System and method for navigating within the lung

• US 9,770,216 B2
• Filed: 06/29/2015
• Issued: 09/26/2017
• Est. Priority Date: 07/02/2014
• Status: Active Grant

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Covidien LP (Medtronic Plc)
• Inventors: Brown, Andrew E., Miel, David J., Baker, Matthew W., Averbuch, Dorian, Klein, Eyal, Weingarten, Oren P.
• Primary Examiner(s): Nguyen, Anhtuan T
• Assistant Examiner(s): WOO, JAE KYUN
• Application Number:
  US14/753,288
• Publication Number:
  US 20160000302A1
• Time in Patent Office: 820 Days
• Field of Search: 600118, 600117, 600120, 600185, 606 1, 382131, 378 40, 378 985, 345419, 345420, 703 11
• CPC Class Codes: A61B 1/0004 for electronic operation
• CPC Class Codes: A61B 1/0005 combining images e.g. side-by-side, superimposed or tiled
• CPC Class Codes: A61B 1/2676 Bronchoscopes
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/465 adapted to display user selection data, e.g. graphical user interface, icons or menus
• CPC Class Codes: A61B 6/466 adapted to display 3D data
• CPC Class Codes: A61B 6/50 specially adapted for specific body parts; specially adapted for specific clinical applications
• CPC Class Codes: A61B 6/5247 combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound

Abstract

Methods and systems for navigating to a target through a patient'"'"'s bronchial tree are disclosed including a bronchoscope, a probe insertable into a working channel of the bronchoscope and including a location sensor, and a workstation in operative communication with the probe and the bronchoscope, the workstation including a user interface that guides a user through a navigation plan and is configured to present a central navigation view including a plurality of views configured for assisting the user in navigating the bronchoscope through central airways of the patient'"'"'s bronchial tree toward the target, a peripheral navigation view including a plurality of views configured for assisting the user in navigating the probe through peripheral airways of the patient'"'"'s bronchial tree to the target, and a target alignment view including a plurality of views configured for assisting the user in aligning a distal tip of the probe with the target.

Claims

1. A system for navigating to a target through a patient'"'"'s bronchial tree, the system comprising:

a bronchoscope configured for insertion into the patient'"'"'s bronchial tree, the bronchoscope defining a working channel;

a probe insertable into the working channel of the bronchoscope and including a location sensor, the probe configured to navigate through the patient'"'"'s bronchial tree; and

a workstation in operative communication with the probe and the bronchoscope, the workstation including a memory and at least one processor, the memory storing a navigation plan and a program that, when executed by the processor, presents a user interface that guides a user through the navigation plan, the user interface configured to present;

a central navigation view configuration including an array of views configured for assisting the user in navigating the bronchoscope through central airways of the patient'"'"'s bronchial tree toward the target;

a peripheral navigation view configuration including an array of views configured for assisting the user in navigating the probe through peripheral airways of the patient'"'"'s bronchial tree to the target; and

a target alignment view configuration including an array of views configured for assisting the user in aligning a distal tip of the probe with the target,

wherein the user may toggle among the central navigation view configuration, the peripheral navigation view configuration, and the target alignment view configuration, and

wherein at least one of the central navigation view configuration, the peripheral navigation view configuration, and the target alignment view configuration includes a three-dimensional view which includes a plane indicative of an orientation of the probe and an indicator indicating an elevation of the target relative to the plane indicative of an orientation of the probe.

2. The system according to claim 1, wherein each of the central navigation view configuration, peripheral navigation view configuration, and target alignment view configuration are configured to present one or more views selected from the group consisting of a bronchoscope view, a virtual bronchoscope view, a local view, a MIP view, a 3D map dynamic view, a 3D map static view, a sagittal CT view, an axial CT view, a coronal CT view, a tip view, a 3D CT view, and an alignment view.

3. The system according to claim 2, wherein the central navigation view configuration is configured to present the bronchoscope view, virtual bronchoscope view, and 3D map dynamic view.

4. The system according to claim 2, wherein the peripheral navigation view configuration is configured to present the bronchoscope view, 3D map dynamic view, tip view, and local view.

5. The system according to claim 2, wherein the target alignment view configuration is configured to present the 3D map dynamic view, local view, alignment view, and 3D CT view.

6. The system according to claim 2, wherein the 3D map dynamic view includes a 3D model of the patient'"'"'s bronchial tree, the 3D map dynamic view configured to automatically adjust the orientation of the 3D model in response to movement of the location sensor within the patient'"'"'s airways.

7. The system according to claim 6 wherein the 3D model includes a highlighted portion indicating a pathway along the patient'"'"'s bronchial tree to the target.

8. The system according to claim 2, wherein at least one of the 3D map dynamic view or the local view includes a virtual representation of the distal tip of the probe, the virtual representation configured to provide the user with an indication of an orientation of the distal tip of the probe.

9. The system according to claim 8, wherein the virtual representation of the distal tip of the probe is a 3D virtual representation.

10. The system according to claim 8, wherein the distal tip of the probe defines a configuration selected from the group consisting of a linear, a curved, or an angled configuration, and wherein the virtual representation of the distal tip of the probe has the same configuration as the distal tip of the probe.

11. The system according to claim 8, wherein the at least one of the 3D map dynamic view and the local view is configured to adjust the orientation of the virtual representation of the distal tip of the probe in response to a change in orientation of the distal tip of the probe within the patient'"'"'s airways.

12. The system according to claim 2, wherein the virtual bronchoscope view includes a virtual pathway configured to provide the user with an indication of a pathway leading toward the target.

13. The system according to claim 2, wherein the local view presents an elevated view of a slice of a 3D volume of the navigation plan, and wherein the local view is configured to change the slice of the 3D volume to be presented in response to movement of the probe within the patient'"'"'s bronchial tree.

14. The system according to claim 13, wherein the local view includes a 3D representation of the target disposed relative to the presented slice of the 3D volume, the presented slice of the 3D volume defining a watermark against the 3D representation of the target indicating a relative position of the 3D representation of the target to the presented slice of the 3D volume.

15. The system according to claim 14, wherein a first portion of the 3D representation of the target disposed above the presented slice of the 3D volume is presented as a first color, and a second portion of the 3D representation of the target disposed below the presented slice of the 3D volume is presented as a second color.