Catheterscope 3D guidance and interface system
First Claim
1. A system for visually guiding a flexible endoscope through linked passages within a body, comprising:
- (a) a signal source that emits a reference signal useful for spatially tracking a progress of the flexible endoscope through the linked passages, as the flexible endoscope is flexibly bent around corners while being advanced through the linked passages;
(b) a sensor that produces an output signal indicating coordinates that define a three-dimensional disposition of a distal end of the flexible endoscope using the reference signal of the signal source to continuously determine the three-dimensional disposition of the distal end as it is advanced through the linked passages;
(c) a three-dimensional model of the linked passages;
(d) a processor for determining positions of branching points and for providing indicators that indicate positions of branching points on the three-dimensional model at which the linked passages connect or diverge, said processor specifying at least initially, at least one predefined path on the three-dimensional model from a plurality of paths formed by the linked passages connecting or diverging, along which to advance the flexible endoscope through the linked passages; and
(e) a display for displaying a view from within the linked passages as the flexible endoscope is advanced therethrough, to enable the flexible endoscope to be visually guided and tracked along a path actually followed through the linked passages, the output signal providing a record of the path followed as the flexible endoscope is advanced and enabling the display to show a current position of the endoscope, relative to the three-dimensional model of the linked passages.
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Accused Products
Abstract
Visual-assisted guidance of an ultra-thin flexible endoscope to a predetermined region of interest within a lung during a bronchoscopy procedure. The region may be an opacity-identified by non-invasive imaging methods, such as high-resolution computed tomography (HRCT) or as a malignant lung mass that was diagnosed in a previous examination. An embedded position sensor on the flexible endoscope indicates the position of the distal tip of the probe in a Cartesian coordinate system during the procedure. A visual display is continually updated, showing the present position and orientation of the marker in a 3-D graphical airway model generated from image reconstruction. The visual display also includes windows depicting a virtual fly-through perspective and real-time video images acquired at the head of the endoscope, which can be stored as data, with an audio or textual account.
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Citations
48 Claims
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1. A system for visually guiding a flexible endoscope through linked passages within a body, comprising:
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(a) a signal source that emits a reference signal useful for spatially tracking a progress of the flexible endoscope through the linked passages, as the flexible endoscope is flexibly bent around corners while being advanced through the linked passages; (b) a sensor that produces an output signal indicating coordinates that define a three-dimensional disposition of a distal end of the flexible endoscope using the reference signal of the signal source to continuously determine the three-dimensional disposition of the distal end as it is advanced through the linked passages; (c) a three-dimensional model of the linked passages; (d) a processor for determining positions of branching points and for providing indicators that indicate positions of branching points on the three-dimensional model at which the linked passages connect or diverge, said processor specifying at least initially, at least one predefined path on the three-dimensional model from a plurality of paths formed by the linked passages connecting or diverging, along which to advance the flexible endoscope through the linked passages; and (e) a display for displaying a view from within the linked passages as the flexible endoscope is advanced therethrough, to enable the flexible endoscope to be visually guided and tracked along a path actually followed through the linked passages, the output signal providing a record of the path followed as the flexible endoscope is advanced and enabling the display to show a current position of the endoscope, relative to the three-dimensional model of the linked passages. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for guiding a flexible endoscope through linked passages to either perform a diagnostic procedure or reach a desired location in a patient'"'"'s body, while tracking the disposition of a distal end of the flexible endoscope, comprising the steps of:
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(a) creating a three-dimensional model of the linked passages; (b) specifying positions of branching points at which the linked passages connect or diverge on the three-dimensional model and specifying at least one predefined path from a plurality of paths formed by the linked passages connecting or diverging on the three-dimensional model, along which to advance the flexible endoscope through the linked passages; (c) providing an external tracking signal that serves as a reference relative to the linked passages within the patient'"'"'s body; (d) tracking a disposition of the distal end of the flexible endoscope as it is flexibly bent around turns while being advanced along the predefined path through the linked passages, using an output signal produced in response to sensing the external tracking signal, said output signal being produced adjacent to the distal end of the flexible endoscope, the output signal indicating coordinates that define a disposition of the distal end of the flexible endoscope relative to the three-dimensional model as the flexible endoscope is advanced; and (e) advancing the distal end of the flexible endoscope around bends through the linked passages along a path corresponding to the predefined path, as determined at least in part by the image of the region and the output signal, to reach the desired location in the patient'"'"'s body, while resolving any differences between; (i) a current position of the distal end of the flexible endoscope within the linked passages, as determined by the sensor output signal; and (ii) details of the linked passages as specified by the three-dimensional model. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48)
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Specification