System and method to access lung tissue

• US 10,478,254 B2
• Filed: 05/16/2016
• Issued: 11/19/2019
• Est. Priority Date: 05/16/2016
• Status: Active Grant

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Covidien LP (Medtronic Plc)
• Inventors: Krimsky, William S.
• Primary Examiner(s): Behringer, Luther
• Assistant Examiner(s): Mattson, Sean D
• Application Number:
  US15/155,830
• Publication Number:
  US 20170325895A1
• Time in Patent Office: 1,282 Days
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 1/2676 Bronchoscopes
• CPC Class Codes: A61B 10/04 Endoscopic instruments
• CPC Class Codes: A61B 18/1492 having a flexible, catheter-like structure, e.g. for heart ablation A61B18/1477 takes precedence
• CPC Class Codes: A61B 2018/00541 Lung or bronchi
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2090/061 for measuring dimensions, e.g. length
• CPC Class Codes: A61B 2090/0811 for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
• 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: A61B 5/062 using magnetic field
• CPC Class Codes: A61B 5/6852 Catheters
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers

Abstract

A system and method for navigating to a target site in a patient is provided. The system includes an extended working channel and a tool usable with an electromagnetic navigation system. In particular, the extended working channel and the tool contain an electromagnetic sensor configured to provide location information within a patient of the extended working channel and the tool to the electromagnetic navigation system. The distance from the tool and the target site can then be determined and displayed to a clinician on a display device.

Claims

1. A method for providing tool navigation assistance comprising:

tracking a location of a first sensor disposed on a distal portion of a catheter using an electromagnetic tracking system;

tracking a location of a second sensor disposed on a tool positionable through a lumen of the catheter using the electromagnetic tracking system when the second sensor is in a first position within a patient coordinate frame of reference and when the second sensor is in a second position within the patient coordinate frame of reference;

determining a distance between a target site within a patient'"'"'s body and the tracked location of the first sensor;

displaying the determined distance between the target site and the tracked location of the first sensor;

determining a distance between the tracked location of the first sensor and the tracked location of the second sensor in the first position;

determining a distance between the tracked location of the second sensor in the first position within the patient coordinate frame of reference and the tracked location of the second sensor in the second position within the patient coordinate frame of reference;

determining a distance between the tracked location of the first sensor and the tracked location of the second sensor in the second position by adding the determined distance between the tracked location of the first sensor and the tracked location of the second sensor in the first position and the determined distance between the tracked location of the second sensor in the first position and the tracked location of the second sensor in the second position;

displaying the determined distance between the tracked location of the first sensor and the tracked location of the second sensor in the second position; and

determining whether the second sensor is advanced to the target site.

2. The method according to claim 1, further comprising:

obtaining a plurality of images of the patient'"'"'s body; and

identifying the target site from the plurality of images.

3. The method according to claim 2, wherein the plurality of images are computer tomography (CT) images, ultrasound images, magnetic resonance images (MRI), fluoroscopic images, or endoscopic images.

4. The method according to claim 1, further comprising:

displaying images of the patient'"'"'s body; and

receiving an input on one or more of the images indicating a location of the target site.

5. The method according to claim 1, further comprising identifying a location of the target site by detecting a biomarker at the target site.

6. The method according to claim 1, wherein the tracking of the location of the first sensor includes receiving orientation data corresponding to the first sensor.

7. The method according to claim 1, wherein the tool is a needle, a guide wire, a biopsy tool, a dilator, or an ablation device.

8. The method according to claim 1, further comprising:

detecting a change in location of the first sensor;

determining a distance between the location of the target site and the change in location of the first sensor; and

updating the displayed distance between the target site and the tracked location of the first sensor.

9. The method according to claim 1, wherein the catheter is an extended working channel (EWC), a needle, a guide wire, a biopsy tool, a dilator, or an ablation device.

10. The method according to claim 1, wherein determining whether the second sensor is advanced to the target site includes determining whether a distance between the tracked location of the second sensor in the second position and the target site is zero.

11. The method according to claim 1, further comprising displaying a count-down of a distance remaining between the second sensor and the target site.

12. A navigation system comprising:

a catheter configured to be advanced through a patient'"'"'s luminal network, the catheter having a first sensor and defining a lumen;

a tool configured to be advanced through the lumen of the catheter, the tool having a second sensor;

a display configured to display an image of a portion of the patient'"'"'s luminal network;

a controller coupled to the display; and

a memory storing instructions for the controller configured to;

track a location of the first sensor using an electromagnetic tracking system;

track a location of the second sensor using the electromagnetic tracking system when the second sensor is in a first position within a patient coordinate frame of reference and when the second sensor is in a second position within the patient coordinate frame of reference;

determine a distance between a target site and the tracked location of the first sensor;

display, on the display, the distance between the target site and the tracked location of the first sensor;

determine a distance between the tracked location of the first sensor and the tracked location of the second sensor in the first position;

determine a distance between the tracked location of the second sensor in the first position within the patient coordinate frame of reference and the tracked location of the second sensor in the second position within the patient coordinate frame of reference;

determine a distance between the tracked location of the first sensor and the tracked location of the second sensor in the second position by adding the determined distance between the tracked location of the first sensor and the tracked location of the second sensor in the first position and the determined distance between the tracked location of the second sensor in the first position and the tracked location of the second sensor in the second position;

display the determined distance between the tracked location of the first sensor and the tracked location of the second sensor in the second position; and

determine whether the tool is advanced to the target site.

13. The navigation system according to claim 12, wherein the tool is an extended working channel (EWC), a needle, a guide wire, a biopsy tool, a dilator, or an ablation device.

14. The navigation system according to claim 12, wherein the first sensor is an electromagnetic sensor.

15. The navigation system according to claim 12, wherein the second sensor is an electromagnetic sensor.

16. The navigation system according to claim 12, wherein the tool is lockable relative to the catheter.

17. The navigation system according to claim 16, wherein the tool is locked to the catheter with a clip, a luer lock, or a thread.

18. The navigation system according to claim 12, further comprising an electromagnetic tracking system configured to generate an electromagnetic field for calculating the patient coordinate frame of reference and electromagnetically track a location of the first sensor and a location of the second sensor within the patient coordinate frame of reference.

19. The system according to claim 12, wherein the controller is caused to determine whether a distance between the tracked location of the second sensor in the second position and the target site is zero.