DEVICES AND METHODS FOR PERFORMING MEDICAL PROCEDURES IN TREE-LIKE LUMINAL STRUCTURES
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Abstract
Apparatus and methods are described for use with an imaging device that acquires an external image of a multi-lumen structure within a subject'"'"'s body. A tool with a location sensor coupled thereto is moved along branches of the structure. The multi-lumen structure is registered with the external image, such that the multi-lumen structure and the external image of the multi-lumen structure have a common frame of coordinates, by sensing the location coordinates of the tool while the tool moves along a plurality of branch lines within the multi-lumen structure, the branch lines defining a plurality of paths within the multi-lumen structure. The branch lines are identified within the image, and a correspondence between the sensed location coordinates of the tool and the plurality of branch lines within the image is determined. Other applications are also described.
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Citations
31 Claims
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1. (canceled)
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2. Apparatus for use with an imaging device configured to acquire an image of a multi-lumen structure within a body of a subject from outside of the structure, the apparatus comprising:
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a tool configured to move along branches of the multi-lumen structure; at least one location sensor coupled to the tool, the location sensor being configured to facilitate sensing of location coordinates of the tool; and a computer processor configured to; register the multi-lumen structure with the image of the multi-lumen structure, such that the multi-lumen structure and the image of the multi-lumen structure have a common frame of coordinates, by; using the location sensor, sensing location coordinates of the tool while the tool moves along a plurality of branch lines within the multi-lumen structure, each of the branch lines passing through at least a portion of at least one branch of the multi-lumen structure, the branch lines defining a plurality of paths within the multi-lumen structure; identifying the plurality of branch lines within the image; and determining a correspondence between the sensed location coordinates of the tool and the plurality of branch lines within the image of the multi-lumen structure; and generate an output in response thereto. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A method for use with an imaging device configured to acquire an image of a multi-lumen structure within a body of a subject from outside of the structure, the method comprising:
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moving a tool along branches of the multi-lumen structure, at least one location sensor coupled to the tool, the location sensor being configured to facilitate sensing of location coordinates of the tool; using a computer processor, registering the multi-lumen structure with the image of the multi-lumen structure, such that the multi-lumen structure and the image of the multi-lumen structure have a common frame of coordinates, by; sensing the location coordinates of the tool while the tool moves along a plurality of branch lines within the multi-lumen structure, each of the branch lines passing through at least a portion of at least one branch of the multi-lumen structure, the branch lines defining a plurality of paths within the multi-lumen structure; identifying the plurality of branch lines within the image; and determining a correspondence between the sensed location coordinates of the tool and the plurality of branch lines within the image of the multi-lumen structure; and using the computer processor, generating an output in response to the registering. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. A computer software product, for use with an imaging device configured to acquire an image of a multi-lumen structure within a body of a subject from outside of the structure, and a tool configured to be moved along branches of the multi-lumen structure, at least one location sensor coupled to the tool, the location sensor being configured to facilitate sensing of location coordinates of the tool, the computer software product comprising a non-transitory computer-readable medium in which program instructions are stored, which instructions, when read by a computer cause the computer to perform the steps of registering the multi-lumen structure with the image of the multi-lumen structure, such that the multi-lumen structure and the image of the multi-lumen structure have a common frame of coordinates, by (a) sensing the location coordinates of the tool while the tool moves along a plurality of branch lines within the multi-lumen structure, each of the branch lines passing through at least a portion of at least one branch of the multi-lumen structure, the branch lines defining a plurality of paths within the multi-lumen structure, (b) identifying the plurality of branch lines within the image, and (c) determining a correspondence between the sensed location coordinates of the tool and the plurality of branch lines within the image of the multi-lumen structure, and generating an output in response to the registering.
Specification