US 12,303,220 B2
Autonomous endobronchial access with an EM guided catheter
Evan Arsham Hosseini, Eden Prairie, MN (US); and Nathan J. Knutson, Long Lake, MN (US)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by Covidien LP, Mansfield, MA (US)
Filed on Jan. 26, 2022, as Appl. No. 17/585,089.
Prior Publication US 2023/0233270 A1, Jul. 27, 2023
Int. Cl. A61B 1/00 (2006.01); A61B 1/018 (2006.01); A61B 1/05 (2006.01); A61B 1/267 (2006.01); A61B 34/30 (2016.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 1/018 (2013.01); A61B 1/05 (2013.01); A61B 1/2676 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/301 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A system for performing a surgical procedure, comprising:
a controller operably coupled to a camera, the controller including a memory and a processor, the memory storing instructions, which when executed by the processor cause the processor to:
receive a color image captured by the camera;
convert the color image to a grayscale image;
generate a segmented image by applying a first threshold value to the grayscale image captured by the camera;
identify a lumen within the segmented image;
determine a centroid of the lumen within the segmented image;
overlay the segmented image on the grayscale image, wherein the identified lumen of the segmented image is depicted as a translucent color; and
articulate a portion of a surgical device operably coupled to the controller to align the portion of the surgical device with the centroid of the lumen.