US 2026/0306183 A1Published application

Tissue resection progress indicator

OwnerRichard W. Timm, Vivek P. Buch +1inventors

InventorsRichard W. Timm, Vivek P. Buch, Jay J. Park

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Abstract

Provided is a method including obtaining a first volumetric image dataset of an anatomical region of a patient, obtaining a planned resection model associated with the first volumetric image dataset, the planned resection model indicating a surgeon-planned resection region within the anatomical region, receiving optical image data of the anatomical region captured during a surgical procedure, receiving a signal indicating that a resection progress measurement is to be initiated, constructing a three-dimensional mesh reconstruction of tissue visible in the anatomical region during the surgical procedure, determining an updated anatomical model using the first volumetric image dataset, the three-dimensional mesh reconstruction, and a model configured to update the first volumetric image dataset to account for intraoperative tissue displacement in the anatomical region, comparing the updated anatomical model with the planned resection model to determine a resection progress indication relative to the surgeon-planned resection region, and presenting an output indicating resection progress.

Claims25

Dependent claims

A tangible, non-transitory, machine-readable medium storing instructions that when executed by one or more physical processors cause the one or more physical processors to perform operations comprising:

obtaining, with a computer system, a volumetric image dataset of an anatomical region of a patient imaged before a surgical procedure;
obtaining, with the computer system, a planned resection model associated with the volumetric image dataset, the planned resection model indicating a surgeon-planned resection region within the anatomical region;
obtaining, with the computer system, optical image data of the anatomical region captured during the surgical procedure;
obtaining, with the computer system, a signal indicating that a resection progress measurement is to be initiated;
in response to obtaining the signal, constructing, with the computer system, based on the optical image data, a three-dimensional mesh reconstruction of tissue visible in the anatomical region during the surgical procedure from the optical image data;
determining, with the computer system, an updated anatomical model using the first volumetric image dataset, the three-dimensional mesh reconstruction, and a model configured to update the volumetric image dataset to account for intraoperative tissue displacement in the anatomical region;
comparing, with the computer system, the updated anatomical model with the planned resection model to determine a resection progress indication relative to the surgeon-planned resection region;
and
causing, with the computer system, via a user interface, presentation of output indicating resection progress, the output identifying at least one of a portion of the surgeon-planned resection region already resected or a portion remaining to be resected, wherein the planned resection region extends beyond a boundary of a lesion in a first portion of the anatomical region and remains within the boundary of the lesion in a second portion of the anatomical region.

6 more elements

A tangible, non-transitory, machine-readable medium storing instructions that when executed by a data processing apparatus cause the data processing apparatus to perform operations comprising:

obtaining, with a computer system, a volumetric image dataset of an anatomical region of a patient;
obtaining, with the computer system, a plan mask based on the volumetric image dataset and corresponding to a planned resection region that includes at least a portion of a lesion within the anatomical region;
obtaining, with the computer system, an organ region mask based on the volumetric image dataset and corresponding to the anatomical region;
receiving, with the computer system, image data of the anatomical region captured during a surgical procedure;
determining, with the computer system, that a resection progress measurement is to be initiated;
in response to determining that the resection progress measurement is to be initiated, performing, with the computer system, a three-dimensional reconstruction of a surgical scene represented in the image data and determining a surgical surface representation by:
determining from the image data, a surgical segmentation including removed tissue in the anatomical region;
mapping the surgical segmentation to the three-dimensional reconstruction to determine a surgical region;
and
transforming coordinates of the surgical region from a coordinate system of the three-dimensional reconstruction into the coordinate system of the volumetric image dataset;
constructing, with the computer system, from the surgical surface representation, a resection mask;
constructing, with the computer system, at least one of the following:
a progress mask corresponding to an intersection of the resection mask and the plan mask,
a remnant mask corresponding to a portion of the plan mask outside the resection mask, or
a supra-planned mask corresponding to a portion of the resection mask outside the plan mask and within the organ region mask;
and
determining, with the computer system, at least one output metric indicative of at least one of the following:
a progress volume determined based on the progress mask,
a remnant volume determined based on the remnant mask, or
a supra-planned resection volume based on the supra-planned mask.

17 more elements

A method, comprising:

obtaining, with a computer system, a volumetric image dataset of an anatomical region of a patient;
obtaining, with the computer system, a plan mask based on the volumetric image dataset and corresponding to a planned resection region that includes at least a portion of a lesion within the anatomical region;
obtaining, with the computer system, an organ region mask based on the volumetric image dataset and corresponding to the anatomical region;
receiving, with the computer system, image data of the anatomical region captured during a surgical procedure;
determining, with the computer system, that a resection progress measurement is to be initiated;
in response to determining that the resection progress measurement is to be initiated, performing, with the computer system, a three-dimensional reconstruction of a surgical scene represented in the image data and determining a surgical surface representation by:
determining from the image data, a surgical segmentation including removed tissue in the anatomical region;
mapping the surgical segmentation to the three-dimensional reconstruction to determine a surgical region;
and
transforming coordinates of the surgical region from a coordinate system of the three-dimensional reconstruction into the coordinate system of the volumetric image dataset;
constructing, with the computer system, from the surgical surface representation, a resection mask;
constructing, with the computer system, at least one of the following:
a progress mask corresponding to an intersection of the resection mask and the plan mask,
a remnant mask corresponding to a portion of the plan mask outside the resection mask, or
a supra-planned mask corresponding to a portion of the resection mask outside the plan mask and within the organ region mask;
and
determining, with the computer system, at least one output metric indicative of at least one of the following:
a progress volume determined based on the progress mask,
a remnant volume determined based on the remnant mask, or
a supra-planned resection volume based on the supra-planned mask.

17 more elements

Dependencies are inferred from the claim text.

Facts

Application: 19/642,306Filed 8 Apr 2026
Priority: 8 Apr 2025
Published: 8 Oct 2026
Term ends: Not estimatedThe source records don’t support an estimate.

Classification13 codes

A61B 34/10
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: computer-aided planning, simulation or modelling of surgical…
A61B 34/25
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: user interfaces for surgical systems
G06T 7/0012
Inspection of images, e.g. flaw detection: biomedical image inspection
G06T 15/08
Three-dimensional [3D] image rendering: volume rendering