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Catheterscope 3D guidance and interface system

  • US 9,554,729 B2
  • Filed: 11/24/2015
  • Issued: 01/31/2017
  • Est. Priority Date: 12/12/2003
  • Status: Active Grant
First Claim
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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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