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US 10,555,778 B2Granted
Image-based branch detection and mapping for navigation
AssigneeAuris Health, Inc.
InventorRitwik Ummalaneni
Life of this patent
Estimating the term…
Abstract
Navigation of an instrument within a luminal network can include image-based branch detection and mapping. Image-based branch detection can include identifying within an image one or more openings associated with one or more branches of a luminal network. Image-based branch mapping can include mapping the detected one or more openings to corresponding branches of the luminal network. Mapping may include comparing features of the openings to features of a set of expected openings. A position state estimate for the instrument can be determined from the mapped openings, which can facilitate navigation of the luminal network.
Claims22
A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause a processor of a device to at least:
- determine a position state estimate of an instrument positioned within a current branch of a luminal network, the instrument having an elongate body configured to be inserted into the luminal network and an imaging device positioned on a distal portion of the elongate body, the instrument attached to an instrument positioning device configured to move the instrument through the luminal network;
- determine a set of expected subsequent branches based at least in part on the position state estimate and a preoperative model of the luminal network;
- capture an image of the current branch with the imaging device positioned on the instrument;
- detect within the image a plurality of openings connecting subsequent branches of the luminal network to the current branch;
- determine an estimate of a roll of the instrument based on comparing an orientation of the detected openings within the image to an orientation of the set of expected subsequent branches;
- determine a first feature of the detected plurality of openings;
- determine a second feature of the set of expected subsequent branches;
- calculate a roll correction value based on the estimate of the roll of the instrument;
- correct the second feature based on the roll correction value;
- compare the first feature to the corrected second feature to determine a mapping of each of the plurality of openings to one of expected subsequent branches;
- and
- based at least in part on the mapping, provide an updated position state estimate.
9 more elements
A robotic system for navigating a luminal network of a patient, the robotic system comprising:
- an instrument having
- an elongate body configured to be inserted into the luminal network, and
- an imaging device positioned on a distal portion of the elongate body;
- an instrument positioning device attached to the instrument, the instrument positioning device configured to move the instrument through the luminal network;
- at least one non-transitory computer-readable memory having stored thereon executable instructions;
- and
- one or more processors in communication with the at least one non-transitory computer-readable memory and configured to execute the instructions to cause the system to at least:
- determine a position state estimate of the instrument positioned within a current branch of the luminal network;
- determine a set of expected subsequent branches based at least in part on the initial state estimate and a preoperative model of the luminal network;
- capture an image of the current branch of the luminal network with the imaging device positioned on the instrument;
- detect within the image a plurality of openings connecting subsequent branches of the luminal network to the current branch;
- determine an estimate of a roll of the instrument based on comparing an orientation of the detected openings within the image to an orientation of the set of expected subsequent branches;
- determine a first feature of the detected plurality of openings;
- determine a second feature of the set of expected subsequent branches;
- calculate a roll correction value based on the estimate of the roll of the instrument;
- correct the second feature based on the roll correction value;
- compare the first feature to the corrected second feature to determine a mapping of each of the plurality of openings to one of the expected subsequent branches;
- and
- based at least in part on the mapping, provide an updated position state estimate.
16 more elements
A method for navigating a luminal network, the method comprising:
- inserting an instrument into a current branch of the luminal network, the instrument having an elongate body configured to be inserted into the luminal network and an imaging device positioned on a distal portion of the elongate body, the instrument attached to an instrument positioning device configured to move the instrument through the luminal network;
- receiving a position state estimate for the instrument;
- determining a set of expected subsequent branches based at least in part on the initial state estimate and a preoperative model of the luminal network;
- capturing an image of the current branch with the imaging device positioned on the instrument;
- analyzing the image to detect a plurality of openings connecting subsequent branches to the current branch;
- determining an estimate of a roll of the instrument based on comparing an orientation of the detected openings within the image to an orientation of the set of expected subsequent branches;
- determining a first feature of the detected plurality of openings;
- determining a second feature of the set of expected subsequent branches;
- calculating a roll correction value based on the estimate of the roll of the instrument;
- correcting the second feature based on the roll correction value;
- comparing the first feature to the corrected second feature to determine a mapping of each of the plurality of openings to one of the expected subsequent branches;
- and
- based at least in part on the mapping, provide an updated position state estimate.
10 more elements
Dependencies are inferred from the claim text.