Navigation of tubular networks
Inventors
Mintz, David S. • Ghoreyshi, Atiyeh • Jeevan, Prasanth • Xu, Yiliang • Yang, Gehua • Leotta, Matthew Joseph • Stewart, Charles V.
Assignees
Auris Health Inc • Kitware Inc
Publication Number
US-10482599-B2
Publication Date
2019-11-19
Expiration Date
2036-09-16
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Abstract
Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state.
Core Innovation
The invention provides methods and apparatuses for improved navigation through tubular networks such as lung airways by enhancing the estimation of location and orientation information of a medical instrument, for example, an endoscope, within the network. The system combines various input data sources—such as image data, electromagnetic (EM) data, and robot data—using distinct algorithmic modules to estimate the state of the instrument and to guide its travel to specific sites within the network.
Multiple algorithms process these different input types to produce estimated states, represented as probability distributions together with confidence values for each algorithm. The system leverages this information to provide navigation guidance, helping clinicians identify the current position and orientation of the medical tool and plan the instrument’s path through the tubular network. Real-time estimation and path planning are achieved by integrating data from preoperative CT scans, 3D models, and continually updated live sources.
This solution addresses the challenge present in existing navigation techniques, where locating a medical device accurately in real time within a branching anatomy—such as lung airways—can be compromised by inaccurate motion or position estimation, even when robotic devices and 3D references are used. The described invention enables more reliable and convenient operations by providing an improved, multi-input state estimation and navigation strategy for medical instruments during procedures such as bronchoscopy.
Claims Coverage
There are two primary independent inventive features described in the claims: a robotic medical system for bronchoscopy, and a method for robotically-assisted bronchoscopy.
Robotic medical system with integrated navigation module and remote control for bronchoscopy
The system comprises: - A robotic arm with multiple segments connected to a base, designed for surgical positioning. - A robotically-controllable bronchoscope, with articulable distal end, removably coupled to the robotic arm and suitable for insertion into a bronchial network. - A command console, featuring a command module with a trackball, allowing an operator to remotely control and articulate the distal end of the bronchoscope. - A display and at least one processor coupled with computer-readable media, executing instructions to enable a navigation module to: - Display a model of the bronchial network. - Access a selected target location. - Access a determined path from entry point to target. - Receive input data regarding the bronchoscope’s position from multiple data sources. - Determine bronchoscope’s position in the network based on the input data. - Display the determined bronchoscope position relative to the model. - Display navigational guidance including the determined path, distance to target, bronchoscope’s model-relative location, and depth data.
Method for robotically-assisted bronchoscopy with multi-source position tracking and real-time navigation display
The method includes: 1. Displaying a model of a bronchial network. 2. Accessing a selected target location and a determined path from entry to target. 3. Inserting a robotically-controllable bronchoscope into the patient's bronchial network using a robotic arm. 4. Receiving input data relating to bronchoscope position from multiple sources. 5. Determining the bronchoscope’s position within the bronchial network based on the input data. 6. Displaying the determined position relative to the displayed model. 7. Displaying navigational guidance, including the determined path to the target, distance to target, bronchoscope location relative to the model, and depth data.
These inventive features define a robotic bronchoscopy system and associated method combining advanced user interfaces, robotic actuation, and navigation modules able to integrate various data sources for improved intraoperative visualization, guidance, and control.
Stated Advantages
Improved estimation of location and orientation information of a medical instrument within a tubular network, leading to more accurate real-time localization.
Enhanced navigation for medical instruments through integration of multiple input data (e.g., image data, EM data, robot data) and advanced algorithms.
Convenient operation by physicians due to clear visual guidance, real-time feedback, and planned navigation paths using combined data sources.
Ability to recover from localization errors and correct navigation mistakes through probabilistic state estimation using confidence values and probability distributions.
Documented Applications
Robotically-assisted navigation and guidance during bronchoscopy procedures within a patient’s lung airway network.
Preoperative planning and intraoperative assistance for accessing targets (e.g., lesions for biopsy) within a patient’s bronchial or other anatomical tubular networks using robotic endoscopes.
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