Method and system for helping to guide an endovascular tool in vascular structures

A system for helping to guide an endovascular tool in vascular structures, comprising:

• an imaging device to acquire two-dimensional images of portions of a body of a patient;
• a programmable device;
• and
• a viewing unit,
• wherein the programmable device is configured to:
• during an initial planning phase,
• obtaining and memorising a preoperative three-dimensional image comprising a target vascular structure of a patient,
• determining a first three-dimensional anatomical model specific to the patient from the three-dimensional image acquired, with this first three-dimensional anatomical model being located in the same spatial reference as the three-dimensional image,
• during an intervention phase,
• acquire one or several perioperative two-dimensional images comprising the target vascular structure of the patient, opacified or not,
• estimate a rigid transformation between the preoperative three-dimensional image and the perioperative two-dimensional images,
• estimate an elastic transformation between said three-dimensional image and the two-dimensional images according to the rigid transformation and a simulation of vascular deformations induced by introducing the tool into the target vascular structure,
• apply a combination of the rigid transformation and of the elastic transformation to the first three-dimensional anatomical model specific to the patient in order to obtain a second three-dimensional model specific to the patient, and
• display on the viewing unit said second three-dimensional model specific to the patient in superposition on the two-dimensional images acquired.

A non-transitory computer-readable medium comprising a computer program stored thereon comprising instructions for implementing acts of a method for helping to guide an endovascular tool in vascular structures during execution of the program by a processor of a programmable device, wherein the method comprises:

• during an initial planning phase,
• obtaining and memorising a preoperative three-dimensional image comprising a target vascular structure of a patient,
• determining a first three-dimensional anatomical model specific to the patient from the three-dimensional image acquired, with this first three-dimensional anatomical model being located in the same spatial reference as the three-dimensional image, and
• during an intervention phase,
• acquiring one or several perioperative two-dimensional images comprising the target vascular structure of the patient, opacified or not,
• estimating a rigid transformation between the preoperative three-dimensional image and the perioperative two-dimensional images,
• estimating an elastic transformation between said three-dimensional image and the two-dimensional images according to the rigid transformation and of a simulation of vascular deformations induced by introducing the tool into the target vascular structure,
• applying a final transformation, a combination of the rigid transformation and of the elastic transformation, to the first three-dimensional anatomical model specific to the patient in order to obtain a second three-dimensional model specific to the patient, and
• displaying said second three-dimensional model specific to the patient as superposition on the two-dimensional images acquired.