ROBOTIC SYSTEM CONFIGURED FOR NAVIGATION PATH TRACING
First Claim
1. A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause a processor of a device to at least:
- display, on a user display, a preoperative model corresponding to a mapped portion of a luminal network of a patient;
determine a position of a distal end of an instrument that is positioned within the luminal network relative to the mapped portion of the preoperative model;
based on the position of the distal end of the instrument relative to the mapped portion of the luminal network, enter a path tracing mode; and
when in the path tracing mode, display, on the user display, visual indicia indicative of a path of the distal end of the instrument with respect to the displayed preoperative model.
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Accused Products
Abstract
Certain aspects relate to systems and techniques for navigation path tracing. In one aspect, a system displays a preoperative model of a luminal network is displayed. The system determines a position of an instrument within the luminal network relative to the preoperative model. Based on the position of the instrument relative to the preoperative model, the system determines whether to enter a path tracing mode. In path tracing mode the system displays visual indicia indicative of a path of the instrument with respect to the displayed preoperative model. The visual indicia may be used to visual the navigation path of the instrument and/or to extend the preoperative model.
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Citations
30 Claims
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1. A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause a processor of a device to at least:
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display, on a user display, a preoperative model corresponding to a mapped portion of a luminal network of a patient; determine a position of a distal end of an instrument that is positioned within the luminal network relative to the mapped portion of the preoperative model; based on the position of the distal end of the instrument relative to the mapped portion of the luminal network, enter a path tracing mode; and when in the path tracing mode, display, on the user display, visual indicia indicative of a path of the distal end of the instrument with respect to the displayed preoperative model. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A robotic system for navigating a luminal network, the system comprising:
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an instrument having an elongate body and a sensor disposed on a distal end of the elongate body; at least one computer-readable memory having stored thereon executable instructions; and one or more processors in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to at least; access a preoperative model of a mapped portion of the luminal network and display the preoperative model on a user display; determine a position of the distal end of the instrument within the luminal network relative to the preoperative model using the sensor; detect, based on the determined position relative to the preoperative model, when the distal end of the instrument has moved beyond the mapped portion of the luminal network; and when the distal end of the instrument has moved beyond the mapped portion of the luminal network, display visual indicia of the position of the distal end of the instrument with respect to the displayed preoperative model on the user display. - View Dependent Claims (14, 15, 16, 17, 18)
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19. A method of determining a navigation path of an instrument within a luminal network, the method comprising:
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displaying, on a user interface, a preoperative model corresponding to a mapped portion of a luminal network; determining a position of a distal end of an instrument within the luminal network relative to the mapped portion of the luminal network; moving the instrument within the luminal network; determining when the distal end of the instrument has been advanced past the mapped portion of the luminal network into an unmapped portion of the luminal network and entering a path tracing mode; and when in the path tracing mode, displaying visual indicia of a path of the distal end of the instrument in the unmapped portion of the luminal network relative to the preoperative model of the mapped portion of the luminal network. - View Dependent Claims (20, 21, 22, 23)
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24. A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause a processor of a device to at least:
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display, on a user display, a preoperative model corresponding to a mapped portion of a luminal network of a patient; determine a position of a distal end of an instrument that is positioned within the luminal network relative to the preoperative model; detect when the position of the distal end of the instrument is moved beyond the mapped portion of the luminal network; and display, on the user display, visual indicia indicative of the position of the distal end of the instrument with respect to the displayed preoperative model when the distal end of the instrument is positioned outside the mapped portion of the luminal network. - View Dependent Claims (25, 26, 27, 28, 29, 30)
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Specification