Endoscope structures and techniques for navigating to a target in branched structure
First Claim
1. A method for steering a catheter through a bronchial tree to a target location, the method comprising:
- receiving a computer tomographic (CT) image data set of the bronchial tree;
generating a three-dimensional (3D) model of the bronchial tree from the CT data set;
providing a flexible catheter including a sensor element, the sensor element being part of a position measuring system, the position measuring system determining a position and a pointing direction of a tip of the flexible catheter based on data from the sensor element;
identifying the target location;
determining a route through the 3D model of the bronchial tree to the target location;
detecting advancement of the flexible catheter through the bronchial tree; and
displaying a representation of a current position of the flexible catheter in the bronchial tree, a representation of a target, a representation of the route through the 3D model of the bronchial tree to the target location, a graphical representation of the pointing direction of the tip of the flexible catheter, and a graphical representation of a direction towards the target location.
3 Assignments
0 Petitions
Accused Products
Abstract
Systems and methods employing a small gauge steerable catheter including a locatable guide with a sheath, particularly as an enhancement to a bronchoscope. A typical procedure is as follows. The location of a target in a reference coordinate system is detected or imported. The catheter is navigated to the target which tracking the distal tip of the guide in the reference coordinate system. Insertion of the catheter is typically via a working channel of a convention bronchoscope. Once the tip of the catheter is positioned at the target, the guide is withdrawn, leaving the sheath secured in place. The sheath is then used as a guide channel to direct a medical tool to target.
725 Citations
23 Claims
-
1. A method for steering a catheter through a bronchial tree to a target location, the method comprising:
-
receiving a computer tomographic (CT) image data set of the bronchial tree; generating a three-dimensional (3D) model of the bronchial tree from the CT data set; providing a flexible catheter including a sensor element, the sensor element being part of a position measuring system, the position measuring system determining a position and a pointing direction of a tip of the flexible catheter based on data from the sensor element; identifying the target location; determining a route through the 3D model of the bronchial tree to the target location; detecting advancement of the flexible catheter through the bronchial tree; and displaying a representation of a current position of the flexible catheter in the bronchial tree, a representation of a target, a representation of the route through the 3D model of the bronchial tree to the target location, a graphical representation of the pointing direction of the tip of the flexible catheter, and a graphical representation of a direction towards the target location. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
-
-
10. A method for depicting a position and pointing direction of a catheter in a branched structure bronchial tree comprising:
-
providing a flexible catheter with a sensor element located in the flexible catheter, the sensor element being part of a position measuring system, the position measuring system determining a position and pointing direction of a distal portion of the flexible catheter based on data from the sensor element; identifying a target; determining a route through a virtual model of the bronchial tree generated from a computer tomographic (CT) image data set of the bronchial tree to the target; detecting advancement of the flexible catheter into the bronchial tree; and displaying a representation of a current position of the distal portion of the flexible catheter in the virtual model of the bronchial tree, a representation of the target in the virtual model of the bronchial tree, a representation of the route through the virtual model of the bronchial tree to the target, and a graphical representation of at least one parameter defined by a geometrical relation between a pointing direction of the distal portion of the flexible catheter and a pointing direction to the target. - View Dependent Claims (11, 12, 13, 14, 15, 16)
-
-
17. A method comprising:
-
acquiring a computer tomographic image data set of a bronchial tree; generating a virtual model of the bronchial tree from the computer tomographic image data set of the bronchial tree, the virtual model including a representation of a target; determining a planned pathway through the virtual model of the bronchial tree to the target; displaying a representation of the planned pathway through the virtual model of the bronchial tree to the target; registering the virtual model of the bronchial tree with a bronchial tree of a patient; determining a position and pointing direction of a distal portion of a flexible catheter relative to the virtual model of the bronchial tree; and displaying at least a portion of the representation of the planned pathway through the virtual model of the bronchial tree to the target with a graphical representation of the position and pointing direction of the distal portion of the flexible catheter in the virtual model. - View Dependent Claims (18, 19, 20, 21, 22, 23)
-
Specification