# US 10,478,254 B2 · System and method to access lung tissue > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,478,254 B2 - Document ID: US10478254B2 - Status: Granted - Kind: B2 - Application number: 15/155,830 - Filed: 2016-05-16 - Published: 2017-11-16 - Granted: 2019-11-19 - Earliest claimed: 2016-05-16 - Assignees: Covidien LP - Applicants: Covidien LP - Inventors: William S. Krimsky - Web page: https://patentgrep.com/patent/US10478254B2 ## CPC - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 10/04: Endoscopic instruments, e.g. catheter-type instruments - A61B 1/018: for receiving instruments - A61B 1/2676: {Bronchoscopes} - A61B 5/062: {using magnetic field} - A61B 5/6852: {Catheters} - A61B 18/1492: {having a flexible, catheter-like structure, e.g. for heart ablation (A61B18/1477 takes precedence)} - A61B 34/25: {User interfaces for surgical systems} - A61B 90/39: {Markers, e.g. radio-opaque or breast lesions markers} - A61B 2018/00541: {Lung or bronchi} - A61B 2034/107: {Visualisation of planned trajectories or target regions} - A61B 2034/2051: {Electromagnetic tracking systems} - A61B 2034/2065: {Tracking using image or pattern recognition} - A61B 2034/2068: {using pointers, e.g. pointers having reference marks for determining coordinates of body points} - A61B 2090/061: {for measuring dimensions, e.g. length} - A61B 2090/0811: {for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The method according to claim 1, further comprising: obtaining a plurality of images of the patient's body; and identifying the target site from the plurality of images. ### Claim 3 (depends on 2) The method according to claim 2, wherein the plurality of images are computer tomography (CT) images, ultrasound images, magnetic resonance images (MRI), fluoroscopic images, or endoscopic images. ### Claim 4 (depends on 1) The method according to claim 1, further comprising: displaying images of the patient's body; and receiving an input on one or more of the images indicating a location of the target site. ### Claim 5 (depends on 1) The method according to claim 1, further comprising identifying a location of the target site by detecting a biomarker at the target site. ### Claim 6 (depends on 1) The method according to claim 1, wherein the tracking of the location of the first sensor includes receiving orientation data corresponding to the first sensor. ### Claim 7 (depends on 1) The method according to claim 1, wherein the tool is a needle, a guide wire, a biopsy tool, a dilator, or an ablation device. ### Claim 8 (depends on 1) The method according to claim 1, further comprising: detecting a change in location of the first sensor; determining a distance between the location of the target site and the change in location of the first sensor; and updating the displayed distance between the target site and the tracked location of the first sensor. ### Claim 9 (depends on 1) The method according to claim 1, wherein the catheter is an extended working channel (EWC), a needle, a guide wire, a biopsy tool, a dilator, or an ablation device. ### Claim 10 (depends on 1) The method according to claim 1, wherein determining whether the second sensor is advanced to the target site includes determining whether a distance between the tracked location of the second sensor in the second position and the target site is zero. ### Claim 11 (depends on 1) The method according to claim 1, further comprising displaying a count-down of a distance remaining between the second sensor and the target site. ### Claim 12 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. ### Claim 13 (depends on 12) The navigation system according to claim 12, wherein the tool is an extended working channel (EWC), a needle, a guide wire, a biopsy tool, a dilator, or an ablation device. ### Claim 14 (depends on 12) The navigation system according to claim 12, wherein the first sensor is an electromagnetic sensor. ### Claim 15 (depends on 12) The navigation system according to claim 12, wherein the second sensor is an electromagnetic sensor. ### Claim 16 (depends on 12) The navigation system according to claim 12, wherein the tool is lockable relative to the catheter. ### Claim 17 (depends on 16) The navigation system according to claim 16, wherein the tool is locked to the catheter with a clip, a luer lock, or a thread. ### Claim 18 (depends on 12) The navigation system according to claim 12, further comprising an electromagnetic tracking system configured to generate an electromagnetic field for calculating the patient coordinate frame of reference and electromagnetically track a location of the first sensor and a location of the second sensor within the patient coordinate frame of reference. ### Claim 19 (depends on 12) The system according to claim 12, wherein the controller is caused to determine whether a distance between the tracked location of the second sensor in the second position and the target site is zero.