Granted Patent B2

US 12,551,132 · App. 18/608,794 · Granted Feb 17, 2026

Inventors: Dorian Averbuch (Ramat Hasharon, IL); Oded Zur (Kochav-Ya'ir zur Yigal, IL); Oren P. Weingarten (Hod-Hasharon, IL)

Assignee: Covidien LP

A61B5/066A61B1/2676A61B5/06A61B5/064A61B5/7246A61B34/20G06T7/0016G06T7/33A61B2017/00699A61B2034/2072A61B90/361A61B2090/365A61B2090/3762A61B2576/00G06T2207/10068G06T2207/10081G06T2207/30061

Abstract

Claims (35)

1 . A system comprising:

an endoscope including a sensor;

a camera;

a monitor;

a processor; and

a memory having stored thereon instructions, which, when executed by the processor, cause the processor to:

display, on the monitor, a live endoscopic image and a virtual endoscopic image, wherein the displayed virtual endoscopic image is selected from a portion of a plurality of virtual endoscopic images (i) identified based on data from the sensor and (ii) used to perform initial registration with the live endoscopic image, the selected virtual endoscopic image being representative of a location of a distal end of the endoscope in an airway; and

update the initial registration by image-based registration of the live endoscopic image with other portions of the plurality of virtual endoscopic images as the endoscope is advanced.

2 . The system of claim 1 , wherein the virtual endoscopic images are generated from a three-dimensional (3D) model of an airway, and

wherein the 3D model is generated from images of the airway captured by an imaging system.

3 . The system of claim 2 , wherein the imaging system is a 3D imaging system.

4 . The system of claim 3 , wherein the 3D imaging system is a computed tomography (CT) imaging system.

5 . The system of claim 1 , wherein the instructions further cause the processor to identify the portion of the plurality of virtual endoscopic images based on image data from the camera.

6 . The system of claim 1 , wherein the instructions further cause the processor to identify the portion of the plurality of virtual endoscopic images based on the live endoscopic image.

7 . The system of claim 1 , wherein the instructions further cause the processor to determine a position of the endoscope in an airway based on the data from the sensor.

8 . The system of claim 7 , wherein the instructions further cause the processor to determine a position of the endoscope in an airway by:

determining a profile of a feature of the airway in which the endoscope is positioned; and

determining a feature of a three-dimensional (3D) model of the airway generated from images of the airway corresponding to the determined airway feature profile.

9 . The system of claim 8 , wherein the images are captured by an imaging system.

10 . The system of claim 9 , wherein the imaging system is a 3D imaging system.

11 . The system of claim 10 , wherein the 3D imaging system is a computed tomography (CT) imaging system.

12 . The system of claim 1 , wherein the instructions further cause the processor to update the initial registration using time-varying physiological data from patient sensors.

13 . The system of claim 12 , wherein the time-varying physiological data is breathing cycle data.

14 . The system of claim 1 , wherein the portion of the plurality virtual endoscopic images correspond to virtual endoscopic images in a vicinity of the sensor.

15 . A system comprising:

an endoscope;

a camera;

a monitor;

a processor; and

a memory having stored thereon instructions, which, when executed by the processor, cause the processor to:

display, on the monitor, a live endoscopic image and a virtual endoscopic image, wherein the displayed virtual endoscopic image is selected from a portion of a plurality of images (i) identified based on the live endoscopic image and (ii) used to perform initial registration with the live endoscopic image, the selected virtual endoscopic image being representative of a location of a distal end of the endoscope in an airway; and

update the initial registration by image-based registration of the live endoscopic image with other portions of the plurality of virtual endoscopic images as the endoscope is advanced.

16 . A method comprising:

displaying, on a monitor, a live endoscopic image and a virtual endoscopic image, wherein the displayed virtual endoscopic image is selected from a portion of a plurality of images (i) identified based on data from a sensor and the live endoscopic image and (ii) used to perform initial registration with the live endoscopic image, the selected virtual endoscopic image being representative of a location of a distal end of an endoscope in an airway; and

update the initial registration by image-based registration of the live endoscopic image with other portions of the plurality of virtual endoscopic images as the endoscope is advanced.

Assignments (3)

Continuity (9)

References Cited (400)