Methods of providing a map view of a lung or luminal network using a 3D model
First Claim
1. A method for providing a map view of a lung for navigating a tool during a procedure comprising:
- generating a three-dimensional (3D) model of the lung including at least one target;
receiving an indication of a target to be navigated to;
displaying a pathway through the 3D model of the lung to the target;
determining a location of a probe;
registering the determined location of the probe to the 3D model;
displaying a representation of the probe in the 3D model at the determined location;
determining a new location of the probe;
removing at least a first portion of the 3D model from the display;
altering a transparency of a different target displayed in the 3D model; and
altering the transparency of an airway displayed in the 3D model that obscures one or more of the pathway, an airway tree being navigated, the target, or a representation of the probe displayed in the 3D model.
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Abstract
A method for implementing a dynamic three-dimensional lung map view for navigating a probe inside a patient'"'"'s lungs includes loading a navigation plan into a navigation system, the navigation plan including a planned pathway shown in a 3D model generated from a plurality of CT images, inserting the probe into a patient'"'"'s airways, registering a sensed location of the probe with the planned pathway, selecting a target in the navigation plan, presenting a view of the 3D model showing the planned pathway and indicating the sensed location of the probe, navigating the probe through the airways of the patient'"'"'s lungs toward the target, iteratively adjusting the presented view of the 3D model showing the planned pathway based on the sensed location of the probe, and updating the presented view by removing at least a part of an object forming part of the 3D model.
158 Citations
22 Claims
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1. A method for providing a map view of a lung for navigating a tool during a procedure comprising:
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generating a three-dimensional (3D) model of the lung including at least one target; receiving an indication of a target to be navigated to; displaying a pathway through the 3D model of the lung to the target; determining a location of a probe; registering the determined location of the probe to the 3D model; displaying a representation of the probe in the 3D model at the determined location; determining a new location of the probe; removing at least a first portion of the 3D model from the display; altering a transparency of a different target displayed in the 3D model; and altering the transparency of an airway displayed in the 3D model that obscures one or more of the pathway, an airway tree being navigated, the target, or a representation of the probe displayed in the 3D model. - View Dependent Claims (2, 3, 4, 5)
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6. A method comprising:
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displaying a planned pathway to a target in a 3D model of a luminal network; registering a determined location of a probe with the 3D model; displaying a representation of the probe at the determined location in the 3D model; detecting a new location of the probe; adjusting a displayed view of the 3D model and planned pathway based on the new location; and removing at least a portion of an object forming a part of the displayed view of the 3D model in response to adjusting the displayed view of the 3D model. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13, 14)
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15. A method for providing a map view of a lung for navigating a tool in a procedure comprising:
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generating a three-dimensional (3D) model of the lung including at least one target; displaying a pathway through the 3D model of the lung to arrive at the target; determining a location of a probe; registering the determined location of the probe to the 3D model; displaying a representation of the probe in the 3D model at the determined location; determining a new location of the probe; and updating the display of the representation of the probe in the 3D model to the new location, wherein updating the display includes hiding or ghosting out at least a portion of an object in the 3D model that at least one of obscures one or more of the pathway, an airway being navigated, the target, or a representation of the probe. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22)
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Specification