US 2026/0215857 A1 · INTRALUMINAL NAVIGATION USING VIRTUAL SATELLITE TARGETS

Abstract

A system and method that provides navigation guidance for intraluminal procedures comprises: a catheter configured to be inserted into a lumen receive an actuating force from an actuator; and a tracking system configured to acquire position and orientation of the catheter with respect a lumen. A processor in communication with the actuator and the tracking system is configured to: register a position and/or orientation of the catheter tip with respect to a reference target, and generate one or more satellite targets in a region of interest surrounding the reference target. A display screen displays a virtual representation of the distal end of the catheter, and a virtual representation of the one or more satellite targets, as navigation guidance. A user is able to determine how to align the catheter tip with the one or more satellite targets to perform an intraluminal procedure.

Claims20

Dependent claims

A system for performing an intraluminal procedure, the system comprising:

a catheter having a proximal portion configured to attach to an actuator, a tool channel configured to receive a removable imaging device at a distal end thereof, and a plurality of drive wires configured to transfer an actuating force from the actuator to the catheter;
a tracking system configured to acquire at least one of position and orientation of a distal portion of the catheter with respect to a region of interest (ROI) located near the distal end of the catheter;
and
a processor configured to communicate with the actuator and with the tracking system, wherein the processor is configured to:
register, based on the at least one of the position and orientation acquired by the tracking system, an initial position and/or orientation of the distal portion of the catheter with respect to a reference target and a satellite target located within the ROI;
and
generate a virtual display of the reference target and the satellite target.

4 more elements

A method of controlling operation of a system for providing navigation guidance for an intraluminal procedure, the system including a catheter having a proximal portion configured to attach to an actuator, a tool channel within the catheter configured to receive a removable imaging device at the distal end thereof, and a plurality of drive wires configured to transfer an actuating force from the actuator to the catheter, the system also including a tracking system configured to acquire the least one of position and orientation of the distal portion of the catheter with respect to a region of interest (ROI) located near the distal portion of the catheter, and a processor configured to communicate with the actuator and with the tracking system, the method comprising:

registering, based on the at least one of the position and the orientation acquired by the tracking system, an initial position and/or orientation of the distal portion of the catheter with respect to a reference target and a satellite target located within the ROI;
generating a virtual display of the reference target and the satellite target within the ROI at a predetermined distance from the reference target;
after swapping the removable imaging device for an end effector tool, displaying, by the processor, on a display screen, a virtual representation of the distal portion of the catheter and a virtual representation of the reference target and the satellite target for a user to determine alignment of the distal portion of the catheter therebetween,
performing a procedure on the reference target;
and
performing a procedure the satellite target, without reinserting the removable imaging device in the catheter.

3 more elements

Dependencies are inferred from the claim text.

Intraluminal navigation using virtual satellite targets

Life of this patent

Intraluminal navigation using virtual satellite targets

Life of this patent

Abstract

Claims20