Indicating proximity of a body-insertable device to a destination region of interest
Described embodiments include a system, method, and computer program product. A described system includes a receiver circuit that receives a first reference image that includes an objective landmark subsurface feature of a mammalian body part, and receives a second reference image that includes a present-location landmark subsurface feature of the mammalian body part. The objective landmark subsurface feature has a first spatial relationship to a destination region of interest of the mammalian body part. The present-location landmark subsurface feature has a second spatial relationship to a distal end portion of a body-insertable device. The system includes a feature matching circuit that determines a substantial correspondence between the present-location landmark subsurface feature and the objective landmark subsurface feature. The system includes a proximity indicator circuit that generates informational data indicative of an operational proximity of the distal end portion of the body-insertable device to the destination region of interest.
1 . A system comprising:
(a) a receiver circuit configured to receive
(i) a first reference image that includes an objective landmark subsurface feature of a mammalian body part, the objective landmark subsurface feature having a first spatial relationship to a destination region of interest of the mammalian body part; and
(ii) a second reference image that includes a present-location landmark subsurface feature of the mammalian body part, the present-location landmark subsurface feature having a second spatial relationship to a distal end portion of a body-insertable device;
(b) a feature matching circuit configured to determine a substantial correspondence between the present-location landmark subsurface feature and the objective landmark subsurface feature; and
(c) a proximity indicator circuit configured to generate informational data indicative of an operational proximity of the distal end portion of the body-insertable device to the destination region of interest, the informational data indicative of operational proximity at least partially based on the determined substantial correspondence.
2 . The system of claim 1 , wherein the first reference image includes:
a first reference image that includes an objective landmark subsurface feature of a mammalian body part, the objective landmark subsurface feature having a first spatial relationship to a destination region of interest of the mammalian body part, and the objective landmark subsurface feature distinguishable from other landmark subsurface features of the mammalian body part.
3 . The system of claim 1 , wherein the first reference image includes:
a first reference image that includes an objective landmark subsurface feature of a mammalian body part, the objective landmark subsurface feature having an indicated, determinable, estimable, or inferable first spatial relationship to a destination region of interest of the mammalian body part.
4 . The system of claim 1 , wherein the first reference image includes:
a first reference image that includes an objective landmark subsurface feature of a mammalian body part, the objective landmark subsurface feature having a first spatial relationship to a destination region of interest of a cavity or lumen of the mammalian body part.
5 . The system of claim 1 , wherein the first reference image includes:
a first reference image including an objective landmark subsurface feature of a mammalian body part, the objective landmark subsurface feature having a first spatial relationship to a destination region of interest of a surface of a cavity or lumen of the mammalian body part.
6 . The system of claim 1 , wherein the first reference image includes:
a first reference image acquired by an ex vivo device and including an objective landmark subsurface feature of a mammalian body part, the objective landmark subsurface feature having a first spatial relationship to a destination region of interest of the mammalian body part.
7 . The system of claim 1 , wherein the first reference image includes:
a first reference image acquired by the body-insertable device and including an objective landmark subsurface feature of a mammalian body part, the objective landmark subsurface feature having a first spatial relationship to a destination region of interest of the mammalian body part.
8 . The system of claim 1 , wherein the second reference image includes:
a second reference image that includes a present-location landmark subsurface feature of the mammalian body part, the present-location landmark subsurface feature having a second spatial relationship to a distal end portion of a body-insertable device deployed operationally proximate to the mammalian body part.
9 . The system of claim 1 , wherein the second reference image includes:
a second reference image that includes a present-location landmark subsurface feature of the mammalian body part, the present-location landmark subsurface feature having a second spatial relationship to a distal end of a body-insertable device deployed operationally proximate to the mammalian body part.
10 . The system of claim 1 , wherein the second reference image includes:
a second reference image that includes a present-location landmark subsurface feature of the mammalian body part, the present-location landmark subsurface feature having a second spatial relationship to an operative end of a body-insertable device deployed operationally proximate to the mammalian body part.
11 . The system of claim 1 , wherein the second reference image includes:
a second reference image that includes a present-location landmark subsurface feature of the mammalian body part, the present-location landmark subsurface feature having a second spatial relationship to an operative and movable distal end portion of a body-insertable device deployed operationally proximate to the mammalian body part.
12 . The system of claim 1 , wherein the second reference image includes:
a second reference image that includes a present-location landmark subsurface feature of the mammalian body part, the present-location landmark subsurface feature having a second spatial relationship to a distal end portion of the body-insertable device deployed in a cavity or lumen of the mammalian body part.
