Apparatuses and methods for registering a real-time image feed from an imaging device to a steerable catheter

• US 10,624,701 B2
• Filed: 07/12/2016
• Issued: 04/21/2020
• Est. Priority Date: 04/23/2014
• Status: Active Grant

• Current Assignee: Veran Medical Technologies, Inc. (Olympus Corporation)
• Original Assignee: Veran Medical Technologies, Inc. (Olympus Corporation)
• Inventors: Hunter, Mark, Holsing, Troy L.
• Primary Examiner(s): Hoffman, Joanne M
• Application Number:
  US15/208,534
• Publication Number:
  US 20160317233A1
• Time in Patent Office: 1,379 Days
• CPC Class Codes: A61B 1/00009 of image signals during a use of endoscope
• CPC Class Codes: A61B 1/000094 extracting biological structures
• CPC Class Codes: A61B 1/00057 provided with means for testing or calibration
• CPC Class Codes: A61B 1/2676 Bronchoscopes
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2063 Acoustic tracking systems, e.g. using ultrasound
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 5/061 Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body A61B1/00158 takes precedence
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61B 5/113 occurring during breathing
• CPC Class Codes: A61B 5/1135 by monitoring thoracic expansion

Abstract

A method of registering a real-time image feed from an imaging device inserted into a steerable catheter using a navigation system is provided. The method includes inserting the imaging device into a working channel of the steerable catheter and generating a real-time image feed of one or more reference points, wherein the orientation of the reference points is known. The method further includes orienting a handle of the steerable catheter to a neutral position, displaying the real-time image feed on a display of the navigation system, and registering the real-time image feed to the steerable catheter by rotating the displayed image so that the reference points in the real-time image feed are matched to the known orientation of the reference points.

Claims

1. A method of registering a real-time image feed from an imaging device inserted into a steerable catheter using a navigation system comprising a processor and a display, wherein the steerable catheter comprises an elongate flexible shaft having a proximal end portion, a distal end portion terminating in a tip, a working channel extending therebetween, and a handle attached to the proximal end portion of the flexible shaft, the method comprising:

inserting the imaging device into the working channel of the steerable catheter;

using the imaging device to generate a real-time image feed of a reference, wherein the orientation of the reference is known;

orienting the handle of the steerable catheter to a neutral position, in which no steering input is applied to the steerable catheter; and

after orienting the handle to the neutral position, using the processor to determine a first rotation angle Ø

by which the real-time image feed generated by the image device must be rotated so that the reference in the real-time image feed is matched to the known orientation of the reference; and

using the processor to register the real-time image feed to the steerable catheter and to rotate the generated real-time image feed by the first rotation angle Ø

;

wherein the steerable catheter further comprises a localization element proximate the distal end portion of the elongated flexible shaft, wherein the method further comprises;

tracking the location of the localization element of the steerable catheter in an airway using the navigation system;

determining an orientation angle β

of the registered real-time image feed with respect to the tracked location of the localization element of the steerable catheter;

recording the orientation angle β

; and

using the recorded orientation angle β

to ensure that the real-time image feed is shown in an “

up”

orientation on the display regardless of the position and orientation of the localization element.

2. The method of claim 1 further comprising correcting image distortion in the real-time image feed.

3. The method of claim 1 further comprising navigating the steerable catheter into the airway of the patient and wherein the reference comprise anatomical features of the airway of the patient.

4. The method of claim 1, further comprising confirming an alignment of the real time image feed, comprising steps of:

steering the steerable catheter in a first direction;

observing that the displayed real-time image feed moves in the first direction.

5. The method of claim 1 further comprising overlaying one or more navigational aids onto the real-time image feed, wherein the navigational aids are registered to the real-time image feed.

6. The method of claim 5 wherein the navigational aids comprise one or more of a navigation pathway and a directional cue.

7. The method of claim 1 further comprising:

displaying a virtual volumetric scene of the airway on the display of the navigation system; and

registering the virtual volumetric scene to the real-time image feed.

8. The method of claim 7 further comprising maintaining registration of the virtual volumetric scene to the real time image feed as the steerable catheter is navigated through the airway of the patient.

9. The method of claim 7 further comprising overlaying one or more navigational aids onto the real-time image feed.

10. The method of claim 9 wherein the navigational aids comprise one or more of a navigation pathway and a directional cue.