Granted Patent B2

US 12,642,602 · App. 18/827,225 · Granted Jun 2, 2026

Inventors: Guy Alexandroni (Yehud-Monosson, IL); Oren P. Weingarten (Hod-Hasharon, IL); Evgeni Kopel (Barkan, IL); Ariel Birenbaum (Raanana, IL)

Assignee: Covidien LP

A61B34/20A61B5/066A61B34/10A61B34/25G06T7/30A61B6/032A61B6/12A61B6/541A61B2034/105A61B2034/107A61B2034/2051A61B2090/376A61B2090/3764

Abstract

Claims (26)

1 . A method for registering an image to a luminal network comprising:

receiving a pre-operative computed tomography (CT) image of the luminal network;

receiving an indication of a target within the luminal network;

generating a pathway through the luminal network to the target;

generating a CT 3D model from the pre-operative CT image;

detecting a position of a catheter within the luminal network;

registering the pre-operative CT image to the detected position of the catheter;

receiving an indication of a location of a sensor in the pre-operative CT image or CT 3D model and updating the location in a user interface until proximate the target;

receiving cone-beam computed tomography (CBCT) images of the luminal network; and

identifying a position of the catheter in the CBCT images and updating the location of the sensor in the pre-operative CT image or CT 3D model in the user interface.

2 . The method of claim 1 , further comprising generating a CBCT 3D model from the CBCT images.

3 . The method of claim 2 , further comprising recalling survey data from memory.

4 . The method of claim 2 , further comprising registering the pre-operative CT image with the CBCT images.

5 . The method of claim 4 , further comprising transferring the target and pathway from the pre-operative CT image and CT 3D model to the CBCT images and CBCT 3D model.

6 . The method of claim 3 further comprising, presenting CBCT images on the user interface and receiving an indication of a location of the target in the CBCT images, and generating a pathway in the CBCT images or CBCT 3D model.

7 . The method of claim 3 , further comprising determining a relative position of the target and the catheter in the CBCT images.

8 . The method of claim 7 , further comprising updating the relative position of the target and the catheter in the pre-operative CT image and CT 3D model based on the determined relative position in the CBCT images or CBCT 3D model.

9 . The method of claim 1 , wherein the luminal network are airways of a patient, and further comprising detecting a phase of breathing.

10 . The method of claim 9 , further comprising receiving a request to capture the CBCT images within a tolerance of a selected phase of breathing.

11 . The method of claim 10 , further comprising detecting a cough during the capture of the CBCT images and rejecting the captured CBCT images.

12 . The method of claim 11 , further comprising receiving a signal to reposition an imaging device and to capture new CBCT images within a tolerance of a selected phase of breathing.

13 . The method of claim 1 , further comprising transforming CT coordinates to CBCT coordinates.

14 . The method of claim 1 , further comprising aligning the CT 3D model with a CBCT 3D model.

15 . The method of claim 1 , further comprising matching features from the pre-operative CT images or CT 3D model to the CBCT images or a CBCT 3D model.

16 . The method of claim 1 , further comprising detecting the location sensor of the catheter is within a predetermined distance of the target.

17 . The method of claim 16 , further comprising signaling a CBCT imaging device to acquire CBCT images upon detection of the location sensor within the predetermined distance of the target.

Assignments (1)

Continuity (3)

References Cited (400)