System and Method For Bronchoscopic Navigational Assistance
First Claim
Patent Images
1. A computer-based method for bronchoscopic navigational assistance, comprising:
- receiving first image data of a patient'"'"'s lungs, the first image data acquired before a bronchoscopy is performed;
receiving second image data of a portion of one of the patient'"'"'s lungs that includes a bronchoscope, the second image data acquired during the bronchoscopy; and
performing image registration between the first image data and the second image data to determine a global location and orientation of the bronchoscope within the patient'"'"'s lung during the bronchoscopy.
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Abstract
A computer-based method for bronchoscopic navigational assistance, including: receiving first image data of a patient'"'"'s lungs, the first image data acquired before a bronchoscopy is performed; receiving second image data of a portion of one of the patient'"'"'s lungs that includes a bronchoscope, the second image data acquired during the bronchoscopy; and performing image registration between the first image data and the second image data to determine a global location and orientation of the bronchoscope within the patient'"'"'s lung during the bronchoscopy.
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Citations
28 Claims
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1. A computer-based method for bronchoscopic navigational assistance, comprising:
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receiving first image data of a patient'"'"'s lungs, the first image data acquired before a bronchoscopy is performed;
receiving second image data of a portion of one of the patient'"'"'s lungs that includes a bronchoscope, the second image data acquired during the bronchoscopy; and
performing image registration between the first image data and the second image data to determine a global location and orientation of the bronchoscope within the patient'"'"'s lung during the bronchoscopy. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for real-time bronchoscopic navigational assistance, comprising:
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receiving image data of a patient'"'"'s lungs, the image data acquired before a bronchoscopy is performed;
tracking a current global location and orientation of a bronchoscope in one of the patient'"'"'s lungs by using an optical model and a physical model of the bronchoscope and real-time video of the bronchoscope during the bronchoscopy; and
automatically updating the global location and orientation of the bronchoscope in relation to the image data during the bronchoscopy. - View Dependent Claims (13, 14, 15, 16, 17, 18)
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19. A system for bronchoscopic navigational assistance, comprising:
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a memory device for storing a program;
a processor in communication with the memory device, the processor operative with the program to;
receive first image data of a patient'"'"'s lungs, the first image data acquired before a bronchoscopy is performed;
receive second image data of a portion of one of the patient'"'"'s lungs that includes a bronchoscope, the second image data acquired during the bronchoscopy; and
perform image registration between the first image data and the second image data to determine a global location and orientation of the bronchoscope within the patient'"'"'s lung during the bronchoscopy. - View Dependent Claims (20, 21, 22)
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23. A system for real-time bronchoscopic navigational assistance, comprising:
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a memory device for storing a program;
a processor in communication with the memory device, the processor operative with the program to;
receive image data of a patient'"'"'s lungs, the image data acquired before a bronchoscopy is performed;
track a current global location and orientation of a bronchoscope in one of the patient'"'"'s lungs by using an optical model and a physical model of the bronchoscope and real-time video of the bronchoscope during the bronchoscopy; and
automatically update the global location and orientation of the bronchoscope in relation to the image data during the bronchoscopy. - View Dependent Claims (24, 25, 26)
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27. A computer-based method for endoscopic navigational assistance, comprising:
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receiving first image data of region of interest inside a patient, the first image data acquired before an endoscopy is performed;
receiving second image data of a portion of the region of interest that includes an endoscope, the second image data acquired during the endoscopy; and
performing image registration between the first image data and the second image data to determine a global location and orientation of the endoscope within the region of interest during the endoscopy.
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28. A method for real-time endoscopic navigational assistance, comprising:
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receiving image data of a region of interest inside a patient, the image data acquired before an endoscopy is performed;
tracking a current global location and orientation of an endoscope in a portion of the region of interest by using an optical model and a physical model of the endoscope and real-time video of the endoscope during the endoscopy; and
automatically updating the global location and orientation of the endoscope in relation to the image data during the endoscopy.
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Specification