Hybrid registration method
First Claim
Patent Images
1. A method of navigating a probe through a branched network of lumens of a patient comprising:
- compiling a database of images of said branched network of lumens prior to a navigating procedure;
placing a probe containing a sensor at a distal end thereof into said branched network;
receiving probe location data from said sensor; and
,using at least said probe location data to select an image from said database to display to a user navigating said probe, said image being representative of a location of said probe, by using said probe location data to create a subgroup of images from said database, said subgroup containing only images that correspond to a vicinity of said probe location.
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Abstract
A registration method whereby a sensor-based approach is used to establish initial registration and whereby upon the commencement of navigating an endoscope, image-based registration methods are used in order to more accurately maintain the registration between the endoscope location and previously-acquired images. A six-degree-of-freedom location sensor is placed on the probe in order to reduce the number of previously-acquired images that must be compared to a real-time image obtained from the endoscope.
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Citations
7 Claims
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1. A method of navigating a probe through a branched network of lumens of a patient comprising:
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compiling a database of images of said branched network of lumens prior to a navigating procedure; placing a probe containing a sensor at a distal end thereof into said branched network; receiving probe location data from said sensor; and
,using at least said probe location data to select an image from said database to display to a user navigating said probe, said image being representative of a location of said probe, by using said probe location data to create a subgroup of images from said database, said subgroup containing only images that correspond to a vicinity of said probe location. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification