Method and apparatus for guiding an instrument to a target in the lung
First Claim
1. An apparatus for utilizing an image of a lung of a patient and a target, the apparatus comprising:
- a tracking device for obtaining coordinates of a plurality of positions of each of a plurality of first and second elements, each element providing coordinates of its position;
a tracked navigation instrument having one or more of the plurality of first elements thereon for insertion into the lung of the patient to produce accuracy coordinates of the positions of the one or more first elements when the tracked navigation instrument touches one or more known locations or fiducials on the patient, the accuracy coordinates verify accuracy of the image;
a motion compensation device having one or more of the plurality of second elements thereon for insertion into the tracked navigation instrument;
a computing device for mitigating an effect of patient movement on the image byproducing an initial alignment of coordinates of the image with the accuracy coordinates,maintaining the alignment of the coordinates of the image with the coordinates of the positions of the second elements, andshowing on the image the tracked navigation instrument as it is advanced to the target and the motion compensation device as it is advanced over the tracked navigation instrument to the target.
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Accused Products
Abstract
The invention provides methods and apparatus for navigating a medical instrument to a target in the lung. In one embodiment, the invention includes inserting a bronchoscope into the lung, inserting a catheter into the lung through the working channel of the bronchoscope, inserting a tracked navigation instrument wire into the lung through the catheter, navigating the tracked navigation instrument through the lung to the target, advancing the catheter over the tracked navigation instrument to the target, removing the tracked navigation instrument from the catheter, and inserting a medical instrument into the catheter, thus bringing the medical instrument in proximity to the target.
276 Citations
21 Claims
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1. An apparatus for utilizing an image of a lung of a patient and a target, the apparatus comprising:
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a tracking device for obtaining coordinates of a plurality of positions of each of a plurality of first and second elements, each element providing coordinates of its position; a tracked navigation instrument having one or more of the plurality of first elements thereon for insertion into the lung of the patient to produce accuracy coordinates of the positions of the one or more first elements when the tracked navigation instrument touches one or more known locations or fiducials on the patient, the accuracy coordinates verify accuracy of the image; a motion compensation device having one or more of the plurality of second elements thereon for insertion into the tracked navigation instrument; a computing device for mitigating an effect of patient movement on the image by producing an initial alignment of coordinates of the image with the accuracy coordinates, maintaining the alignment of the coordinates of the image with the coordinates of the positions of the second elements, and showing on the image the tracked navigation instrument as it is advanced to the target and the motion compensation device as it is advanced over the tracked navigation instrument to the target. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for utilizing an image of a lung of a patient and a target, the method comprising acts of:
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registering anatomy of the patient by inserting a tracked navigation instrument having one or more first elements thereon into the lung of the patient to produce accuracy coordinates of the positions of the one or more first elements when the tracked navigation instrument touches one or more known locations or fiducials on the patient, the accuracy coordinates verify accuracy of the image, each first element providing coordinates of its position, and sampling by a tracking device the one or more first elements to obtain the coordinates of a plurality of positions of the one or more first elements; maintaining registration of the anatomy of the patient by inserting a motion compensation device having one or more second elements thereon into the tracked navigation instrument, and sampling by the tracking device the one or more second elements to obtain the coordinates of a plurality of positions of the one or more second elements; and a computing device mitigating an effect of patient movement on the image by producing an initial alignment of coordinates of the image with the accuracy coordinates, maintaining the alignment of the coordinates of the image with the coordinates of the positions of the second elements, and displaying on the image the tracked navigation instrument and the motion compensation device advancing over the tracked navigation instrument to the target, after the tracked navigation instrument reaches the target. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A method for guiding a medical instrument to a target in a lung of a patient utilizing an image of the lung and the target, the method comprising acts of:
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generating a registration transformation of a first coordinate system of at least one image of the lung and a second coordinate system of position information regarding the lung by inserting a tracked navigation instrument having one or more first elements thereon into the lung to produce accuracy coordinates of the positions of the one or more first elements when the tracked navigation instrument touches one or more known locations or fiducials on the patient, the accuracy coordinates verify accuracy of the image, and sampling by a tracking device the one or more first elements to obtain the coordinates of a plurality of positions of the one or more first elements; generating by a computing device a display of the tracked navigation instrument in the lung using the at least one image of the lung and the registration transformation including the accuracy coordinates; navigating the tracked navigation instrument to the target using the display of the tracked navigation instrument in the lung; mitigating an effect of patient movement on the display by re-generating the registration transformation of the second coordinate system by inserting into the lung a motion compensation device having one or more second elements readable by the tracking device to obtain coordinates of a plurality of positions of the one or more second elements; re-generating, by the computing device, the display using the at least one image of the lung and the re-generated registration transformation; advancing a catheter over the tracked navigation instrument to the target after the tracked navigation instrument reaches the target; and navigating the medical instrument to the target through the catheter using the re-generated display.
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Specification