Device and method for tracking the position of an endoscope within a patient's body
AssigneeEndoChoice, Inc.
InventorAchia Kronman
Life of this patent
Estimating the term…
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.
Claims21
An endoscope system having an endoscope handle and an endoscope body adapted to be inserted into a gastrointestinal tract of a patient, the system comprising:
- a plurality of orientation markers positioned on said endoscope handle, and at least one orientation marker positioned on a patient bed;
- a plurality of touch sensors positioned at different locations longitudinally along the endoscope body, wherein each of said plurality of touch sensors is adapted to generate first orientation data;
- one or more cameras positioned external to said patient and adapted to detect one or more of said plurality of orientation markers and generate second orientation data;
- a controller adapted to receive said first orientation data and second orientation data, generate a virtual model of the patient's gastrointestinal tract showing a position of the endoscope within the patient's gastrointestinal tract, and generate data related to the positioning of the patient on the patient bed;
- and
- a projector adapted to receive the data indicative of the virtual model from the controller and project the virtual model onto the patient.
11-26. (canceled)
An endoscope system having an endoscope handle and an endoscope body adapted to be inserted into a gastrointestinal tract of a patient, the system comprising:
- a plurality of sensors positioned at the endoscope handle, wherein each of said plurality of sensors is adapted to measure a depth the endoscope body is inserted into the gastrointestinal tract by generating position data related to a user's grip on the endoscope handle;
- a controller adapted to receive said position data, generate a virtual model of the patient's gastrointestinal tract showing a position of the endoscope within the patient's gastrointestinal tract;
- and
- a display screen adapted to receive the data indicative of the virtual model from the controller and project the virtual model onto the display screen.
An endoscope system having an endoscope handle and an endoscope body adapted to be inserted into a gastrointestinal tract of a patient, the system comprising:
- a plurality of orientation markers positioned on said endoscope handle;
- a plurality of pressure sensors positioned at different locations longitudinally along the endoscope body, wherein each of said plurality of pressure sensors is adapted to generate first orientation data and first pressure data;
- one or more cameras positioned external to said patient and adapted to detect one or more of said plurality of orientation markers and generate second orientation data;
- a controller adapted to receive said first orientation data, the first pressure data, and the second orientation data, and generate a virtual model of the patient's gastrointestinal tract showing a position of the endoscope within the patient's gastrointestinal tract;
- and
- at least one display screen adapted to receive the first orientation data, the first pressure data, and data indicative of the virtual model from the controller, display the virtual model, and display, in the virtual model, the first pressure data via a color bar, a graph, or a color-coded representation of the endoscope movement though the patient's body.
Dependencies are inferred from the claim text.