Guidance systems and associated methods

Patent metadata

Field	Value
Publication number	US-10911693-B2
Application number	US-201715808272-A
Country	US
Kind code	B2
Filing date	Nov 9, 2017
Priority date	Nov 11, 2016
Publication date	Feb 2, 2021
Grant date	Feb 2, 2021

Abstract

Guidance systems and associated methods are disclosed. One method comprises: receiving macroscan data prior to an operation; defining a body information model from the macroscan data; positioning a navigation component in the body during the operation; generating microscan data with the navigation component; correlating a location in the macroscan data with a location in the microscan data in the body information model; and/or modifying the body information model by combining an image in the microscan data with an image in the macroscan data.

First claim

The invention claimed is:

1. A method comprising:
receiving macroscan data including first images of a body and first location data associated with each first image;
combining the first images according to the first location data to generate a body information model;
positioning a navigation component in the body;
generating microscan data with the navigation component, the microscan data including second images of the body and second location data associated with each second image;
correlating the first location data with the second location data at a target location in the body information model;
modifying the body information model by combining the first images with the second images at the target location;
outputting a portion of the body information model as a navigation image;
identifying a path through the body in the navigation image;
generating at least one graphical cue configured to guide the navigation component through the path; and
guiding the navigation component through the path in response to the navigation image and the at least one graphical cue.

2. The method of claim 1 , wherein the navigation component includes a shaft and an internal scanner located on a distal portion of the shaft, and the method further comprises positioning the internal scanner in the body and generating the microscan data with the internal scanner.

3. The method of claim 2 , wherein the internal scanner includes a probe configured to generate wave energy images of the body and the second images include the wave energy images, the method further comprising generating the wave energy images with the probe.

4. The method of claim 3 , wherein the probe includes one or more ultrasound transducers configured to generate ultrasound images of the body, and generating the wave energy images includes generating ultrasound images with the one or more ultrasound transducers.

5. The method of claim 3 , wherein the probe includes one or more laser sources configured to generate laser images of the body, and generating the wave energy images includes generating laser images with the one or more laser sources.

6. The method of claim 2 , wherein the internal scanner includes a plurality of imaging elements configured to generate graphical images, and the method comprises generating the graphical images at one or more frequencies of the electromagnetic spectrum with the plurality of imaging elements, and the second images include the graphical images.

7. The method of claim 6 , wherein generating the graphical images comprises generating the graphical images in a visual light range.

8. The method of claim 6 , wherein the internal scanner includes a plurality of light sources, and the method comprises operating the plurality of light sources independent of or together with the plurality of imaging elements.

9. The method of claim 1 , wherein generating the microscan data includes generating second images and location data according to a predetermined sequence.

10. The method of claim 9 , wherein the second images are generated at a rate of 60 Hz or greater in the predetermined sequence.

11. The method of claim 1 , wherein the navigation component includes a shaft, and positioning a navigation component in the body comprises moving a distal portion of the shaft through the body.

12. The method of claim 11 , wherein the distal portion of the shaft includes a tracking sensor responsive to a magnetic field, and generating the second location data comprises moving the tracking sensor in the magnetic field.

13. A method comprising:
receiving macroscan data prior to an operation;
generating a body information model from the macroscan data;
positioning a navigation component in a body during the operation;
generating microscan data with the navigation component;
correlating a location in the macroscan data with a location in the microscan data in the body information model;
modifying the body information model by combining an image in the microscan data with an image in the macroscan data;
outputting a portion of the body information model as a navigation image;
identifying a path through the body in the navigation image;
identifying a location of the navigation component in the navigation image; and
guiding the navigation component along the path in the navigation image.

14. The method of claim 13 , further comprising:
locating objects in the body relative to the path; and
guiding the navigation component to the located objects.

15. The method of claim 14 , further comprising determining characteristics of the located objects.

16. The method of claim 15 , further comprising:
selecting one of the located objects based on its characteristics;
performing a treatment on the selected object; and
modifying the body information model to indicate that the selected object has been treated.

17. A method comprising:
receiving macroscan data prior to an operation, the macroscan data including first images of a body and first location data associated with each first image;
combining the first images according to the first location data to generate a body information model;
positioning a navigation component in the body during the operation;
generating the microscan data with the navigation component, the microscan data including second images of the body and second location data associated with each second image;
correlating the first location data with the second location data at a target location in the body information model;
modifying the body information model by combining the first images with the second images at the target location;
outputting a portion of the body information model as a navigation image;
identifying a path through the body in the navigation image;
identifying a location of the navigation component in the navigation image; and
guiding the navigation component along the path in the navigation image.

18. The method of claim 1 , wherein the first images include two-dimensional or three-dimensional images, and the second images include two-dimensional or three-dimensional images.

19. The method of claim 13 , further comprising generating one or more indicators configured to guide the navigation component along the path in the navigation image.

20. The method of claim 15 , wherein the characteristics of the located objects include composition, density, fragility, and/or size.

Assignees

• Boston Scient Scimed Inc

Inventors

• Rauniyar Niraj P
• Harrah Timothy P
• Pereira Peter J
• Asselin William M
• Chu Michael S H
• Craft Brandon W
• Nodiff Adam P
• Schneider Chad
• Stanhope William
• Wong Eric
• Degraaf Kimberly

Classifications

• H04N23/555

  for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes · CPC title

• H04N23/56

  provided with illuminating means · CPC title

• A61B2034/2065

  Tracking using image or pattern recognition · CPC title

• A61B2034/2051

  Electromagnetic tracking systems · CPC title

• A61B2034/105

  Modelling of the patient, e.g. for ligaments or bones · CPC title