# US 2021/0279873 A1 · Adaptive navigation technique for navigating a catheter through a body channel or cavity

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- Number: US 2021/0279873 A1
- Document ID: US20210279873A1
- Status: Published application
- Kind: A1
- Application number: 17/331,266
- Filed: 2021-05-26
- Published: 2021-09-09
- Earliest claimed: 2006-11-10
- Assignees: Covidien LP
- Applicants: Covidien LP
- Inventors: Dorian Averbuch; Oren Weingarten; Leo Joskowicz; Igor Markov; Ivan Vorobeychyk; Ran Cohen
- Web page: https://patentgrep.com/patent/US20210279873A1

## CPC

- G06T 7/0012: {Biomedical image inspection}
- A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations
- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 34/25: {User interfaces for surgical systems}
- G06T 7/11: Region-based segmentation
- G06T 7/155: involving morphological operators
- G06T 7/187: involving region growing; involving region merging; involving connected component labelling
- G06T 7/60: Analysis of geometric attributes
- G06T 11/23: using straight lines or curves
- G06T 15/08: Volume rendering
- G06T 17/00: Three-dimensional [3D] modelling for computer graphics
- A61B 90/37: {Surgical systems with images on a monitor during operation}
- A61B 2017/00809: {Lung operations}
- A61B 2034/105: {Modelling of the patient, e.g. for ligaments or bones}
- A61B 2034/107: {Visualisation of planned trajectories or target regions}
- A61B 2034/252: {indicating steps of a surgical procedure}
- A61B 2090/3762: {using computed tomography systems [CT]}
- G06T 2200/24: involving graphical user interfaces [GUIs]
- G06T 2207/10081: Computed x-ray tomography [CT]
- G06T 2207/20044: Skeletonization; Medial axis transform
- G06T 2207/20156: Automatic seed setting
- G06T 2207/30061: Lung
- G06T 2207/30101: Blood vessel; Artery; Vein; Vascular
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)

## Abstract

A method for using an assembled three-dimensional image to construct a three-dimensional model for determining a path through a lumen network to a target. The three-dimensional model is automatically registered to an actual location of a probe by tracking and recording the positions of the probe and continually adjusting the registration between the model and a display of the probe position. The registration algorithm becomes dynamic (elastic) as the probe approaches smaller lumens in the periphery of the network where movement has a bigger impact on the registration between the model and the probe display.

## Claims

### Claim at position 1

1-14. (canceled)

### Claim 15

A method of registering a computer model of a lumen network of a patient to a sensed representation of the lumen network of the patient, comprising:
receiving data points from a sensor coupled to a probe configured to be navigated within the patient's lumen network;
establishing a path of the probe within the patient's lumen network based on the received data points; and
registering a path shape on a computer model of the lumen network to the probe path based on a diameter of a lumen in which the probe is located relative to a diameter of the probe.

### Claim 16 (depends on 15)

The method according to claim 15, further comprising removing outlier data points from the data points received from the sensor.

### Claim 17 (depends on 15)

The method according to claim 15, further comprising displaying the computer model of the lumen network and updating the displayed computer model of the lumen network based on the registering of the probe path on the computer model of the lumen network to the probe path.

### Claim 18 (depends on 15)

The method according to claim 15, further comprising:
displaying an indicator of the sensor location on the computer model of the lumen network; and
updating a location of the displayed indicator based on the registering of the path shape on the computer model of the lumen network to the probe path.

### Claim 19 (depends on 15)

The method according to claim 15, further comprising matching a lumen of the computer model of the lumen network to the probe path.

### Claim 20 (depends on 15)

The method according to claim 15, wherein registering the path shape includes rigidly registering the path shape on the computer model of the lumen network to the probe path.

### Claim 21 (depends on 15)

The method according to claim 15, wherein registering the path shape includes deformably registering the path shape on the computer model of the lumen network to the probe path.

### Claim 22 (depends on 15)

The method according to claim 15, further comprising:
rigidly registering the path shape on the computer model of the lumen network to the probe path when the diameter of the lumen in which the sensor is located is large relative to the diameter of the probe; and
deformably registering the path shape on the computer model of the lumen network to the probe path when the diameter of the lumen in which the sensor is located approaches the diameter of the probe.

### Claim 23 (depends on 15)

The method according to claim 15, further comprising:
determining a plurality of projected points along a pathway through the computer model of the lumen network;
pairing at least a portion of the data points received from the sensor with at least a portion of the plurality of projected points; and
adjusting the computer model of the lumen network based on the pairing.

### Claim 24 (depends on 15)

The method according to claim 15, wherein receiving data points from the sensor includes receiving data points from the sensor coupled to the probe corresponding to at least one of a current position of the sensor or an orientation of the sensor.

### Claim 25 (depends on 15)

The method according to claim 15, wherein receiving data points from the sensor includes receiving data points from a sensor disposed on a distal portion of the probe.

### Claim 26 (depends on 15)

The method according to claim 15, further comprising:
generating the path shape from the patient's trachea to an exit point; and
extending the patient's lumen network by a linear branch that connects the exit point to a target within the patient's lumen network.

### Claim 27 (depends on 15)

The method according to claim 15, further comprising:
skeletonizing the computer model of the lumen network by extracting centerlines from the computer model of the lumen network; and
identifying branch points in the computer model of the lumen network at intersections of the centerlines.

### Claim 28

A method for registering a computer model of a lumen network of a patient to a sensed representation of the lumen network of the patient, comprising:
receiving data points from a sensor coupled to a probe configured to be navigated within the patient's lumen network, the data points pertaining to a location of the probe within the patient's lumen network;
removing outlier data points from the data points received from the sensor;
establishing a path of the probe within the patient's lumen network based on the data points having the outlier data points removed; and
registering a computer model of the lumen network to the probe path based on at least one of a diameter of a lumen in which the probe is located or a diameter of the probe.

### Claim 29 (depends on 28)

The method according to claim 28, wherein registering the computer model of the lumen network to the probe path includes registering the computer model of the lumen network to the probe path based on the diameter of the lumen in which the probe is located relative to the diameter of the probe.

### Claim 30 (depends on 28)

The method according to claim 28, further including registering a path shape on the computer model of the lumen network to the probe path.

### Claim 31 (depends on 28)

The method according to claim 28, wherein receiving data points from the sensor includes receiving data points from the sensor coupled to the probe corresponding to at least one of a current position of the sensor or a current orientation of the sensor.

### Claim 32

A method for registering a computer model of a lumen network of a patient to a sensed representation of the lumen network of the patient, comprising:
receiving data points from a sensor coupled to a probe configured to be navigated within the patient's lumen network;
establishing a path of the probe within the patient's lumen network based on data points received from the sensor; and
registering a path shape on a computer model of the lumen network to the probe path based on at least one of a diameter of a lumen in which the probe is located or a diameter of the probe.

### Claim 33 (depends on 32)

The method according to claim 32, wherein registering the path shape includes registering the path shape on the computer model of the lumen network to the probe path based on the diameter of the lumen in which the probe is located relative to the diameter of the probe.

### Claim 34 (depends on 32)

The method according to claim 32, further comprising removing outlier data points from the data points received from the sensor.