Method of using lung airway carina locations to improve ENB registration
First Claim
1. A method of registering a luminal network to a 3D model of the luminal network, the method comprising:
- generating a 3D model of a luminal network based on images of the luminal network;
identifying a target within the 3D model of the luminal network;
determining locations of a plurality of carinas in the luminal network proximate the target;
displaying guidance for navigating a location sensor within the luminal network;
tracking a location of the location sensor while the location sensor is navigated within the luminal network;
registering the 3D model of the luminal network to the luminal network based on a tracked location of the location sensor within the luminal network;
displaying guidance for navigating the location sensor into each of a plurality of lumens originating at each of the plurality of carinas proximate the target;
tracking the location of the location sensor while the location sensor is navigated into each of the plurality of lumens;
locally registering the 3D model of the luminal network to the luminal network proximate the target based on the tracked location of the location sensor within each of the plurality of lumens; and
augmenting a registration of the 3D model of the luminal network to the luminal network with a local registration.
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Accused Products
Abstract
Disclosed are systems, devices, and methods for registering a luminal network to a 3D model of the luminal network. An example method comprises generating a 3D model of a luminal network, identifying a target within the 3D model, determining locations of a plurality of carinas in the luminal network proximate the target, displaying guidance for navigating a location sensor within the luminal network, tracking the location of the location sensor, comparing the tracked locations of the location sensor and the portions of the 3D model representative of open space, displaying guidance for navigating the location sensor a predetermined distance into each lumen originating at the plurality of carinas proximate the target, tracking the location of the location sensor while the location sensor is navigated into each lumen, and updating the registration of the 3D model with the luminal network based on the tracked locations of the location sensor.
150 Citations
17 Claims
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1. A method of registering a luminal network to a 3D model of the luminal network, the method comprising:
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generating a 3D model of a luminal network based on images of the luminal network; identifying a target within the 3D model of the luminal network; determining locations of a plurality of carinas in the luminal network proximate the target; displaying guidance for navigating a location sensor within the luminal network; tracking a location of the location sensor while the location sensor is navigated within the luminal network; registering the 3D model of the luminal network to the luminal network based on a tracked location of the location sensor within the luminal network; displaying guidance for navigating the location sensor into each of a plurality of lumens originating at each of the plurality of carinas proximate the target; tracking the location of the location sensor while the location sensor is navigated into each of the plurality of lumens; locally registering the 3D model of the luminal network to the luminal network proximate the target based on the tracked location of the location sensor within each of the plurality of lumens; and augmenting a registration of the 3D model of the luminal network to the luminal network with a local registration. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system for registering a luminal network to a 3D model of the luminal network, the system comprising:
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a location sensor capable of being navigated within a luminal network inside a patient'"'"'s body; an electromagnetic field generator configured to detect a location of the location sensor as it is navigated within the luminal network; and a computing device including a processor and a memory storing instructions which, when executed by the processor, cause the computing device to; generate a 3D model of the luminal network based on images of the luminal network; identify a target within the 3D model of the luminal network; determine locations of a plurality of carinas in the luminal network proximate the target; display guidance for navigating the location sensor within the luminal network; track a location of the location sensor while the location sensor is navigated within the luminal network; register the 3D model of the luminal network to the luminal network based on a tracked location of the location sensor within the luminal network; display guidance for navigating the location sensor into each of a plurality of lumens originating at each of the plurality of carinas proximate the target; track the location of the location sensor while the location sensor is navigated into each of the plurality of lumens; locally register the 3D model of the luminal network to the luminal network proximate the target based on the tracked location of the location sensor within each of the plurality of lumens; and augment a registration of the 3D model of the luminal network to the luminal network with a local registration. - View Dependent Claims (11, 12, 13)
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14. A non-transitory computer-readable storing medium storing instructions which, when executed by a processor, cause a computing device to:
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generate a 3D model of a luminal network based on images of the luminal network; identify a target within the 3D model of the luminal network; determine locations of a plurality of carinas in the luminal network proximate the target; display guidance for navigating a location sensor within the luminal network; track a location of the location sensor while the location sensor is navigated within the luminal network; register the 3D model of the luminal network to the luminal network based on a tracked location of the location sensor within the luminal network; display guidance for navigating the location sensor into each of a plurality of lumens originating at each of the plurality of carinas proximate the target; track the location of the location sensor while the location sensor is navigated into each of the plurality of lumens; and augment a registration of the 3D model of the luminal network to the luminal network with a local registration. - View Dependent Claims (15, 16, 17)
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Specification