# US 2023/0145993 A1 · Apparatuses and Methods for Registering a Real-Time Image Feed From an Imaging Device to a Steerable Catheter

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- Number: US 2023/0145993 A1
- Document ID: US20230145993A1
- Status: Published application
- Kind: A1
- Application number: 18/091,723
- Filed: 2022-12-30
- Published: 2023-05-11
- Earliest claimed: 2014-04-23
- Assignees: Veran Medical Technologies, Inc.
- Applicants: Veran Medical Technologies, Inc.
- Inventors: Mark HUNTER; Troy L. HOLSING
- Web page: https://patentgrep.com/patent/US20230145993A1

## CPC

- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 1/00009: {of image signals during a use of endoscope}
- A61B 1/000094: {extracting biological structures}
- A61B 1/00057: {provided with means for testing or calibration}
- A61B 1/2676: {Bronchoscopes}
- A61B 5/061: {Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body (A61B1/00158 takes precedence)}
- A61B 5/062: {using magnetic field}
- A61B 5/113: occurring during breathing
- A61B 5/1135: {by monitoring thoracic expansion}
- A61B 2034/2051: {Electromagnetic tracking systems}
- A61B 2034/2063: {Acoustic tracking systems, e.g. using ultrasound}
- A61B 2034/2065: {Tracking using image or pattern recognition}
- A61B 2090/364: {Correlation of different images or relation of image positions in respect to the body}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)

## Abstract

A method of registering a real-time image feed from an imaging device inserted into a steerable catheter using a navigation system is provided. The method includes inserting the imaging device into a working channel of the steerable catheter and generating a real-time image feed of one or more reference points, wherein the orientation of the reference points is known. The method further includes orienting a handle of the steerable catheter to a neutral position, displaying the real-time image feed on a display of the navigation system, and registering the real-time image feed to the steerable catheter by rotating the displayed image so that the reference points in the real-time image feed are matched to the known orientation of the reference points.

## Claims

### Claim 1

A method of orienting an image feed on a display comprising:
inserting an imaging device that provides the image feed into a channel of a steerable catheter, wherein the steerable catheter has a distal end portion having a distal port of the channel from which the image feed is captured;
using the imaging device to generate the image feed;
determining a registered rotation angle Ø that corresponds to an angular offset between the image feed and at least one steering direction of the steerable catheter;
using a processor and the registered rotation angle Ø to cause a real-time image feed from the imaging device to be shown in an “up” orientation on the display as the steerable catheter is manipulated, wherein the “up” orientation corresponds to the at least one steering direction of the steerable catheter.

### Claim 2 (depends on 1)

The method of claim 1, wherein the processor and the display form part of a navigation system, and further wherein the steerable catheter is navigated into an airway of a patient using the navigation system.

### Claim 3 (depends on 2)

The method of claim 2, wherein the image feed includes a reference image feed of a reference of a known orientation, the reference comprising an anatomical feature of the airway of the patient.

### Claim 4 (depends on 2)

The method of claim 2, further comprising overlaying a navigational aid onto the real-time image feed, wherein the navigational aid is registered to the real-time image feed.

### Claim 5 (depends on 4)

The method of claim 4, wherein the navigational aid is selected from a set of aids comprising a navigation pathway and a directional cue.

### Claim 6 (depends on 2)

The method of claim 2, further comprising displaying a virtual volumetric scene of the airway on the display and registering the virtual volumetric scene to the real-time image feed.

### Claim 7 (depends on 2)

The method of claim 2, further comprising a localization element positioned proximate the distal end portion, using the navigation system to determine the position and orientation of the localization element.

### Claim 8 (depends on 3)

The method of claim 3, wherein the step of using the processor to determine the registered rotation angle Ø further comprises ensuring that no steering input is applied to the steerable catheter after generating the reference image feed of the reference while using the processor to determine the registered rotation angle Ø.