Device and method for tracking the position of an endoscope within a patient's body
AssigneeEndoChoice, Inc.
InventorAchia Kronman
Life of this patent
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Abstract
Systems and methods of tracking the position of an endoscope within a patient's body during an endoscopic procedure is disclosed. The devices and methods include determining a position of the endoscope within the patient in the endoscope's coordinate system, capturing in an image fiducial markers attached to the endoscope by an external optical tracker, transforming the captured fiducial markers from the endoscope's coordinate system to the optical tracker's coordinate system, projecting a virtual image of the endoscope on a model of the patient's organ, and projecting or displaying the combined image.
Claims20
An endoscope system having an endoscope, wherein the endoscope includes an endoscope handle and an endoscope body adapted to be inserted into a patient, the system comprising:
- a plurality of orientation markers positioned on the endoscope handle;
- a plurality of first sensors positioned at different locations longitudinally along the endoscope body, wherein each of the plurality of first sensors is adapted to generate first orientation data;
- one or more cameras positioned external to the patient and adapted to detect one or more of the plurality of orientation markers and generate second orientation data;
- a controller adapted to:
- (i) receive the first orientation data and the second orientation data, and (ii) generate, using the first orientation data and the second orientation data, a virtual model of the endoscope body in a coordinate system of the endoscope and the patient showing a position of the endoscope within the patient;
- and
- a projector adapted to:
- (i) receive data indicative of the virtual model from the controller, and (ii) project the virtual model onto the patient to show the position of the endoscope body relative to the patient.
An endoscope system having an endoscope, wherein the endoscope includes an endoscope handle and an endoscope body adapted to be inserted into a patient, the system comprising:
- a plurality of orientation markers positioned on the endoscope handle;
- a plurality of pressure sensors positioned at different locations longitudinally along the endoscope body, wherein each of the plurality of pressure sensors is adapted to generate first orientation data and first pressure data;
- one or more cameras positioned external to the patient and adapted to:
- (i) detect one or more of the plurality of orientation markers and (ii) generate second orientation data;
- a controller adapted to:
- (i) receive the first orientation data, the first pressure data, and the second orientation data, and (ii) generate, using the first orientation data and the second orientation data, a virtual model of the endoscope body in a coordinate system of the endoscope body and the patient showing a position of the endoscope body within the patient;
- a projector adapted to:
- (i) receive data indicative of the virtual model from the controller, and (ii) project the virtual model of the endoscope body in a coordinate system of the endoscope body and the patient showing a position of the endoscope body within the patient.
An endoscope system having an endoscope, wherein the endoscope includes an endoscope handle and an endoscope body adapted to be inserted into a patient, the system comprising:
- a plurality of orientation markers positioned on the endoscope handle;
- a plurality of first sensors positioned at different locations longitudinally along the endoscope body, wherein each of the plurality of first sensors is adapted to generate first orientation data;
- one or more cameras positioned external to the patient and adapted to:
- (i) detect one or more of the plurality of orientation markers and (ii) generate second orientation data;
- a controller adapted to:
- (i) receive the first orientation data and the second orientation data, and (ii) generate, using the first orientation data and the second orientation data, a virtual model of a position of the endoscope body in a coordinate system of the endoscope body and the patient showing a position of the endoscope body within the patient;
- and
- a projector adapted to:
- (i) receive data indicative of the virtual model from the controller, and (ii) project the virtual model of the endoscope body in a coordinate system of the endoscope body and the patient showing a position of the endoscope body within the patient.
Dependencies are inferred from the claim text.