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IMAGE-BASED BRANCH DETECTION AND MAPPING FOR NAVIGATION

  • US 20190110843A1
  • Filed: 10/13/2017
  • Published: 04/18/2019
  • Est. Priority Date: 10/13/2017
  • Status: Active Grant
First Claim
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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:

  • 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.

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