Visualization, navigation, and planning with electromagnetic navigation bronchoscopy and cone beam computed tomography integrated

A non-transitory computer-readable storage medium storing instructions which, when executed by a computer, cause the computer to:

• cause presentation of a 3D model of a luminal network;
• cause generation of, by an electromagnetic (EM) field generator of a tracking system, an EM field about a patient's chest;
• receive a detection a location of an EM sensor of the tracking system within the EM field;
• determine a position of a tool within the patient's chest based on the location of the EM sensor detected;
• cause display of an indication of the position of the tool on the 3D model;
• provide guidance for positioning a cone beam computed tomography (CBCT) imaging device based on the location of the EM sensor detected;
• actively track a location of the CBCT imaging device via a sensor included in the CBCT imaging device;
• determine whether the CBCT imaging device is moved into the EM field based at least in part on data received by the tracking system from the sensor included in the CBCT imaging device;
• compensate for distortion of the EM field caused by the CBCT imaging device being disposed within the EM field by adjusting the indication of the position of the tool displayed on the 3D model in response to determining that the CBCT imaging device is moved into the EM field;
• cause the EM field generator to be disabled after providing guidance for positioning the CBCT imaging device based on the location of the EM sensor detected in response to determining that the CBCT imaging device is not moved into the EM field;
• receive CBCT image data of the patient's chest from the CBCT imaging device while the EM field generator is disabled;
• and
• cause the EM field generator to be enabled after receiving the CBCT image data of the patient's chest while the EM field generator is disabled.

A non-transitory computer-readable storage medium storing instructions which, when executed by a computer, cause the computer to:

• receive a detection of a location of an electromagnetic (EM) sensor within an EM field generated by an EM field generator of a tracking system;
• determine a position of a tool within a patient's chest based on the location of the EM sensor detected;
• cause display of an indication of the position of the tool on a 3D model;
• provide guidance for positioning an imaging device based on the location of the EM sensor detected;
• actively track a location of the imaging device via a sensor included in the imaging device;
• determine whether the imaging device is moved into the EM field based at least in part on data received by the tracking system from the sensor included in the imaging device;
• compensate for distortion of the EM field caused by the imaging device being disposed within the EM field by adjusting the indication of the position of the tool displayed on the 3D model in response to determining that the imaging device is moved into the EM field;
• cause the EM field generator to be disabled after providing guidance for positioning the imaging device based on the location of the EM sensor detected in response to determining that the imaging device is not moved into the EM field;
• receive image data of the patient's chest from the imaging device while the EM field generator is disabled;
• and
• cause the EM field generator to be enabled after receiving the image data of the patient's chest while the EM field generator is disabled.

A non-transitory computer-readable storage medium storing instructions which, when executed by a computer, cause the computer to:

• determine a position of a tool within a patient's chest based on a location of an electromagnetic (EM) sensor within an EM field generated by an EM field generator of a tracking system;
• cause display of an indication of the position of the tool on a 3D model;
• actively track a location of an imaging device via a sensor included in the imaging device;
• determine whether the imaging device is moved into the EM field based at least in part on data received by the tracking system from the sensor included in the imaging device;
• compensate for distortion of the EM field caused by the imaging device being disposed within the EM field by adjusting the indication of the position of the tool displayed on the 3D model in response to determining that the imaging device is moved into the EM field;
• cause the EM field generator to be disabled after providing guidance for positioning the imaging device based on the location of the EM sensor detected in response to determining that the imaging device is not moved into the EM field;
• receive image data of the patient's chest from the imaging device while the EM field generator is disabled;
• and
• cause the EM field generator to be enabled after receiving the image data of the patient's chest while the EM field generator is disabled.