APPARATUSES AND METHODS FOR REGISTERING A REAL-TIME IMAGE FEED FROM AN IMAGING DEVICE TO A STEERABLE CATHETER

1 . A method of registering a real-time image feed from an imaging device inserted into a steerable catheter using a navigation system comprising a display, wherein the steerable catheter comprises an elongate flexible shaft having a proximal end portion, a distal end portion terminating in a tip, a working channel extending therebetween, and a handle attached to the proximal end portion of the flexible shaft, the method comprising:

inserting the imaging device into the working channel of the steerable catheter;

generating a real-time image feed of one or more reference points, wherein the orientation of the reference points is known;

orienting the handle of the steerable catheter to a neutral position;

displaying the real-time image feed on the display; 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.

2 . The method of claim 1 further comprising correcting image distortion in the real-time image feed.

3 . The method of claim 1 further comprising navigating the steerable catheter into the airway of the patient and wherein the reference points comprise anatomical features of the airway of the patient.

4 . The method of claim 1 , further comprising confirming the alignment of the real time image feed, comprising the steps of:

steering the steerable catheter in a first direction;

observing that the displayed real-time image feed moves in the first direction.

5 . The method of claim 3 , wherein the navigation system further comprises a localization device and is adapted to display a virtual volumetric scene of the airway on the display of the navigation system, and wherein the steerable catheter further comprises a localization element proximate the distal end portion of the elongate flexible shaft, wherein the method further comprises:

tracking the location of the localization element of the steerable catheter in the airway using the navigation system;

determining an orientation of the registered real-time image feed with respect to the tracked location of the localization element of the steerable catheter;

recording the orientation of the registered real-time image feed with respect to the tracked location of the localization element of the steerable catheter.

6 . The method of claim 5 further comprising overlaying one or more navigational aids onto the real-time image feed, wherein the navigational aids are registered to the real-time image feed.

7 . The method of claim 6 wherein the navigational aids comprise one or more of a navigation pathway and a directional cue.

8 . The method of claim 5 further comprising:

displaying a virtual volumetric scene of the airway on the display of the navigation system; and

registering the virtual volumetric scene to the real-time image feed.

9 . The method of claim 8 further comprising maintaining registration of the virtual volumetric scene to the real time image feed as the steerable catheter is navigated through the airway of the patient.

10 . The method of claim 8 further comprising overlaying one or more navigational aids onto the real-time image feed.

11 . The method of claim 10 wherein the navigational aids comprise one or more of a navigation pathway and a directional cue.