IMAGE-BASED BRANCH DETECTION AND MAPPING FOR NAVIGATION
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:
- determine a position state estimate of an instrument positioned within a current branch of a luminal network;
determine a set of expected subsequent branches based at least in part on the position state estimate and a preoperative model of the luminal network;
capture an image of the current branch with an imaging device positioned on the instrument;
detect within the image a plurality of openings connecting subsequent branches of the luminal network to the current branch;
compare one or more features of the detected plurality of openings to the set of expected subsequent branches to map each of the plurality of openings to one of the set of expected subsequent branches; and
based at least in part on the comparison, provide an updated position state estimate.
2 Assignments
0 Petitions
Accused Products
Abstract
Navigation of an instrument within a luminal network can include image-based branch detection and mapping. Image-based branch detection can include identifying within an image one or more openings associated with one or more branches of a luminal network. Image-based branch mapping can include mapping the detected one or more openings to corresponding branches of the luminal network. Mapping may include comparing features of the openings to features of a set of expected openings. A position state estimate for the instrument can be determined from the mapped openings, which can facilitate navigation of the luminal network.
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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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determine a position state estimate of an instrument positioned within a current branch of a luminal network; determine a set of expected subsequent branches based at least in part on the position state estimate and a preoperative model of the luminal network; capture an image of the current branch with an imaging device positioned on the instrument; detect within the image a plurality of openings connecting subsequent branches of the luminal network to the current branch; compare one or more features of the detected plurality of openings to the set of expected subsequent branches to map each of the plurality of openings to one of the set of expected subsequent branches; and based at least in part on the comparison, provide an updated position state estimate. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A robotic system for navigating a luminal network of a patient, the robotic system comprising:
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an instrument having an elongate body configured to be inserted into the luminal network, and an imaging device positioned on a distal portion of the elongate body; an instrument positioning device attached to the instrument, the instrument positioning device configured to move the instrument through the luminal network; 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; determine a position state estimate of the instrument positioned within a current branch of a luminal network; determine a set of expected subsequent branches based at least in part on the initial state estimate and a preoperative model of the luminal network; capture an image of the current branch of the luminal network with an imaging device positioned on the instrument; detect within the image a plurality of openings connecting subsequent branches of the luminal network to the current branch; compare features of the detected plurality of openings to the set of expected subsequent branches to map each of the plurality of openings to one of the expected subsequent branches; and based at least in part on the comparison, provide an updated position state estimate. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A method for navigating a luminal network, the method comprising:
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inserting an instrument into a current branch of the luminal network; receiving a position state estimate for the instrument; determining a set of expected subsequent branches based at least in part on the initial state estimate and a preoperative model of the luminal network; capturing an image of the current branch with an imaging device positioned on the instrument; analyzing the image to detect a plurality of openings connecting subsequent branches to the current branch; comparing features of the detected plurality of openings to the set of expected subsequent branches to map each of the plurality of openings to one of the expected subsequent branches; and based at least in part on the comparison, provide an updated position state estimate. - View Dependent Claims (20, 21, 22, 23, 24, 25)
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26. A method for identifying openings of branches of a luminal network, the method comprising:
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capturing an image of an interior a branch of a luminal network with an imaging device positioned within the branch; generating a histogram of pixel intensity values for the image; identifying pixels below a threshold value as indicating openings within the image. - View Dependent Claims (27, 28, 29, 30)
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Specification