US-12622757-B2 - User interface for three dimensional imaging and treatment

US12622757B2US 12622757 B2US12622757 B2US 12622757B2US-12622757-B2

Abstract

A user interface presents a 3D view of the tissue and treatment plan. The 3D view comprises a plurality of transverse images arranged along a one or more longitudinal images. The user adjusts the treatment profile with input to the user interface, and an updated treatment profile is shown on the other views. The user to one or more of zoom, pan, or rotate the 3D view with the treatment profile overlaid on the 3D view, and the treatment profile moves with the 3D view to maintain registration with the 3D view. In some embodiments, a 3D treatment plan is generated in accordance with a plurality of angles between a treatment probe and the one or more tissue structures. An AI algorithm can be used to identify tissue structures and plan the treatment angles and energy delivery in accordance with the tissue structures, which can provide a more customized treatment.

Inventors

Qingxiang Ke
Peter Bentley
Nishey WANCHOO

Assignees

PROCEPT BIOROBOTICS CORPORATION

Dates

Publication Date: 20260512
Application Date: 20230201

Claims (19)

1 . A method of planning a treatment, the method comprising: receiving one or more longitudinal images of a tissue; generating an arrangement of a plurality of transverse images of the tissue along the one or more longitudinal images of the tissue in a three-dimensional (3D) view, the 3D view comprising the plurality of transverse images at a plurality corresponding locations along the one or more longitudinal images; overlaying a representation of a three-dimensional (3D) treatment profile on the 3D view of the plurality of transverse images and the one or more longitudinal images; providing, to a display of a user interface, the 3D view with the representation of the 3D treatment profile overlaid on the one or more longitudinal images and one or more of the plurality of transverse images; and determining, for each of the plurality of transverse images, one or more treatment angles from a treatment probe to one or more treatment locations; wherein the representation of the 3D treatment profile in the 3D view comprises an intersection of the 3D treatment profile with the one or more longitudinal images and one or more of the plurality of transverse images.
2 . The method of claim 1 , wherein in the 3D view, the plurality of transverse images comprises a first portion on a first side of the one or more longitudinal images and a second portion on a second side of the one or more longitudinal images, the first portion in front of the one or more longitudinal images and the second portion behind the one or more longitudinal images.
3 . The method of claim 2 , wherein the representation of the 3D treatment profile is overlaid in the 3D view on the first portion and the one or more longitudinal images, with the representation extending along the first portion and the one or more longitudinal images from a common location where the first portion intersects the one or more longitudinal images.
4 . The method of claim 2 , wherein the one or more longitudinal images comprises an amount of transparency sufficient to view the second portion of one or more transverse images through the one or more longitudinal images.
5 . The method of claim 4 , wherein the representation of the 3D treatment profile is overlaid on the second portion on the second side and the amount of transparency is sufficient to view the representation of the 3 D treatment profile on the second side through the one or more longitudinal images.
6 . The method of claim 1 , wherein the arrangement comprises a three-dimensional (3D) arrangement and the user interface comprises an input for a user to one or more of zoom, pan or rotate the 3D arrangement in the 3D view.
7 . The method of claim 6 , wherein the representation of the 3D treatment profile moves with the 3D arrangement to maintain registration of the 3D treatment profile with the 3D arrangement in response to a user input to one or more of zoom, pan or rotate the representation.
8 . The method of claim 7 , wherein the user input is configured to rotate the one or more longitudinal images and the plurality of transverse images from a first orientation to a second orientation, the first orientation showing a first portion of the plurality of transverse images in front of the one or more longitudinal images and a second portion of the plurality of transverse images behind the one or more longitudinal images, the second orientation showing the second portion of the plurality of transverse images in front of the one or more longitudinal images and the second portion of one or more of the plurality of transverse images behind the one or more longitudinal images.
9 . The method of claim 7 , wherein a representation of a treatment probe is shown extending along the one or more longitudinal images and the representation of the treatment probe moves with the 3D arrangement and the 3D treatment profile to maintain registration of the representation of the treatment probe with the 3D arrangement and the 3 D treatment profile.
10 . The method of claim 1 , wherein the representation of the 3D treatment profile comprises a three-dimensional (3D) treatment volume overlaid on the arrangement.
11 . The method of claim 10 , wherein the 3D treatment volume extends along the one or more longitudinal images in a longitudinal direction and along one or more of the plurality of transverse images in a direction transverse to the one or more longitudinal images.
12 . The method of claim 11 , wherein an outer boundary of the 3D treatment volume is shown extending along the one or more longitudinal images transverse to the one or more longitudinal images and along a transverse image in the longitudinal direction.
13 . The method of claim 1 , wherein a representation of a treatment probe is shown in the 3D view extending in a longitudinal direction.
14 . The method of claim 13 , wherein the representation of the treatment probe comprises an animation of the treatment probe.
15 . The method of claim 14 , wherein the animation of the treatment probe is configured to move to show an animation of the treatment probe delivering energy from an energy source in accordance with a treatment plan.
16 . The method of claim 13 , wherein the representation of the treatment probe comprises an image of the treatment probe from an imaging device.
17 . The method of claim 1 , wherein the plurality of transverse images corresponds to a plurality of predefined anatomical locations of an organ.
18 . The method of claim 17 , wherein the plurality of predefined anatomical locations comprises anatomical locations of first organ and a second organ in which the first organ and the second organ are visible in the one or more longitudinal images and one or more of the transverse images.
19 . A method of planning a treatment, the method comprising: receiving a plurality of transverse images and one or more longitudinal images of a tissue; generating an arrangement of the plurality of transverse images along the one or more longitudinal images in a three-dimensional (3D) view, the 3D view comprising the plurality of transverse images at a plurality corresponding locations along the one or more longitudinal images; overlaying a representation of a three-dimensional (3D) treatment profile on the 3D view of the plurality of transverse images and the one or more longitudinal images; and providing to a display of a user interface, the 3D view with the representation overlaid on the one or more longitudinal images and one or more of the plurality of transverse images; wherein the plurality of transverse images corresponds to a plurality of predefined anatomical locations of an organ; wherein the plurality of predefined anatomical locations comprises anatomical locations of first organ and a second organ in which the first organ and the second organ are visible in the one or more longitudinal images and one or more of transverse images; and wherein the plurality of predefined anatomical locations has been identified with an artificial intelligence algorithm.

