System and method for navigating within the lung

Patent metadata

Field	Value
Publication number	US-11026644-B2
Application number	US-201715714412-A
Country	US
Kind code	B2
Filing date	Sep 25, 2017
Priority date	Jul 2, 2014
Publication date	Jun 8, 2021
Grant date	Jun 8, 2021

Abstract

Methods and systems for navigating to a target through a patient's bronchial tree are disclosed including a bronchoscope, a probe insertable into a working channel of the bronchoscope and including a location sensor, and a workstation in operative communication with the probe and the bronchoscope, the workstation including a user interface that guides a user through a navigation plan and is configured to present a central navigation view including a plurality of views configured for assisting the user in navigating the bronchoscope through central airways of the patient's bronchial tree toward the target, a peripheral navigation view including a plurality of views configured for assisting the user in navigating the probe through peripheral airways of the patient's bronchial tree to the target, and a target alignment view including a plurality of views configured for assisting the user in aligning a distal tip of the probe with the target.

First claim

What is claimed is:

1. A method for navigating to a target through a patient's bronchial tree, the method comprising:
loading a navigation plan;
receiving position information from a location sensor coupled to a probe insertable into a working channel of a bronchoscope and configured to be navigated through the patient's bronchial tree;
generating a central navigation view including a plurality of views for navigating the bronchoscope through central airways of the patient's bronchial tree toward the target based at least in part on the position information received from the location sensor;
generating a peripheral navigation view including a plurality of views for navigating the probe through peripheral airways of the patient's bronchial tree to the target based at least in part on the position information received from the location sensor;
generating a target alignment view including a plurality of views for aligning a distal tip of the probe with the target based at least in part on the position information received from the location sensor; and
displaying the central navigation view, the peripheral navigation view, or the target alignment view, wherein at least one of the central navigation view, the peripheral navigation view, or the target alignment view includes a local view including:
a display of a 2D slice from a plurality of 2D slices of a 3D volume, the 2D slice displayed horizontally within a 3D window and selected from the plurality of 2D slices based on a current orientation of a longitudinal axis of the probe and the position information received from the location sensor, a position of the 2D slice within the 3D window changing based on a change in the position information received from the location sensor;
a virtual representation of the probe overlaid onto the 2D slice in the 3D window, the virtual representation of the probe being fixed relative to the 3D window as the display of the 2D slice changes;
a 3D representation of the target displayed relative to the 2D slice in the 3D window, the 3D representation of the target including an upper portion of the target located above the 2D slice within the 3D window and a lower portion of the target located below the 2D slice within the 3D window; and
a watermark displayed against the 3D representation of the target in the 3D window.

2. The method according to claim 1 , wherein each of the central navigation view, peripheral navigation view, and target alignment view are configured to present one or more views selected from the group consisting of a bronchoscope view, a virtual bronchoscope view, a local view, a MIP view, a 3D map dynamic view, a 3D map static view, a sagittal CT view, an axial CT view, a coronal CT view, a tip view, a 3D CT view, and an alignment view.

3. The method according to claim 2 , wherein the central navigation view is configured to present the bronchoscope view, virtual bronchoscope view, and 3D map dynamic view.

4. The method according to claim 2 , wherein the peripheral navigation view is configured to present the bronchoscope view, 3D map dynamic view, tip view, and local view.

5. The method according to claim 2 , wherein the target alignment view is configured to present the 3D map dynamic view, local view, alignment view, and 3D CT view.

6. The method according to claim 2 , wherein the 3D map dynamic view includes a 3D model of the patient's bronchial tree, the 3D map dynamic view configured to automatically adjust the orientation of the 3D model in response to movement of the location sensor within the patient's bronchial tree.

7. The method according to claim 6 , wherein the 3D model includes a highlighted portion indicating a pathway through the patient's bronchial tree to the target.

8. The method according to claim 2 , wherein at least one of the 3D map dynamic view or the local view includes a virtual representation of the distal tip of the probe, the virtual representation configured to provide an indication of an orientation of the distal tip of the probe.

9. The method according to claim 8 , wherein the distal tip of the probe defines a configuration selected from the group consisting of a linear, a curved, or an angled configuration, and wherein the virtual representation of the distal tip of the probe has the same configuration as the distal tip of the probe.

10. The method according to claim 8 , wherein at least one of the 3D map dynamic view or the local view is configured to adjust the orientation of the virtual representation of the distal tip of the probe in response to a change in orientation of the distal tip of the probe within the patient's airways.

11. The method according to claim 2 , wherein the virtual bronchoscope view includes a virtual pathway configured to provide an indication of a pathway leading toward the target.

12. A method for navigating a probe to a target through a patient's bronchial tree, the method comprising:
displaying a central navigation view for navigating a bronchoscope through central airways of the patient's bronchial tree toward the target;
displaying a peripheral navigation view for navigating the probe through peripheral airways of the patient's bronchial tree to the target based at least in part on position information of the probe; and
displaying a target alignment view for aligning a distal tip of the probe with the target based at least in part on the position information of the probe, wherein at least one of the central navigation view, the peripheral navigation view, or the target alignment view includes a local view including:
a display of a 2D slice from a plurality of 2D slices of a 3D volume, 2D slice displayed horizontally within a 3D window and selected from the plurality of 2D slices based on a current orientation of a longitudinal axis of the probe and the position information of the probe, position of the 2D slice within the 3D window changing based on a change in the position information the probe;
a virtual representation of the probe overlaid onto the 2D slice in the 3D window, the virtual representation of the probe being fixed relative to the 3D window as the display of the 2D slice changes;
a 3D representation of the target displayed relative to the 2D slice in the 3D window, the 3D representation of the target including an upper portion located above the 2D slice within the 3D window and a lower portion located below the 2D slice within the 3D window; and
a watermark displayed against the 3D representation of the target in the 3D window.

13. The method according to claim 12 , further comprising displaying a 3D map dynamic view including a 3D model of the patient's bronchial tree.

14. The method according to claim 13 , further comprising automatically adjusting an orientation of the 3D model in response to a change in the position information of the probe.

15. A method for navigating a probe to a target through a patient's bronchial tree, the method comprising:
displaying a peripheral navigation view for navigating the probe through peripheral airways of the patient's bronchial tree to the target based at least in part on position information of the probe; and
displaying a target alignment view for aligning a distal tip of the probe with the target based at least in part on the position information of the probe, wherein at least one of the peripheral navigation view or the target alignment view includes a local view including:
a display of a 2D slice from a plurality of 2D slices of a 3D volume, the 2D slice displayed horizontally within a 3D window and selected from the plurality of 2D slices based on a current orientation of a longitudinal a

Assignees

• Covidien Lp

Inventors

• Brown Andrew E
• Miel David J
• Baker Matthew W
• Averbuch Dorian
• Klein Eyal
• Weingarten Oren P

Classifications

• A61B1/0004 Primary

  for electronic operation · CPC title

• A61B6/12 Primary

  Arrangements for detecting or locating foreign bodies · CPC title

• A61B2034/2051

  Electromagnetic tracking systems · CPC title

• A61B6/032

  Transmission computed tomography [CT] · CPC title

• A61B1/2676

  Bronchoscopes · CPC title