US 12,295,719 B2
Endoscope navigation system with updating anatomy model
Derek Scot Tata, Loveland, CO (US); Peter Douglas Colin Inglis, Boulder, CO (US); and Alexandra R. Hause, Denver, CO (US)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by COVIDIEN LP, Mansfield, MA (US)
Filed on Apr. 12, 2022, as Appl. No. 17/719,007.
Claims priority of provisional application 63/185,186, filed on May 6, 2021.
Prior Publication US 2022/0354380 A1, Nov. 10, 2022
Int. Cl. A61B 5/06 (2006.01); A61B 1/00 (2006.01); A61B 1/005 (2006.01); A61B 1/05 (2006.01); A61B 1/267 (2006.01); G06T 7/33 (2017.01); G06T 7/73 (2017.01); G06T 19/00 (2011.01); G06T 19/20 (2011.01); G16H 30/40 (2018.01); G16H 50/50 (2018.01)
CPC A61B 5/066 (2013.01) [A61B 1/00009 (2013.01); A61B 1/00016 (2013.01); A61B 1/0005 (2013.01); A61B 1/0051 (2013.01); A61B 1/05 (2013.01); A61B 1/2676 (2013.01); G06T 7/33 (2017.01); G06T 7/75 (2017.01); G06T 19/003 (2013.01); G06T 19/20 (2013.01); G16H 30/40 (2018.01); G16H 50/50 (2018.01); G06T 2207/10068 (2013.01); G06T 2207/10081 (2013.01); G06T 2207/10088 (2013.01); G06T 2219/2004 (2013.01); G06T 2219/2016 (2013.01)] 18 Claims
OG exemplary drawing
 
1. An endoscope navigation system, comprising:
an endoscope comprising a steerable distal tip with a camera producing an image signal and with a position sensor producing a position signal indicative of a position of the steerable distal tip;
a graphics controller programmed with instructions to:
render a modeled navigation path in an anatomy model of a patient;
receive the image signal and the position signal;
based on at least the position signal, determine an initial position of the distal tip of the endoscope within the anatomy model;
identify a divergence between the anatomy model and an anatomical feature detected based on at least one of the image signal or the position signal; and
update the initial position of the distal tip of the endoscope in the anatomy model based on the identified divergence to reflect a current physical position of the distal tip of the endoscope; and
a display screen displaying the updated position of the distal tip in the anatomy model.