Description

RELATED APPLICATIONS None. BACKGROUND Prior approaches to tissue planning and treatment with an energy source can be less than ideal in at least some respects. In at least some instances, the energy directed toward the treated tissue may not be appropriate in at least some respects and may over or under treat the targeted tissue. Work in relation to the present disclosure suggests that an energy source may not be accurately directed to the targeted tissue in at least some instances. Also, some types of surgery treat tissue near a delicate untargeted tissue, the prior approaches may result in greater amounts of energy being delivered to the untargeted tissue in at least some instances. Although image guided treatment in which a user can review treatment profiles overlaid on patient images prior to treatment has been proposed, work in relation to the present disclosure suggests that the prior user interfaces may be somewhat more complex or provide gaps in the treatment regions that are reviewed in at least some instances. It would be helpful to provide an improved user interface that allows a user to quickly review the planned treatment with appropriate images. Also, at least some prior approaches to imaging tissue with probes can be somewhat more complex than would be ideal and can be somewhat more sensitive to alignment between a treatment probe and an imaging probe than would be ideal in at least some instances. Although the recognition of tissue with artificial intelligence has been proposed, at least some of these prior approaches are not well suited for combination with surgical treatment planning. For at least some types of surgery, it would be helpful to have an improved user interface that allows a user to review and verify a treatment plan prior to treating the patient. In light of the above, there is a need for improved tissue treatment with energy and treatment planning that ameliorate at least some of the aforementioned limitations of the prior approaches. SUMMARY In some embodiments, a user interface is configured for a user to review a treatment prior to treating the patient, which can facilitate treatment planning. In some embodiments, a user interface is configured to provide a plurality of images which have been rotated with respect to an axis of treatment, such as an axis of an energy source on a probe, which facilitate treatment planning. In some embodiments, a user interface is configured to a present a 3D view of the tissue and treatment plan such as a treatment profile. In some embodiments, the 3D view comprises a plurality of transverse images arranged along one or more longitudinal images, which can give the user an improved perspective of the treatment during treatment planning. In some embodiments, the one or more longitudinal images correspond to a longitudinal axis of a treatment probe. Alternatively or in combination, the one or more longitudinal images may correspond to a longitudinal axis of an imaging probe that acquires the images. In some embodiments, the one or more longitudinal images comprise images that have been rotated such that at least one of the one or more longitudinal images extends substantially along an elongate axis of a treatment probe, and the plurality of transverse images may comprise images that have been rotated in accordance with the rotation of the one or more longitudinal images. In some embodiments, the user interface is configured for the user to select one or more views in addition to the 3D view, such a plurality of transverse views and one or more longitudinal views. The one or more longitudinal views may comprise one or more sagittal images such as one or more sagittal or parasagittal images. In some embodiments, the user interface is configured for the user to adjust the treatment profile with input to the user interface, and an updated treatment profile is shown on the other views. In some embodiments, the user interface is configured for the user to one or more of zoom, pan, or rotate the 3D view with the treatment profile overlaid on the 3D view, and the treatment profile moves with the 3D view to maintain registration with the 3D view while the 3D view is one or more of zoomed, panned or rotated. This approach can allow the user to obtain a better understanding of the treatment and locations of tissue structures with respect to planned treatment, such as a planned treatment profile. In some embodiments, a 3D treatment plan is generated from a plurality of images, such as one or more longitudinal images and a plurality of transverse images. In some embodiments, the 3D treatment plan is generated in accordance with a plurality of angles between a treatment probe and the one or more tissue structures. While the treatment plan can be generated in many ways, in some embodiments an AI algorithm is used to identify tissue structures and plan the treatment angles and energy delivery in accordance with the tissue structures, which can provide a more