Catheterscope 3D guidance and interface system
First Claim
1. A method for visually guiding a flexible endoscope through linked passages within a patient'"'"'s body, the method comprising:
- providing the flexible endoscope to guide through the linked passages within the patient'"'"'s body;
determining positions of branching points of a three-dimensional model of the linked passages;
using the flexible endoscope to generate a current view from within the linked passages as the flexible endoscope is advanced therethrough;
producing an output signal at a distal end of the flexible endoscope, the output signal indicating coordinates that define a three-dimensional disposition of the distal end of the flexible endoscope relative to the three-dimensional model as the flexible endoscope is advanced;
displaying the current view from within the linked passages and a current position of the flexible endoscope relative to the three-dimensional model of the linked passages, wherein the current position is determined from the output signal;
advancing the distal end of the flexible endoscope through the linked passages along a path determined at least in part by the current view and the current position; and
updating the three-dimensional model based on the coordinates indicated by the output signal in response to the flexible endoscope being advanced beyond a limit of the three-dimensional model.
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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
20 Claims
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1. A method for visually guiding a flexible endoscope through linked passages within a patient'"'"'s body, the method comprising:
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providing the flexible endoscope to guide through the linked passages within the patient'"'"'s body; determining positions of branching points of a three-dimensional model of the linked passages; using the flexible endoscope to generate a current view from within the linked passages as the flexible endoscope is advanced therethrough; producing an output signal at a distal end of the flexible endoscope, the output signal indicating coordinates that define a three-dimensional disposition of the distal end of the flexible endoscope relative to the three-dimensional model as the flexible endoscope is advanced; displaying the current view from within the linked passages and a current position of the flexible endoscope relative to the three-dimensional model of the linked passages, wherein the current position is determined from the output signal; advancing the distal end of the flexible endoscope through the linked passages along a path determined at least in part by the current view and the current position; and updating the three-dimensional model based on the coordinates indicated by the output signal in response to the flexible endoscope being advanced beyond a limit of the three-dimensional model. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification