System and method of providing distance and orientation feedback while navigating in 3d

Patent metadata

Field	Value
Publication number	US-2016000520-A1
Application number	US-201514790107-A
Country	US
Kind code	A1
Filing date	Jul 2, 2015
Priority date	Jul 2, 2014
Publication date	Jan 7, 2016
Grant date	—

Abstract

A system for navigating to a target, the system comprising an extended working channel having a lumen extending therethrough for receiving a tool, a computing device including a memory and at least one processor, a plurality of images stored in the memory, a program stored in the memory that, when executed by the at least one processor, presents a user interface. The user interface including, at least one image of the plurality of images depicting the target and a progression of the extended working channel through the airway, a probability treatment zone defining a probability distribution of a trajectory of the tool once deployed beyond an opening of the extended working channel displayed in the at least one image. The user interface is displayed on a display device.

First claim

What is claimed is:

1 . A system for navigating to a target, the system comprising:
an extended working channel defining a lumen extending therethrough for receiving a tool; a computing device including a memory and at least one processor; a plurality of images stored in the memory; a display device that displays a user interface; and a program stored in the memory that, when executed by the at least one processor, presents the user interface, the user interface including:
at least one image of the plurality of images depicting the target and a progression of the extended working channel through the airway; and
a probability treatment zone defining a probability distribution of a trajectory of the tool once deployed beyond an opening of the extended working channel displayed in the at least one image.

2 . The system according to claim 1 , where the user interface is configured to depict movement of the extended working channel allowing the user to position the probability treatment zone in an orientation so that at least a portion of the target is encompassed by the probability treatment zone.

3 . The system according to claim 2 , wherein the user interface is further configured to allow the user to display the probability treatment zone as a three-dimensional volumetric shape.

4 . The system according to claim 3 , wherein the user interface is configured such that an increase in a target volume inside the probability treatment zone indicates an increase in probability that the tool will interact with a portion of the target inside the probability treatment zone.

5 . The system according to claim 3 , wherein the user interface is configured such that a length of the probability treatment zone from the opening of the extended working channel corresponds to a maximum effective range the tool can be deployed beyond the opening of the extended working channel.

6 . The system according to claim 2 , wherein the user interface is further configured to allow the user to display the probability treatment zone as a two-dimensional shape.

7 . The system according to claim 6 , wherein the user interface is further configured to display the probability treatment zone with a first indicator, wherein the first indicator includes a status of an orientation of the tool with respect to the target and a second indicator, where the second indicator includes a status of a range of the tool with respect to the target.

8 . The system according to claim 7 , wherein when the portion of the target is encompassed by the probability treatment zone, the status of the first indicator changes indicate that the orientation of the tool allows the tool to interact with the target.

9 . The system according to claim 7 , wherein when the range from the opening of the extended working channel to the target is less than a maximum deployable range of the tool, the status of the second indicator changes to indicate that the range of the tool allows the tool to interact with the target.

10 . The system according to claim 1 , wherein the tool is selected from the group consisting of a needle, an access tool, a biopsy tool, a therapeutic material application tool, and an ablation tool.

11 . The system according to claim 9 , wherein the user interface is further configured to adjust the probability treatment zone based on the tool selected.

12 . A non-transitory computer-readable storage medium encoded with a program that, when executed by a processor, causes the processor to:
import CT image data of a patient; generate a 3D reconstruction from the CT image data; present the 3D reconstruction; present a user interface, the user interface including:
at least one image depicting a progression of an extended working channel having a lumen extending therethrough for receiving a tool to interact with a target, wherein the progression of the extended working channel is depicted within the 3D reconstruction; and
a probability treatment zone defining a probability distribution of a trajectory of the tool once deployed beyond an opening of the extended working channel displayed in the at least one image; and
display the user interface.

13 . The non-transitory computer-readable storage medium of claim 12 encoded with a program that, when executed by a processor, causes the processor to:
allow the user to position the probability treatment zone in an orientation so that at least a portion of the target is encompassed by the probability treatment zone.

14 . The non-transitory computer-readable storage medium of claim 13 encoded with a program that, when executed by a processor, causes the processor to:
allow the user to display the probability treatment zone as a three-dimensional volumetric shape.

15 . The non-transitory computer-readable storage medium of claim 14 , wherein an increase in a target volume inside the probability treatment zone indicates an increase in probability that the tool will interact with a portion of the target inside the probability treatment zone.

16 . The non-transitory computer-readable storage medium of claim 14 , wherein a length of the probability treatment zone from the opening of the extended working channel corresponds to a maximum effective range the tool can be deployed beyond the opening of the extended working channel.

17 . The non-transitory computer-readable storage medium of claim 13 encoded with a program that, when executed by a processor, causes the processor to:
allow the user to display the probability treatment zone as a two-dimensional shape, wherein the probability treatment zone further includes a first indicator and a second indicator, and wherein the first indicator includes a status of an orientation of the tool with respect to the target and the second indicator includes a status of a range of the tool with respect to the target.

18 . The non-transitory computer-readable storage medium of claim 17 , wherein when the portion of the target is encompassed by the probability treatment zone, the status of the first indicator changes indicate that the orientation of the tool allows the tool to interact with the target.

19 . The non-transitory computer-readable storage medium of claim 17 , wherein when the range from the opening of the extended working channel to the target is less than a maximum deployable range of the tool, the status of the second indicator changes to indicate that the range of the tool allows the tool to interact with the target.

20 . The non-transitory computer-readable storage medium of claim 13 encoded with a program that, when executed by a processor, causes the processor to:
allow the user to select the tool from the group consisting of a needle, an access tool, a biopsy tool, a therapeutic material application tool, and an ablation tool, wherein the probability treatment zone is adjusted based on the tool selected.

Assignees

• Covidien Lp

Inventors

• Lachmanovich Elad D
• Greenburg Benjamin
• Klein Eyal

Classifications

• A61B1/2676

  Bronchoscopes · CPC title

• A61B2034/2051

  Electromagnetic tracking systems · CPC title

• A61B10/04

  Endoscopic instruments, e.g. catheter-type instruments · CPC title

• A61B2034/105

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

• A61B5/062

  using magnetic field · CPC title