13 . The system of claim 1 , wherein the second reference image includes:
a second reference image acquired by a body-insertable device and including a present-location landmark subsurface feature of the mammalian body part, the present-location landmark subsurface feature having a second spatial relationship to a distal end portion of the body-insertable device deployed operationally proximate to the mammalian body part.
14 . The system of claim 1 , wherein the second reference image includes:
a second reference image acquired by an ex vivo device and including a present-location landmark subsurface feature of the mammalian body part, the present-location landmark subsurface feature having a second spatial relationship to a distal end portion of a body-insertable device deployed operationally proximate to the mammalian body part.
15 . The system of claim 1 , wherein the feature matching circuit includes:
a feature matching circuit configured to determine at least one of a structural, pattern, orientation, physical characteristic, or identification correspondence between the present-location landmark subsurface feature and the objective landmark subsurface feature.
16 . The system of claim 1 , wherein the feature matching circuit includes:
a feature matching circuit configured to determine a match between the present-location landmark subsurface feature and the objective landmark subsurface feature.
17 . The system of claim 1 , wherein the proximity indicator circuit includes:
a proximity indicator circuit configured to generate informational data indicative of an operational proximity of the distal end portion of the body-insertable device to the destination region of interest, the informational data at least partially based on a scale suitable for operational use the body-insertable device with respect to the destination region of interest, the informational data further at least partially based on the determined substantial correspondence between the present-location landmark subsurface feature and the objective landmark subsurface feature.
18 . The system of claim 1 , wherein the proximity indicator circuit includes:
a proximity indicator circuit configured to generate informational data indicative of a distance of less than four centimeters between the distal end portion of the body-insertable device and the destination region of interest, the informational data at least partially based on the determined substantial correspondence between the present-location landmark subsurface feature and the objective landmark subsurface feature.
19 . (canceled)
20 . The system of claim 1 , wherein the proximity indicator circuit includes:
a proximity indicator circuit configured to generate informational data indicative of a distance of less than one centimeter between the distal end portion of the body-insertable device and the destination region of interest, the informational data at least partially based on the determined substantial correspondence between the present-location landmark subsurface feature and the objective landmark subsurface feature.
21 . The system of claim 1 , wherein the proximity indicator circuit includes:
a proximity indicator circuit configured to generate informational data indicative of a proximity distance of the distal end portion of the body-insertable device to the destination region of interest, the informational data at least partially based on a determined substantial correspondence between the landmark subsurface feature of the mammalian body part and the present-location subsurface feature of the mammalian body part, and wherein the indicated distance includes a distance within a user-selected range.
22 . The system of claim 1 , wherein the proximity indicator circuit includes:
a proximity indicator circuit configured to generate informational data indicative of an absence of a proximity between the distal end portion of the body-insertable device and the destination region of interest, the informational data at least partially based on the determined substantial correspondence between the present-location landmark subsurface feature and the objective landmark subsurface feature.
23 . The system of claim 1 , wherein the proximity indicator circuit includes:
a proximity indicator circuit configured to output a signal usable in displaying a human-perceivable indication of an operational proximity of the distal end portion of the body-insertable device to the destination region of interest, the signal at least partially based on the determined substantial correspondence between the present-location landmark subsurface feature and the objective landmark subsurface feature.
24 . The system of claim 1 , wherein the proximity indicator circuit includes:
a proximity indicator circuit configured to generate informational data indicative of an operational proximity of the distal end portion of the body-insertable device to the destination region of interest in response to the determined substantial correspondence between the present-location landmark subsurface feature and the objective landmark subsurface feature, otherwise, to generate informational data indicative of an absence of an operational proximity of the distal end portion of the body-insertable device to the destination region of interest.
25 . The system of claim 1 , further comprising:
an event data circuit configured to generate operational-proximity event informational data indicative of an operational proximity of the distal end portion of the body-insertable device to the destination region of interest, an occurrence of an operational-proximity event at least partially based on the informational data indicative of an operational proximity of the distal end portion of the body-insertable device to the destination region of interest.
26 . The system of claim 1 , further comprising:
a feature-choosing circuit configured to select the objective landmark subsurface feature of the mammalian body part.
27 . (canceled)
28 . (canceled)
29 . The system of claim 1 , further comprising:
a computer-readable media configured to maintain the informational data corresponding to the operational proximity of the distal end portion of the body-insertable device to the destination region of interest.
