# US 12,599,439 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 12,599,439 B2 - Document ID: US12599439B2 - Status: Granted - Kind: B2 - Application number: 18/480,668 - Filed: 2023-10-04 - Published: 2024-01-25 - Granted: 2026-04-14 - Earliest claimed: 2016-05-16 - Assignees: Covidien LP - Applicants: Covidien LP - Inventors: William S. Krimsky - Web page: https://patentgrep.com/patent/US12599439B2 ## 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 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; at least one processor; and one or more processor-readable media storing instructions which, when executed by the at least one processor: display a three-dimensional model of the patient's luminal network, the three-dimensional model including a target; determine a distance between the target within the patient's luminal network and a location of the first sensor; determine a distance between the location of the first sensor and a location of the second sensor in a first position within a patient coordinate frame of reference; display in the three-dimensional model the location of the first sensor and the location of the second sensor at the first position; determine a distance between the location of the second sensor in the first position within the patient coordinate frame of reference and the location of the second sensor in a second position within the patient coordinate frame of reference; determine a distance between the location of the first sensor and the location of the second sensor in the second position; and update in the display of the three-dimensional model the displayed location of the first sensor and the displayed location of the second sensor at the second position. ### Claim 2 (depends on 1) The navigation system according to claim 1, wherein the patient's luminal network includes airways. ### Claim 3 (depends on 1) The navigation system according to claim 1, wherein determining the distance between the location of the first sensor and the location of the second sensor in the second position includes adding the determined distance between the location of the first sensor and the location of the second sensor in the first position and the determined distance between the location of the second sensor in the first position and the location of the second sensor in the second position. ### Claim 4 (depends on 1) The navigation system according to claim 1, wherein at least one of the first sensor or the second sensor is an electromagnetic sensor. ### Claim 5 (depends on 1) The navigation system according to claim 1, wherein the one or more processor-readable media further store instructions which, when executed by the at least one processor, cause performance of displaying the determined distance between the location of the first sensor and the location of the second sensor in the second position. ### Claim 6 (depends on 1) The navigation system according to claim 1, wherein the one or more processor-readable media further store instructions which, when executed by the at least one processor, cause performance of displaying a count-down of a distance remaining between at least one of the first sensor and the target or the second sensor and the target. ### Claim 7 (depends on 1) The navigation system according to claim 1, further comprising an electromagnetic tracking system configured to generate an electromagnetic field for calculating the patient coordinate frame of reference and electromagnetically track the location of the first sensor and the location of the second sensor. ### Claim 8 (depends on 1) The navigation system according to claim 1, wherein the tool is a needle, a guide wire, a biopsy tool, a dilator, or an ablation device. ### Claim 9 A navigation system, comprising: a catheter configured to be advanced through a patient's luminal network, the catheter having a first sensor; at least one processor; and one or more processor-readable media storing instructions which, when executed by the at least one processor: display a three-dimensional model of the patient's luminal network, the three-dimensional model including a target; determine a distance between the target within the patient's luminal network and a location of the first sensor; determine a distance between the location of the first sensor and a location of a second sensor in a first position within a patient coordinate frame of reference; display in the three-dimensional model the location of the first sensor and the location of the second sensor at the first position; determine a distance between the location of the second sensor in the first position within the patient coordinate frame of reference and the location of the second sensor in a second position within the patient coordinate frame of reference; determine a distance between the location of the first sensor and the location of the second sensor in the second position by adding the distance between the location of the first sensor and the location of the second sensor in the first position and the distance between the location of the second sensor in the first position and the location of the second sensor in the second position; update in the display of the three-dimensional model the location of the first sensor and the location of the second sensor at the second position; and display a distance of the first sensor or the second sensor from the target at the second position. ### Claim 10 (depends on 9) The navigation system according to claim 9, wherein the patient's luminal network includes airways. ### Claim 11 (depends on 9) The navigation system according to claim 9, wherein at least one of the first sensor or the second sensor is an electromagnetic sensor. ### Claim 12 (depends on 9) The navigation system according to claim 9, wherein the one or more processor-readable media further store instructions which, when executed by the at least one processor, cause performance of displaying the determined distance between the location of the first sensor and the location of the second sensor in the second position. ### Claim 13 (depends on 9) The navigation system according to claim 9, wherein the one or more processor-readable media further store instructions which, when executed by the at least one processor, cause performance of displaying a count-down of a distance remaining between at least one of the first sensor and the target or the second sensor and the target. ### Claim 14 (depends on 9) The navigation system according to claim 9, further comprising a tool configured to be advanced through a lumen defined by the catheter, wherein the second sensor is disposed on the tool. ### Claim 15 A system, comprising: at least one processor; and one or more processor-readable media storing instructions which, when executed by the at least one processor: display a three-dimensional model of a patient's luminal network, the three-dimensional model including a target; determine a distance between the target within the patient's luminal network and a location of a first sensor disposed on a catheter configured to be advanced through the patient's luminal network; determine a distance between the location of the first sensor and a location of a second sensor in a first position within a patient coordinate frame of reference; display in the three-dimensional model the location of the first sensor and the location of the second sensor at the first position; determine a distance between the location of the second sensor in the first position within the patient coordinate frame of reference and the location of the second sensor in a second position within the patient coordinate frame of reference; determine a distance between the location of the first sensor and the location of the second sensor in the second position; update in the three-dimensional model the location of the first sensor and the location of the second sensor at the second position; and display a count-down of a distance remaining between at least one of the first sensor and the target or the second sensor and the target. ### Claim 16 (depends on 15) The system according to claim 15, wherein the patient's luminal network includes airways. ### Claim 17 (depends on 15) The system according to claim 15, wherein determining the distance between the location of the first sensor and the location of the second sensor in the second position includes adding the determined distance between the location of the first sensor and the location of the second sensor in the first position and the determined distance between the location of the second sensor in the first position and the location of the second sensor in the second position. ### Claim 18 (depends on 15) The system according to claim 15, wherein at least one of the first sensor or the second sensor is an electromagnetic sensor. ### Claim 19 (depends on 15) The system according to claim 15, further comprising a tool configured to be advanced through a lumen defined by the catheter, wherein the second sensor is disposed on the tool. ### Claim 20 (depends on 19) The system according to claim 19, wherein the tool is a needle, a guide wire, a biopsy tool, a dilator, or an ablation device.