NAVIGATION OF TUBULAR NETWORKS
5 Assignments
0 Petitions
Accused Products
Abstract
Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument'"'"'s estimated state.
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Citations
42 Claims
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1-22. -22. (canceled)
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23. A surgical robotic system comprising:
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an endoscopic tool having a flexible tip; an optical sensor coupled to the flexible tip; a processor coupled to the optical sensor, the processor configured with instructions to; receive a plurality of images from the optical sensor; identify, within an image of the plurality of images, a division of the tubular network, the division comprising a plurality of openings to a plurality of respective segments of the tubular network; determine a first estimated state of the flexible tip within the tubular network based on the identified division of the tubular network; and show, on a display, an estimated position of the flexible tip within a segment of the plurality of segments of the luminal network, wherein the estimated position is determined based on the first estimated state. - View Dependent Claims (24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37)
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38. A non-transitory computer readable storage medium comprising computer program instructions that when executed by one or more processors cause the one or more processors to:
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receive a plurality of images from an optical sensor on a flexible tip of an endoscopic tool inserted into a tubular network; identify, within an image of the plurality of images, a division of the tubular network, the division comprising a plurality of openings to a plurality of respective segments of the tubular network; determine a first estimated state of the flexible tip within the tubular network based on the identified division of the tubular network; and show, on a display, an estimated position of the flexible tip within a segment of the plurality of segments of the luminal network, wherein the estimated position is determined based on the first estimated state. - View Dependent Claims (39, 40)
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41. A method for navigating a tubular network, the method comprising:
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receiving a plurality of images from an optical sensor on a flexible tip of an endoscopic tool inserted into a tubular network; identifying, within an image of the plurality of images, a division of the tubular network, the division comprising a plurality of openings to a plurality of respective segments of the tubular network; determining a first estimated state of the flexible tip within the tubular network based on the identified division of the tubular network; and showing, on a display, an estimated position of the flexible tip within a segment of the plurality of segments of the luminal network, wherein the estimated position is determined based on the first estimated state. - View Dependent Claims (42)
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Specification