Systems, methods, and devices for registering and tracking organs during interventional procedures

A method of performing a guided interventional medical procedure using a template, the method comprising:

• obtaining at least one medical image of a patient's anatomy;
• identifying a location of at least one target in the at least one medical image, wherein the at least one target comprises at least a portion of an organ identifiable in the at least one medical image that is involved in the guided interventional medical procedure;
• determining a path of at least one conduit in the patient on the at least one medical image in image space, wherein the path of the at least one conduit in image space is expressed based on a coordinate system of imaged data, wherein the imaged data is obtained from the at least one medical image;
• inserting and fixing at least one at least one measuring device into the at least one conduit;
• determining a path of the at least one conduit in the patient in patient space based on position indicating elements and/or fiducials of the at least one measuring device;
• registering the path of the conduit in image space to patient space by mapping the path of the conduit in image space to the path of the conduit in patent space;
• positioning a template near the organ involved in the guided interventional medical procedure;
• determining a position and orientation of the template in patient space;
• transforming the position and orientation of the template in patient space to a position and orientation of the template in image space based on the registration;
• adjusting the position and orientation of the template to ensure a path aligned with at least one channel of the template intersects the at least one target;
• and
• placing an instrument through the at least one channel in order to provide therapy or receive diagnostic information related to the at least one target.

A method of performing a guided interventional medical procedure using a template, the method comprising:

• obtaining at least one medical image of a patient's anatomy;
• identifying a location of at least one target in the at least one medical image, wherein the at least one target comprises at least a portion of an organ identifiable in the at least one medical image that is involved in the guided interventional medical procedure;
• determining a path of at least one conduit in the patient on the at least one medical image in image space, wherein the path of the at least one conduit in image space is expressed based on a coordinate system of imaged data, wherein the imaged data is obtained from the at least one medical image;
• determining a path of the at least one conduit in the patient in patient space, wherein the path of the at least one conduit in patient space is expressed based on a coordinate system of a tracking device;
• registering the path of the conduit in image space to patient space by mapping the path of the conduit in image space to the path of the conduit in patent space;
• positioning an instrument near the organ involved in the guided interventional medical procedure;
• determining a position and orientation of the instrument in patient space;
• transforming the position and orientation of the instrument in patient space to a position and orientation of the instrument in image space based on the registration;
• adjusting the position and orientation of the instrument to ensure a path of the instrument intersects the at least one target;
• and
• advancing the instrument to the at least one target in order to provide therapy or receive diagnostic information related to the at least one target.