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Systems and methods for navigation based on ordered sensor records

  • US 10,039,473 B2
  • Filed: 05/13/2013
  • Issued: 08/07/2018
  • Est. Priority Date: 05/14/2012
  • Status: Active Grant
First Claim
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1. A method of tracking a medical instrument in a formation of anatomical passageways, the method comprising:

  • receiving, by a control system, a model of the anatomical passageways;

    identifying, by the control system, one or more centerlines of the modeled anatomical passageways, the centerlines including a set of candidate match points of the model, wherein each of the candidate match points includes three-dimensional coordinates in a model space;

    receiving, by the control system and while the medical instrument is positioned within the anatomical passageways, a set of ordered sensor records generated by one or more sensors of the medical instrument, the set providing a path history of the medical instrument in the anatomical passageways, wherein each sensor record of the set includes three-dimensional coordinates in a patient coordinate space;

    determining, by the control system, a relationship between a first sensor record of the set of ordered sensor records, a second sensor record of the set of ordered sensor records, a first candidate match point of the set of candidate match points, and a second candidate match point of the set of candidate match points, wherein the relationship includes a comparison of the three-dimensional coordinates of the first and second sensor records in the patient coordinate space with the three-dimensional coordinates of the first and second candidate match points in the model space;

    registering, by the control system, the medical instrument with the model of the anatomical passageways based on the path history and the relationship to locate the medical instrument within the model of the anatomical passageways;

    displaying a virtual visualization image in a display system, the virtual visualization image being based on the registering of the medical instrument with the model of the anatomical passageway and depicting a rendered view of the model of the anatomical passageways from a perspective of the medical instrument within the model of the anatomical passageways; and

    implementing, by the control system, commands to move the medical instrument based on the registering of the medical instrument with the model of the anatomical passageway.

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