Pre-procedure planning, intra-procedure guidance for biopsy, and ablation of tumors with and without cone-beam computed tomography or fluoroscopic imaging

A system for planning and navigation of a luminal network comprising:

• a navigation catheter configured for insertion into a luminal network of a patient;
• a sensor associated with the catheter for detecting a position of the navigation catheter within the luminal network of the patient;
• an ablation catheter configured for receipt into the navigation catheter;
• and
• a computing device including a memory and a processor, the memory storing one or more applications that when executed by a processor:
• causes display of a 3D model of the luminal network of a patient, the 3D model including airways and blood vessels of the luminal network, a pathway through the luminal network, a tumor including a margin, and where the tumor is located beyond an airway wall an access point, and a position of the catheter within the luminal network of the patient based on the detected position of the sensor;
• reduces the 3D model to an airway generation level wherein the generation level is a selected number of generations beyond an identified point in an airway;
• receives intraprocedural images;
• and
• overlays at least a portion of the reduced 3D model onto the intraprocedural images.

A method comprising:

• receiving a computed tomography (CT) image data set;
• generating a three-dimensional (3D) model:
• causing to display the 3D model in a user-interface on a display operatively connected to a computing device;
• receiving an indication of a location of a tumor in the CT image data set;
• causing display of the location of the tumor in the 3D model;
• reducing the 3D model to an airway generation level wherein the generation level is a selected number of generations beyond an identified point in an airway;
• receiving an indication of a margin around the tumor to achieve a desired therapy;
• generating a pathway plan to the tumor for navigation of a catheter;
• receiving a location of a sensor associated with a navigation catheter and registering the CT image data set with a luminal network of a patient;
• causing to display the location of the sensor within the reduced 3D model that substantially corresponds to the location of the sensor within the luminal network of the patient;
• causing to display, following the pathway plan, the navigation of the navigation catheter to tumor;
• receiving an intraprocedural image data set;
• updating a relative position of the tumor and the navigation catheter in the reduced 3D model based on the intraprocedural image data set;
• causing to display in the reduced 3D model the navigation catheter advanced into the tumor;
• receiving a second intraprocedural image data set depicting the navigation catheter with respect to the tumor;
• receiving an indication that an ablation catheter has been advanced through the navigation catheter;
• and
• initiating ablation of the tumor.