US 2020/0046431 A1 · SYSTEMS AND METHODS OF CONTINUOUS REGISTRATION FOR IMAGE-GUIDED SURGERY

Abstract

Methods and systems of registering a model of one or more anatomic passageways of a patient to a patient space are provided herein. An exemplary method may include accessing a set of model points of the model of the passageways, the model points being associated with a model space, collecting measured points along a length of a catheter inserted into the passageways of the patient, the measured points determined by a shape of the catheter, and assigning points of the first set to a plurality of subsets. The exemplary method may further include registering each of the subsets with the model points to produce a plurality of registration candidates, comparing the candidates to identify an optimal subset associated with an optimal registration of the plurality of candidates that translates the set of model points and at least one set of the sets of measured points into a common space.

Claims20

Dependent claims

A method of registering a model of one or more anatomic passageways of a patient to a patient space, the method comprising:

accessing a set of model points of the model of one or more anatomic passageways of the patient, the model points being associated with a model space;
collecting a first set of measured points along a length of a catheter inserted into the one or more anatomic passageways of the patient, the measured points determined by a shape of the catheter in the patient space;
assigning points of the first set of measured points to a plurality of first subsets of measured points;
registering the first subsets of measured points with the set of model points to produce a first plurality of registration candidates;
comparing the registration candidates to identify an optimal subset associated with an optimal registration of the first plurality of registration candidates;
and
displaying a visual representation of the optimal registration in a user interface provided by a display, the optimal registration translating the set of model points and at least one subset of the first set of measured points into a common space.

4 more elements

A medical imaging system comprising:

a movement detector;
a flexible catheter having a proximal end coupled to an instrument carriage that is moveable along an insertion stage;
a point gathering instrument extending along a length of the flexible catheter;
and
a tracking system configured to register a set of measured points collected by the point gathering instrument to a model of one or more anatomic passageways, wherein the tracking system performs operations comprising:
accessing a set of model points of the model, the model points being associated with a model space;
collecting the set of measured points along the length of the flexible catheter inserted into the one or more anatomic passageways of a patient, the measured points being determined by a shape of the catheter in a patient space;
assigning the set of measured points into subsets according to a periodic physiological function monitored by the movement detector;
selecting a first registration candidate from a plurality of registration candidates based on the subsets of measured points;
and
applying the selected first registration candidate to the set of model points of the model to register the model to the patient space.

8 more elements

Dependencies are inferred from the claim text.

Systems and methods of continuous registration for image-guided surgery

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Systems and methods of continuous registration for image-guided surgery

Life of this patent

Abstract

Claims20