ROBOTIC SYSTEMS FOR DETERMINING A ROLL OF A MEDICAL DEVICE IN LUMINAL NETWORKS
First Claim
Patent Images
1. A method of facilitating navigation of an anatomical luminal network of a patient, the method, executed by a set of one or more computing devices, comprising:
- receiving imaging data captured by an imaging device at a distal end of an instrument positioned within the anatomical luminal network, wherein the anatomical luminal network includes a right bronchus and a left bronchus;
identifying one or more features from the imaging data, the one or more features identified from the imaging data representing a first positioning of the right bronchus and the left bronchus in the imaging data;
accessing one or more features associated with a virtual image, the virtual image simulated from a viewpoint of a virtual imaging device positioned at a virtual location within a virtual luminal network representative of the anatomical luminal network, the virtual luminal network including a virtual right bronchus corresponding to the right bronchus and a virtual left bronchus corresponding to the left bronchus, wherein the one or more features associated with the virtual image represent a second positioning of the virtual right bronchus and the virtual left bronchus in the virtual image;
calculating a correspondence between the first positioning and the second positioning; and
determining a roll of the distal end of the instrument within the anatomical luminal network based on the calculated correspondence.
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Abstract
Certain aspects relate to systems and techniques for navigation-assisted medical devices. Some aspects relate to correlating features of depth information generated based on captured images of an anatomical luminal network with virtual features of depth information generated based on virtual images of a virtual representation of the anatomical luminal network in order to automatically determine aspects of a roll of a medical device within the luminal network.
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Citations
27 Claims
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1. A method of facilitating navigation of an anatomical luminal network of a patient, the method, executed by a set of one or more computing devices, comprising:
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receiving imaging data captured by an imaging device at a distal end of an instrument positioned within the anatomical luminal network, wherein the anatomical luminal network includes a right bronchus and a left bronchus; identifying one or more features from the imaging data, the one or more features identified from the imaging data representing a first positioning of the right bronchus and the left bronchus in the imaging data; accessing one or more features associated with a virtual image, the virtual image simulated from a viewpoint of a virtual imaging device positioned at a virtual location within a virtual luminal network representative of the anatomical luminal network, the virtual luminal network including a virtual right bronchus corresponding to the right bronchus and a virtual left bronchus corresponding to the left bronchus, wherein the one or more features associated with the virtual image represent a second positioning of the virtual right bronchus and the virtual left bronchus in the virtual image; calculating a correspondence between the first positioning and the second positioning; and determining a roll of the distal end of the instrument within the anatomical luminal network based on the calculated correspondence. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system configured to facilitate navigation of an anatomical luminal network of a patient, the system comprising:
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an imaging device at a distal end of an instrument; 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; receive imaging data captured by the imaging device with the distal end of the instrument positioned within the anatomical luminal network, wherein the anatomical luminal network includes a right bronchus and a left bronchus; identify one or more features from the imaging data, the one or more features identified from the imaging data representing a first positioning of the right bronchus and the left bronchus in the imaging data; access one or more features associated with a virtual image, the virtual image simulated from a viewpoint of a virtual imaging device positioned at a virtual location within a virtual luminal network representative of the anatomical luminal network, the virtual luminal network including a virtual right bronchus corresponding to the right bronchus and a virtual left bronchus corresponding to the left bronchus, wherein the one or more features associated with the virtual image represent a second positioning of the virtual right bronchus and the virtual left bronchus in the virtual image; calculate a correspondence between first positioning and the second positioning; and determine a roll of the distal end of the instrument within the anatomical luminal network based on the calculated correspondence. - View Dependent Claims (11, 12, 13, 14, 16, 17, 18)
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15. The system of claim 15, wherein the one or more processors are configured to execute the instructions to cause the system to at least:
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determine the first pixel has a greater depth value than the second pixel; and identify that the first location corresponds to the right bronchus based on determining the first pixel has the greater depth value.
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19. A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to at least:
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receive imaging data captured by the imaging device with the distal end of the instrument positioned within the anatomical luminal network, wherein the anatomical luminal network includes a right bronchus and a left bronchus; identify one or more features of the imaging data, the one or more features identified from the imaging data representing a first positioning of the right bronchus and the left bronchus in the imaging data; access one or more features associated with a virtual image, the virtual image simulated from a viewpoint of a virtual imaging device positioned at a virtual location within a virtual luminal network representative of the anatomical luminal network, the virtual luminal network including a virtual right bronchus corresponding to the right bronchus and a virtual left bronchus corresponding to the left bronchus, wherein the one or more features associated with the virtual image represent a second positioning of the virtual right bronchus and the virtual left bronchus in the virtual image; calculate a correspondence between first positioning and the second positioning; and determine a roll of the distal end of the instrument within the anatomical luminal network based on the calculated correspondence. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27)
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Specification