Granted Patent B2

US 12,599,439 · App. 18/480,668 · Granted Apr 14, 2026

Inventor: William S. Krimsky (Forest Hill, MD)

Assignee: Covidien LP

A61B34/20A61B10/04A61B1/018A61B1/2676A61B5/062A61B5/6852A61B2018/00541A61B18/1492A61B2034/107A61B2034/2051A61B2034/2065A61B2034/2068A61B34/25A61B2090/061A61B2090/0811A61B90/39

Abstract

Claims (52)

1 . A navigation system, comprising:

a catheter configured to be advanced through a patient's luminal network, the catheter having a first sensor and defining a lumen;

a tool configured to be advanced through the lumen of the catheter, the tool having a second sensor;

at least one processor; and

one or more processor-readable media storing instructions which, when executed by the at least one processor:

display a three-dimensional model of the patient's luminal network, the three-dimensional model including a target;

determine a distance between the target within the patient's luminal network and a location of the first sensor;

determine a distance between the location of the first sensor and a location of the second sensor in a first position within a patient coordinate frame of reference;

display in the three-dimensional model the location of the first sensor and the location of the second sensor at the first position;

determine a distance between the location of the second sensor in the first position within the patient coordinate frame of reference and the location of the second sensor in a second position within the patient coordinate frame of reference;

determine a distance between the location of the first sensor and the location of the second sensor in the second position; and

update in the display of the three-dimensional model the displayed location of the first sensor and the displayed location of the second sensor at the second position.

2 . The navigation system according to claim 1 , wherein the patient's luminal network includes airways.

3 . The navigation system according to claim 1 , wherein determining the distance between the location of the first sensor and the location of the second sensor in the second position includes adding the determined distance between the location of the first sensor and the location of the second sensor in the first position and the determined distance between the location of the second sensor in the first position and the location of the second sensor in the second position.

4 . The navigation system according to claim 1 , wherein at least one of the first sensor or the second sensor is an electromagnetic sensor.

5 . The navigation system according to claim 1 , wherein the one or more processor-readable media further store instructions which, when executed by the at least one processor, cause performance of displaying the determined distance between the location of the first sensor and the location of the second sensor in the second position.

6 . The navigation system according to claim 1 , wherein the one or more processor-readable media further store instructions which, when executed by the at least one processor, cause performance of displaying a count-down of a distance remaining between at least one of the first sensor and the target or the second sensor and the target.

7 . The navigation system according to claim 1 , further comprising an electromagnetic tracking system configured to generate an electromagnetic field for calculating the patient coordinate frame of reference and electromagnetically track the location of the first sensor and the location of the second sensor.

8 . The navigation system according to claim 1 , wherein the tool is a needle, a guide wire, a biopsy tool, a dilator, or an ablation device.

9 . A navigation system, comprising:

a catheter configured to be advanced through a patient's luminal network, the catheter having a first sensor;

at least one processor; and

one or more processor-readable media storing instructions which, when executed by the at least one processor:

display a three-dimensional model of the patient's luminal network, the three-dimensional model including a target;

determine a distance between the target within the patient's luminal network and a location of the first sensor;

determine a distance between the location of the first sensor and a location of a second sensor in a first position within a patient coordinate frame of reference;

display in the three-dimensional model the location of the first sensor and the location of the second sensor at the first position;

determine a distance between the location of the second sensor in the first position within the patient coordinate frame of reference and the location of the second sensor in a second position within the patient coordinate frame of reference;

determine a distance between the location of the first sensor and the location of the second sensor in the second position by adding the distance between the location of the first sensor and the location of the second sensor in the first position and the distance between the location of the second sensor in the first position and the location of the second sensor in the second position;

update in the display of the three-dimensional model the location of the first sensor and the location of the second sensor at the second position; and

display a distance of the first sensor or the second sensor from the target at the second position.

10 . The navigation system according to claim 9 , wherein the patient's luminal network includes airways.

11 . The navigation system according to claim 9 , wherein at least one of the first sensor or the second sensor is an electromagnetic sensor.

12 . The navigation system according to claim 9 , wherein the one or more processor-readable media further store instructions which, when executed by the at least one processor, cause performance of displaying the determined distance between the location of the first sensor and the location of the second sensor in the second position.

13 . The navigation system according to claim 9 , wherein the one or more processor-readable media further store instructions which, when executed by the at least one processor, cause performance of displaying a count-down of a distance remaining between at least one of the first sensor and the target or the second sensor and the target.

14 . The navigation system according to claim 9 , further comprising a tool configured to be advanced through a lumen defined by the catheter, wherein the second sensor is disposed on the tool.

15 . A system, comprising:

at least one processor; and

one or more processor-readable media storing instructions which, when executed by the at least one processor:

display a three-dimensional model of a patient's luminal network, the three-dimensional model including a target;

determine a distance between the target within the patient's luminal network and a location of a first sensor disposed on a catheter configured to be advanced through the patient's luminal network;

determine a distance between the location of the first sensor and a location of a second sensor in a first position within a patient coordinate frame of reference;

display in the three-dimensional model the location of the first sensor and the location of the second sensor at the first position;

determine a distance between the location of the second sensor in the first position within the patient coordinate frame of reference and the location of the second sensor in a second position within the patient coordinate frame of reference;

determine a distance between the location of the first sensor and the location of the second sensor in the second position;

update in the three-dimensional model the location of the first sensor and the location of the second sensor at the second position; and

display a count-down of a distance remaining between at least one of the first sensor and the target or the second sensor and the target.

16 . The system according to claim 15 , wherein the patient's luminal network includes airways.

17 . The system according to claim 15 , wherein determining the distance between the location of the first sensor and the location of the second sensor in the second position includes adding the determined distance between the location of the first sensor and the location of the second sensor in the first position and the determined distance between the location of the second sensor in the first position and the location of the second sensor in the second position.

18 . The system according to claim 15 , wherein at least one of the first sensor or the second sensor is an electromagnetic sensor.

19 . The system according to claim 15 , further comprising a tool configured to be advanced through a lumen defined by the catheter, wherein the second sensor is disposed on the tool.

20 . The system according to claim 19 , wherein the tool is a needle, a guide wire, a biopsy tool, a dilator, or an ablation device.

Assignments (1)

Continuity (4)

References Cited (400)