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US 10,478,254 B2Granted
System and method to access lung tissue
AssigneeCovidien LP
InventorWilliam S. Krimsky
Life of this patent
Estimating the term…
Abstract
A system and method for navigating to a target site in a patient is provided. The system includes an extended working channel and a tool usable with an electromagnetic navigation system. In particular, the extended working channel and the tool contain an electromagnetic sensor configured to provide location information within a patient of the extended working channel and the tool to the electromagnetic navigation system. The distance from the tool and the target site can then be determined and displayed to a clinician on a display device.
Claims19
A method for providing tool navigation assistance comprising:
- tracking a location of a first sensor disposed on a distal portion of a catheter using an electromagnetic tracking system;
- tracking a location of a second sensor disposed on a tool positionable through a lumen of the catheter using the electromagnetic tracking system when the second sensor is in a first position within a patient coordinate frame of reference and when the second sensor is in a second position within the patient coordinate frame of reference;
- determining a distance between a target site within a patient's body and the tracked location of the first sensor;
- displaying the determined distance between the target site and the tracked location of the first sensor;
- determining a distance between the tracked location of the first sensor and the tracked location of the second sensor in the first position;
- determining a distance between the tracked location of the second sensor in the first position within the patient coordinate frame of reference and the tracked location of the second sensor in the second position within the patient coordinate frame of reference;
- determining a distance between the tracked location of the first sensor and the tracked location of the second sensor in the second position by adding the determined distance between the tracked location of the first sensor and the tracked location of the second sensor in the first position and the determined distance between the tracked location of the second sensor in the first position and the tracked location of the second sensor in the second position;
- displaying the determined distance between the tracked location of the first sensor and the tracked location of the second sensor in the second position;
- and
- determining whether the second sensor is advanced to the target site.
7 more elements
A navigation system comprising:
- a catheter configured to be advanced through a patient's luminal network, the catheter having a first sensor and defining a lumen;
- a tool configured to be advanced through the lumen of the catheter, the tool having a second sensor;
- a display configured to display an image of a portion of the patient's luminal network;
- a controller coupled to the display;
- and
- a memory storing instructions for the controller configured to:
- track a location of the first sensor using an electromagnetic tracking system;
- track a location of the second sensor using the electromagnetic tracking system when the second sensor is in a first position within a patient coordinate frame of reference and when the second sensor is in a second position within the patient coordinate frame of reference;
- determine a distance between a target site and the tracked location of the first sensor;
- display, on the display, the distance between the target site and the tracked location of the first sensor;
- determine a distance between the tracked location of the first sensor and the tracked location of the second sensor in the first position;
- determine a distance between the tracked location of the second sensor in the first position within the patient coordinate frame of reference and the tracked location of the second sensor in the second position within the patient coordinate frame of reference;
- determine a distance between the tracked location of the first sensor and the tracked location of the second sensor in the second position by adding the determined distance between the tracked location of the first sensor and the tracked location of the second sensor in the first position and the determined distance between the tracked location of the second sensor in the first position and the tracked location of the second sensor in the second position;
- display the determined distance between the tracked location of the first sensor and the tracked location of the second sensor in the second position;
- and
- determine whether the tool is advanced to the target site.
13 more elements
Dependencies are inferred from the claim text.