US 12,408,991 B2
Dynamic deformation tracking for navigational bronchoscopy
Ron Barak, Tel-Aviv (IL); and Benjamin Greenburg, Hod-HaSharon (IL)
Assigned to Magnisity Ltd., Hod-HaSharon (IL)
Appl. No. 18/266,317
Filed by Magnisity Ltd., Hod-HaSharon (IL)
PCT Filed Dec. 9, 2021, PCT No. PCT/IL2021/051475
§ 371(c)(1), (2) Date Jun. 9, 2023,
PCT Pub. No. WO2022/123577, PCT Pub. Date Jun. 16, 2022.
Claims priority of provisional application 63/238,165, filed on Aug. 29, 2021.
Claims priority of provisional application 63/123,590, filed on Dec. 10, 2020.
Prior Publication US 2024/0041535 A1, Feb. 8, 2024
Int. Cl. G06T 19/00 (2011.01); A61B 34/20 (2016.01); G06T 19/20 (2011.01); A61B 1/267 (2006.01)
CPC A61B 34/20 (2016.02) [G06T 19/003 (2013.01); G06T 19/20 (2013.01); A61B 1/2676 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/2065 (2016.02); G06T 2210/41 (2013.01); G06T 2219/2021 (2013.01)] 45 Claims
OG exemplary drawing
 
1. A method of modeling a deformed state of a branched anatomical structure within which an interventional instrument is navigated, the method comprising:
accessing a baseline model constructed using imaged shapes of branches and bifurcations of the branched anatomical structure;
accessing a plurality of measurements of interventional instrument shape and position made using the interventional instrument while inserted within the branched anatomical structure, including at least two measurements of shape and position made while the interventional instrument is within, respectively, at least two of the branches which connect on a proximal side to a same bifurcation;
calculating a deformation defining modifications of the baseline model based on the plurality of measurements, the modifications including modifications to modeled branches representing the at least two of the branches; and
producing a deformed model by modifying the baseline model according to the deformation, thereby registering the interventional instrument to the deformed state of the branched anatomical structure.