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Navigation of tubular networks

  • US 10,482,599 B2
  • Filed: 04/01/2019
  • Issued: 11/19/2019
  • Est. Priority Date: 09/18/2015
  • Status: Active Grant
First Claim
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1. A robotic medical system for bronchoscopy, the system comprising:

  • a robotic arm comprising a plurality of segments, the robotic arm extending from a base;

    a robotically-controllable bronchoscope removably coupled to the robotic arm, the bronchoscope configured for insertion into a bronchial network of a patient, wherein a distal end of the bronchoscope is articulable; and

    a command console comprising a command module configured to allow an operator to remotely control the bronchoscope, wherein the command module is configured to allow the operator to remotely articulate the distal end bronchoscope, and wherein the command module comprises a trackball;

    a display;

    at least one computer-readable medium having stored thereon instructions and at least one processor in communication with the at least one computer-readable medium and configured to execute the instructions to cause a navigation module to;

    display a model of the bronchial network;

    access a selected target location in the bronchial network;

    access a determined path from an entry point to the target location;

    receive input data related to a position of the bronchoscope from a plurality of data sources;

    determine the position of the bronchoscope within the bronchial network based on the input data from one or more of the plurality of data sources;

    display the determined position of the bronchoscope relative to the displayed model of the bronchial network; and

    display navigational guidance on the display, the navigational guidance comprising the determined path to the target location, a distance to the target location, a location of the bronchoscope relative to the model of the bronchial network, and depth data.

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