Automatic pathway and waypoint generation and navigation method
Inventors
Trumer, Dror • Nir, Yaniv • Averbuch, Dorian
Assignees
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Publication Number
US-8494246-B2
Publication Date
2013-07-23
Expiration Date
Abstract
A navigation system for use in a luminal network of a patient, such as the airways, that is able to analyze a three-dimensional model of the luminal network and automatically determine a pathway from an entry point to a designated target. The system further automatically assigns waypoints along the determined pathway in order to assist a physician in navigating a probe to the designated target.
Core Innovation
The invention relates to a method of accessing a target in a luminal network. The method constructs a three-dimensional model of the luminal network and identifies a target in the luminal network to be accessed. A path is calculated through the luminal network from the target to an entry point, where the path is identified through determination of change in lumen size.
The invention displays one or more visual representations of the path through the luminal network. A locatable guide is inserted into the luminal network and advanced through the luminal network following the calculated path on the display.
In an embodiment, the luminal network includes a bronchial airway of the lungs. The path calculation is refined by determining luminal size change, including selecting a path defined by change in lumen diameter, and the resulting pathway is represented using ordered way points between the target and the entry point.
Claims Coverage
The independent claim set includes 5 principal inventive features: constructing a three-dimensional model, identifying a target, calculating a path to an entry point based on determination of change in lumen size, displaying visual representations of the path, and advancing a locatable guide through the luminal network following the calculated path on the display.
Constructing a three-dimensional model of the luminal network
constructing a three-dimensional model of the luminal network.
Identifying a target and calculating a path to an entry point by determining change in lumen size
identifying a target in the luminal network to be accessed; calculating a path through the luminal network from the target to an entry point, the path being identified through determination of change in lumen size.
Displaying visual representations of the calculated path
displaying one or more visual representations of the path through the luminal network.
Inserting a locatable guide into the luminal network
inserting a locatable guide into the luminal network.
Advancing the locatable guide along the calculated path on the display
advancing the locatable guide through the luminal network following the calculated path on the display.
Bronchial airway of the lungs
the luminal network is a bronchial airway of the lungs.
Path defined by increasing luminal diameter
calculating a path includes defining the path by increasing luminal diameter from the target to the entry point.
Calculating one or more way points between the target and the entry point
calculating one or more way points within the luminal network between the target and the entry point.
Forming the three-dimensional model from CT images
forming the three-dimensional model from CT images.
Overall, the claims cover accessing a target by constructing a three-dimensional model, identifying a target, calculating and displaying a pathway through a luminal network using determination of change in lumen size, inserting a locatable guide, and advancing the locatable guide along the displayed path. Dependent aspects refine the luminal network as a bronchial airway, define the path using increasing luminal diameter, add way points, and form the model from CT images.
Stated Advantages
Documented Applications
No documented applications found
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