SURGICAL CATHETER HAVING SIDE EXITING MEDICAL INSTRUMENT AND RELATED SYSTEMS AND METHODS FOR FOUR DIMENSIONAL SOFT TISSUE NAVIGATION
First Claim
Patent Images
1. A surgical catheter for navigated surgery, comprising:
- an elongate flexible shaft having a proximal end portion, an opposite distal end portion, a longitudinal axis, a side exit in the distal end portion, and an outer wall extending from the proximal end portion to the distal end portion;
a handle attached to the proximal end portion;
an electromagnetic localization element at the distal end portion; and
a medical instrument housed within the elongate flexible shaft that is extendable along a path from a position within the outer wall and through the side exit to an extended position outside the outer wall, the medical instrument being disposed at an angle of at least 10 degrees relative to the longitudinal axis at the side exit when in the extended position, wherein the position of the medical instrument along the path can be calibrated to the location of the electromagnetic localization element and displayed by a surgical instrument navigation system.
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Abstract
A surgical instrument navigation system is provided that visually simulates a virtual volumetric scene of a body cavity of a patient from a point of view of a surgical instrument residing in the cavity of the patient, wherein the surgical instrument, as provided, may be a steerable surgical catheter with a biopsy device and/or a surgical catheter with a side-exiting medical instrument, among others. Additionally, systems, methods and devices are provided for forming a respiratory-gated point cloud of a patient'"'"'s respiratory system and for placing a localization element in an organ of a patient.
178 Citations
34 Claims
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1. A surgical catheter for navigated surgery, comprising:
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an elongate flexible shaft having a proximal end portion, an opposite distal end portion, a longitudinal axis, a side exit in the distal end portion, and an outer wall extending from the proximal end portion to the distal end portion; a handle attached to the proximal end portion; an electromagnetic localization element at the distal end portion; and a medical instrument housed within the elongate flexible shaft that is extendable along a path from a position within the outer wall and through the side exit to an extended position outside the outer wall, the medical instrument being disposed at an angle of at least 10 degrees relative to the longitudinal axis at the side exit when in the extended position, wherein the position of the medical instrument along the path can be calibrated to the location of the electromagnetic localization element and displayed by a surgical instrument navigation system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32)
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33. A method of guiding a surgical catheter to a region interest of a patient, the method comprising:
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displaying an image of the region of the patient; inserting a flexible lumen into the region of the patient; inserting a surgical catheter into the lumen, the surgical catheter comprising an electromagnetic localization element at the distal end portion; navigating the surgical catheter to the region of interest; detecting a location and orientation of the electromagnetic localization element; displaying, in real-time, the medical instrument on the image by superimposing a virtual representation of the surgical catheter and the medical instrument on the image based upon the location and orientation of the electromagnetic localization element; and performing a medical procedure at the region of interest. - View Dependent Claims (34)
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Specification