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US 11,141,224 B2Granted
Robotic systems for determining an angular degree of freedom of a medical device in luminal networks
AssigneeAuris Health, Inc.
InventorRitwik Ummalaneni
Life of this patent
Estimating the term…
Abstract
Certain aspects relate to systems and techniques for navigation-assisted medical devices. Some aspects relate to correlating features of depth information generated based on captured images of an anatomical luminal network with virtual features of depth information generated based on virtual images of a virtual representation of the anatomical luminal network in order to automatically determine aspects of a roll of a medical device within the luminal network.
Claims28
A method of facilitating navigation of an anatomical luminal network of a patient, the method, executed by a set of one or more computing devices, comprising:
- receiving imaging data captured by an imaging device at a distal end of an instrument positioned within the anatomical luminal network, the anatomical luminal network including a first branch and a second branch;
- generating a depth map based at least in part on the imaging data;
- identifying:
- a first depth criterion associated with the depth map and representing a position of the first branch;
- and
- a second depth criterion associated with the depth map and representing a position of the second branch;
- determining a separation distance between the first depth criterion and the second depth criterion;
- accessing one or more features associated with a virtual image, the virtual image simulated from a viewpoint of a virtual imaging device positioned at a virtual location within a virtual luminal network representative of the anatomical luminal network, the virtual luminal network including a virtual first branch corresponding to the first branch and a virtual second branch corresponding to the second branch;
- and
- determining a value representing at least one angular degree of freedom of the distal end of the instrument within the anatomical luminal network based at least in part on the separation distance and the one or more features associated with the virtual image.
7 more elements
A system configured to facilitate navigation of an anatomical luminal network of a patient, the system comprising:
- an imaging device at a distal end of an instrument;
- at least one computer-readable memory having stored thereon executable instructions;
- and
- one or more processors in communication with the at least one computer-readable memory and configured to execute the executable instructions to cause the system to:
- receive imaging data captured by the imaging device with the distal end of the instrument positioned within the anatomical luminal network, the anatomical luminal network including a first branch and a second branch;
- generate a depth map representing the image data;
- identify first and second pixels of the depth map representing a first positioning of the first branch and the second branch in the imaging data;
- determine a quantity of separation between the first and second pixels of the depth map;
- access one or more features associated with a virtual image, the virtual image simulated from a viewpoint of a virtual imaging device positioned at a virtual location within a virtual luminal network representative of the anatomical luminal network, the virtual luminal network including a virtual first branch corresponding to the first branch and a virtual second branch corresponding to the second branch, the one or more features associated with the virtual image representing a second positioning of the virtual first branch and the virtual second branch in the virtual image;
- and
- determine a value representing at least one angular degree of freedom of the distal end of the distal end of the instrument within the anatomical luminal network based at least in part on the quantity of separation and the one or more features associated with the virtual image.
8 more elements
A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to:
- receive imaging data captured by an imaging device at a distal end of an instrument positioned within an anatomical luminal network, wherein the anatomical luminal network includes a first branch and a second branch;
- generate depth map data based at least in part on the imaging data;
- identify first and second depth map features in the depth map data representing a first positioning of the first branch and the second branch in the imaging data;
- determining a first distance between the first and second depth map features;
- access a virtual image including a virtual first branch corresponding to the first branch and a virtual second branch corresponding to the second branch, the virtual first branch and the virtual second branch being separated by a second distance in the virtual image;
- and
- determine a value representing at least one angular degree of freedom of the distal end of the instrument within the anatomical luminal network based at least in part on the first distance and the second distance.
4 more elements
Dependencies are inferred from the claim text.