Handling respiration during navigational bronchoscopy

A method of respiration compensation comprising:

• detecting movement of a plurality of sensors;
• determining a respiration waveform from the detected movement of the plurality of sensors;
• detecting a position of a catheter proximate a target within a patient;
• determining a respiration waveform from the detected movement of the plurality of sensors;
• receiving a ventilation waveform from a ventilator operably connected to the patient to undertake respiration wherein the ventilation waveform is configured to achieve a desired respiration waveform;
• detecting achievement of a breath hold of the patient, wherein breath hold is achieved following cessation of ventilation of the patient and an off-set period to allow for expansion of lungs of the patient wherein the off-set period is calculated based on comparison of the ventilation waveform and the respiration waveform;
• acquiring a plurality of fluoroscopic images with a fluoroscope, wherein the fluoroscopic images include a distal portion of the catheter and the target;
• identifying individual images of the plurality of fluoroscopic images acquired during a desired portion of the respiration waveform;
• determining angles at which additional images are required to complete a fluoroscopic sweep;
• orienting the fluoroscope to the determined angles and collecting additional images during a desired portion of the respiration waveform to complete the fluoroscopic sweep;
• performing a local registration, by identifying the catheter and the target in two or more images from the fluoroscopic sweep;
• updating a displayed relative position and orientation of the catheter and the target in a 3D model;
• and
• indicating on a user-interface a period during which advancement of a biopsy or therapy tool from the catheter is most likely to intersect the target, wherein the period corresponds to the desired portion of the respiration waveform.

A method of respiration compensation comprising:

• detecting a position of a catheter proximate a target within a patient;
• detecting movement of a plurality of sensors;
• determining a respiration waveform from the detected movement of the plurality of sensors;
• receiving a ventilation waveform from a ventilator operably connected to the patient to undertake respiration wherein the ventilation waveform is configured to achieve a desired respiration waveform;
• detecting achievement of a breath hold of the patient wherein breath hold is achieved following cessation of ventilation of the patient and an off-set period to allow for expansion of lungs of the patient wherein the off-set period is calculated based on comparison of the ventilation waveform and the respiration waveform;
• and
• indicating on a user-interface a period during which advancement of a biopsy or therapy tool from the catheter is most likely to intersect a target, wherein the period corresponds to a portion of the respiration waveform during which the movement of the plurality of sensors is within a desired range.