ENDOLUMENAL OBJECT SIZING
First Claim
1. A method for sizing an object positioned within a patient, comprising:
- navigating an elongate body to a location within the patient and proximate to the object, the elongate body comprising an imaging sensor for capturing images of the object;
capturing sequential images of the object with the imaging sensor;
navigating the elongate body into at least one of a different orientation and a different position during the capture of the sequential images;
determining orientations and positions of the elongate body during the capture of the sequential images based on a set of robot data;
comparing the orientation and position of the elongate body determined based on the set of robot data for at least one captured sequential image to the orientation and position determined based on the set of robot data for at least another captured sequential image; and
analyzing, with a processor, the sequential images of the object and the comparison of the set of robot data to estimate a size of the object.
2 Assignments
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Accused Products
Abstract
An object sizing system sizes an object positioned within a patient. The object sizing system identifies a presence of the object. The object sizing system navigates an elongate body of an instrument to a position proximal to the object within the patient. An imaging sensor coupled to the elongate body captures one or more sequential images of the object. The instrument may be further moved around within the patient to capture additional images at different positions/orientations relative to the object. The object sizing system also acquires robot data and/or EM data associated with the positions and orientations of the elongate body. The object sizing system analyzes the captured images based on the acquired robot data to estimate a size of the object.
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Citations
29 Claims
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1. A method for sizing an object positioned within a patient, comprising:
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navigating an elongate body to a location within the patient and proximate to the object, the elongate body comprising an imaging sensor for capturing images of the object; capturing sequential images of the object with the imaging sensor; navigating the elongate body into at least one of a different orientation and a different position during the capture of the sequential images; determining orientations and positions of the elongate body during the capture of the sequential images based on a set of robot data; comparing the orientation and position of the elongate body determined based on the set of robot data for at least one captured sequential image to the orientation and position determined based on the set of robot data for at least another captured sequential image; and analyzing, with a processor, the sequential images of the object and the comparison of the set of robot data to estimate a size of the object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A system for sizing an object positioned within a patient comprising:
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an elongate body, the elongate body comprising an imaging sensor for capturing images of the object, and a computer comprising instructions that, when executed by a processor of the computer, cause the computer to perform steps of; navigating the elongate body into the patient and to a location proximate to the object, the navigating enabled by a robotic manipulator; capturing sequential images of the object with the imaging sensor; navigating the elongate body into at least one of a different orientation and a different position during the capture of the sequential images; determining orientations and positions of the elongate body during the capture of the sequential images based on a set of robot data; comparing the orientation and position of the elongate body determined based on the set of robot data for at least one captured sequential image to the orientation and position determined based on the set of robot data for at least another captured sequential image; and analyzing the sequential images and the comparison of the set of robot data to estimate a size of the object. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29)
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Specification