Adaptive navigation technique for navigating a catheter through a body channel or cavity

US10346976B2 · kind B2 · utility

Assignee

• Covidien LP · US

Inventors

• Dorian Averbuch · Ramat HaSharon, IL
• Oren P. Weingarten · Hod HaSharon, IL
• Leo Joskowicz · Jerusalem, IL
• Igor A. Markov · Hod HaSharon, IL
• Ivan Vorobeychyk · Petah Tikva, IL
• Ran Cohen · Petah Tikva, IL

Key dates

• Filing date: Jun 28, 2017
• Grant date: Jul 9, 2019
• Expiry date: Jul 26, 2037

Classification

• Technology area (CPC G): Physics
• CPC primary: G06T2207/30101
• WIPO field: Medical technology
• WIPO sector: Instruments

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.