Systems and methods for navigation within a branched structure of a body

• US 8,700,132 B2
• Filed: 06/13/2012
• Issued: 04/15/2014
• Est. Priority Date: 03/06/2008
• Status: Active Grant

• Current Assignee: VIDA Diagnostics, Inc.
• Original Assignee: VIDA Diagnostics, Inc.
• Inventors: Ganatra, Jenelle M., Tschirren, Juerg, Garber, John T. II
• Primary Examiner(s): Jung, Unsu
• Assistant Examiner(s): FISHER, MICHAEL NAPOLEON
• Application Number:
  US13/495,858
• Publication Number:
  US 20120283558A1
• Time in Patent Office: 671 Days
• Field of Search: 600/101, 600/117, 600/160, 600/407, 600/410, 600/414, 600/415, 600/416, 600/423, 600/424, 600/426, 600/429, 600/433, 600/434, 600/462, 600/475
• US Class Current: 600/424
• CPC Class Codes: A61B 2017/00809 Lung operations
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/252 indicating steps of a surgical procedure
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/3954 magnetic, e.g. NMR or MRI
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: G16H 50/50 for simulation or modelling of medical disorders

Abstract

A system and method for navigating a medical instrument in a branched structure of a body employs a tracking system, for collecting positional information for the medical instrument, and data, which defines a geometrical model of the branched structure, in particular, coordinates for predetermined points defining a pathway extending along branches of the model. Coordinates are identified for each Euclidean distance of the instrument, from an anchor point of a coordinate system for the tracking system, that corresponds to a Euclidean distance of a designated point, of the predetermined points, from a reference point of a coordinate system for the model, wherein the anchor point of the tracking coordinate system has been established to correspond to the reference point of the model coordinate system. The two coordinate systems are registered to one another using the identified coordinates of the instrument and the corresponding coordinates of each designated point.

Claims

1. A system for navigating a medical instrument within a branched structure of a body, the system comprising:

a tracking system configured to collect information defining a position of the medical instrument with respect to a frame of reference of the tracking system; and

a workstation including a database, a processor and a display, the processor coupled to the database and coupled to the tracking system and configured to receive the positional information therefrom, and the display coupled to the processor;

the database configured to receive and store a data defining a geometrical model of the branched structure including coordinates for predetermined points, with respect to a model coordinate system in a frame of reference of the geometric model, the predetermined points defining a registration pathway along branches of the geometric model of the branched structure and including a first designated point, serving as a reference point for the model coordinate system, and a plurality of other designated points;

the processor adapted to;

receive input for establishing an anchor point of a coordinate system for the frame of reference of the tracking system, the anchor point corresponding to the first designated point of the pathway;

convert the positional information, collected by the tracking system, into Euclidean distances of the medical instrument from the established anchor point of the tracking coordinate system;

transmit instructions to the display to display a visual indicator to a user of a direction to move the medical instrument to positions corresponding to the plurality of other designated points, wherein the processor is adapted to determine the direction to move the medical instrument by using the Euclidean distances of the medical instrument from the established anchor point;

register the tracking coordinate system to the model coordinate system by deriving a mathematical transformation, which relates the model frame of reference to the tracking frame of reference, using the positional information from the tracking system and the corresponding coordinates of the plurality of other designated points;

the display adapted to receive instructions to from the processor to display the visual indictor and to display the visual indicator.

2. The system of claim 1 wherein the visual indicator comprises an arrow.

3. The system of claim 1 wherein the visual indicator comprises a plurality of visual indicators displayed consecutively as the user moves the medical device to positions corresponding to the plurality of other designated points.

4. The system of claim 3 wherein the visual indicators change when the processor detects that the medical instrument has reached a position corresponding to one of the other designated points.

5. The system of claim 4 wherein the visual indicators direct a user to backtrack the medical instrument when a position corresponding to one of the other designated points is reached which is a furthest designated point within an airway branch.

6. The system of claim 1 wherein the processor is further adapted to direct the display to display a visual representation of the geometric model, and wherein the visual indicator is displayed on the visual representation of the geometric model.

7. The system of claim 6 wherein the visual indicator comprises an arrow within the geometric model, wherein the arrow directs the user to move the medical instrument within the branched structure toward a position corresponding to one of the plurality of other designated points.

8. The system of claim 1 wherein the registration pathway comprises a first point located along a first branch of the geometric model, a second point located along a second branch of the geometric model, and a third point located along a third branch of the geometric model.

9. The system of claim 8 wherein the processor is further configured to identify a Euclidean distance from the anchor to each of the first, second, and third points.

10. The system of claim 8 wherein the processor is pre-programmed with the registration pathway.

11. The system of claim 8 further comprising a user interface, wherein the user interface is configured to transmit the registration pathway from the user to the processor when the user selects the registration pathway.

12. The system of claim 8 wherein the processor is further configured to direct the display to display an indication to the user that the medical device has been advanced far enough within each branch of the branched structure corresponding to the first, second and third branches of the geometric model.

13. A method for registering a branched structure of a body to a geometric model of the branched structure, the method comprising:

advancing a medical instrument including a tracking sensor in the branched structure in a tracking coordinate system, wherein the medical instrument is in communication with a system comprising a database, a processor, a user interface and a display, the database comprising data defining the geometrical model of the branched structure including predetermined points defining a registration pathway along branches of the geometric model of the branched structure and including a first designated point, serving as a reference point for the model coordinate system, and a plurality of other designated points;

inputting an indication that the medical instrument is located at an anchor point when the medical instrument is at the anchor point, wherein the anchor point is a position in the branched structure corresponding to the reference point;

observing a first visual indicator on the display indicating a direction in which to move the medical device to a position corresponding to one of the plurality of designated points;

advancing the medical instrument to the position corresponding to one of the plurality of designated points by moving the medical device as directed by the first visual indicator;

observing a second visual indicator on the display indicating a direction in which to move the medical device to a position corresponding to another one of the plurality of designated points;

advancing the medical instrument to the position corresponding to another one of the plurality of designated points by moving the medical device as directed by the second visual indicator;

wherein the processor converts positional information, collected by the tracking system, into Euclidean distances of the medical instrument from the established anchor point of the tracking coordinate system, directs the display to display the visual indicators, and registers the tracking coordinate system to the model coordinate system by deriving a mathematical transformation, which relates a frame of reference of the geometric model to a frame of reference of the tracking system, using the positional information from the tracking system and the corresponding coordinates of the plurality of other designated points.

14. The method of claim 13 wherein the visual indicators comprise arrows.

15. The method of claim 13 further comprising selecting a registration pathway and inputting the registration pathway into the system.

16. The method of claim 13 further comprising observing a third visual indicator, between the first visual indicator and the second visual indicator, indicating a direction in which to move the medical device wherein the direction is backward within the branched structure;

and retracting the medical instrument away from the position corresponding to one of the plurality of designated points by moving the medical device as directed by the third visual indicator.

17. The method of claim 13 wherein the processor further directs the display to display a visual representation of the geometric model, and wherein the processor further directs the display to display the visual indicators on the visual representation of the geometric model.

18. The method of claim 13 wherein the visual indicator comprises an arrow within the geometric model, wherein the arrow directs the user to move the medical instrument within the branched structure toward a position corresponding to one of the plurality of other designated points.