
 receive a previous 3D model of at least a portion of the patient's body from a previous procedure including previous lymph node information data from the previous procedure; and   update the 3D model and the lymph node information data based on the previous 3D model and previous lymph node information data.