30 . The system of claim 1 , further comprising:
a communication circuit configured to output the informational data corresponding to the operational proximity of the distal end portion of the body-insertable device to the destination region of interest.
31 . The system of claim 1 , further comprising:
a communication circuit configured to provide a notification at least partially based on the informational data to at least one of a human, computer, or system.
32 . The system of claim 1 , further comprising:
a communication device configured to display a human-perceivable depiction of the operational proximity of the distal end portion of the body-insertable device to the destination region of interest.
33 . A method implemented in a computing device, the method comprising:
(a) receiving a first reference image that includes an objective landmark subsurface feature of a mammalian body part, the objective landmark subsurface feature having a first spatial relationship to a destination region of interest of the mammalian body part;
(b) receiving a second reference image that includes a present-location landmark subsurface feature of the mammalian body part, the present-location landmark subsurface feature having a second spatial relationship to a distal end portion of a body-insertable device;
(c) determining a substantial correspondence between the present-location landmark subsurface feature and the objective landmark subsurface feature; and
(d) generating informational data indicative of an operational proximity of the distal end portion of the body-insertable device to the destination region of interest, the informational data indicative of operational proximity at least partially based on the determined substantial correspondence.
34 . The method of claim 33 , further comprising:
maintaining the informational data in a computer-readable media.
35 . (canceled)
36 . (canceled)
37 . The method of claim 33 , wherein the receiving a second reference image includes:
receiving a second reference image that includes a present-location landmark subsurface feature of the mammalian body part, the present-location landmark subsurface feature having a second spatial relationship to a distal end portion of a body-insertable device deployed operationally proximate to the mammalian body part.
38 . (canceled)
39 . The method of claim 33 , wherein the generating informational data includes:
generating informational data indicative of a proximity distance of less than four centimeters between the distal end portion of the body-insertable device and the destination region of interest, the informational data at least partially based on the determined substantial correspondence between the present-location landmark subsurface feature and the objective landmark subsurface feature.
40 . The method of claim 33 , further comprising:
outputting the informational data.
41 . The method of claim 33 , further comprising:
outputting a signal useable in displaying a human-perceivable indication of the operational proximity of the distal end portion of the body-insertable device to the destination region of interest.
42 . The method of claim 33 , further comprising:
transforming the informational data into a particular visual depiction of the operational proximity of the distal end portion of the body-insertable device to the destination region of interest.
43 . The method of claim 33 , further comprising:
providing a notification at least partially based on the informational data to at least one of a human, computer, or system.
44 . The method of claim 33 , further comprising:
displaying a human-perceivable indication of the operational proximity of the distal end portion of the body-insertable device to the destination region of interest, the displaying at least partially based on the informational data.
45 . A computer program product comprising:
(a) program instructions which, when executed by a processor of a computing device, cause the computing device to perform a process comprising:
(i) receiving a first reference image that includes an objective landmark subsurface feature of a mammalian body part, the objective landmark subsurface feature having a first spatial relationship to a destination region of interest of the mammalian body part; and
(ii) receiving a second reference image that includes a present-location landmark subsurface feature of the mammalian body part, the present-location landmark subsurface feature having a second spatial relationship to a distal end portion of a body-insertable device;
(iii) determining a substantial correspondence between the present-location landmark subsurface feature and the objective landmark subsurface feature;
(iv) generating informational data indicative of an operational proximity of the distal end portion of the body-insertable device to the destination region of interest, the informational data indicative of operational proximity at least partially based on the determined substantial correspondence between the present-location landmark subsurface feature and the objective landmark subsurface feature; and
(v) outputting the informational data; and
(b) a computer-readable media bearing the program instructions.
46 . The computer program product of claim 45 , wherein the process further includes:
outputting a signal useable in displaying a human-perceivable indication of the operational proximity of the portion of the body-insertable device to the region of interest, the signal at least partially based on the informational data.
47 . The computer program product of claim 45 , wherein the process further includes:
transforming the informational data into a particular visual depiction of the operational proximity of the distal end portion of the body-insertable device to the destination region of interest.
48 . The computer program product of claim 45 , wherein the process further includes:
providing a notification at least partially based on the informational data to at least one of a human, computer, or system.
49 . The computer program product of claim 48 , wherein the process further includes:
storing in another computer-readable media operably coupled with the processor the informational data.
50 . The computer program product of claim 45 , wherein the computer-readable media includes a tangible computer-readable media.
51 . The computer program product of claim 45 , wherein the computer-readable media includes a communications media.
52 .- 60 . (canceled)