Endoscopic ultrasound guided tissue acquisition

Abstract

Systems, devices, and methods for planning endoscopic ultrasound (EUS)-guided tissue acquisition (EUS-TA) from an anatomical target are disclosed. An endoscopy system comprises a steerable elongate instrument including an EUS probe to produce ultrasound scans of the anatomical target, and a tissue acquisition device to sample tissue. A processor receives image of the anatomical target including one or more EUS images converted from the ultrasound scans, apply the images to a trained machine-learning model to generate an EUS-TA plan. The EUS-TA plan may include a recommended tissue acquisition device, and recommended values of operational parameters for manipulating the tissue acquisition device, navigating the steerable elongate instrument, or positioning the EUS probe. The EUS-TA plan can be presented to a user, or used to facilitate a robot-assisted tissue acquisition procedure.

Dependencies are inferred from the claim text.