Patent US7822461B2 successfully refreshed from Google Patents.
US7822461B2
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System and method for endoscopic path planning
Assignee: Siemens Medical Solutions USA Inc
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Filing: 2004-07-09
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Granted: 2010-10-26
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Expires: 2024-07-09
Abstract
Abstract A system and method for endoscopic path planning is provided. The method comprises: identifying a target in a lung, wherein the target is located in a peripheral airway of the lung; generating an endoscopic path to the target, wherein a peripheral artery is used as a surrogate for the peripheral airway; and viewing the endoscopic path.
Inventors
- 👤 Bernhard Geiger
- 👤 Atilla Peter Kiraly
- 👤 David P. Naidich
- 👤 Carol L. Novak
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-09 21:29
CPC Classifications
G; G06; G06T; G06T19/00; G06T19/003; A; A61; A61B; A61B90/00; A61B90/36; A61B90/37; A61B2090/374; A61B34/00; A61B34/10; G06T2210/00; G06T2210/41
Claims Analysis
Total Claims: 13
Claim 1
Independent Claim
160 words
A system for endoscopic path planning, comprising: a memory device for storing a program; a processor in communication with the memory device, the processor operative with the program to: receive an image of a lung, wherein the image includes airways and arteries, and wherein certain peripheral airways are not visible in the image, but peripheral arteries corresponding to the non-visible peripheral airways are visible in the image; identify a target in an image of a lung, wherein the target is located near a non-visible peripheral airway; and automatically generate an endoscopic path to the target, wherein the endoscopic path follows a visible airway that leads to the non-visible peripheral airway, and then, follows a path computed by the processor based on coordinates of the non-visible peripheral airway's nearest matching peripheral artery to the target, wherein the endoscopic path is inside the visible airway that leads to the non-visible peripheral airway and the non-visible peripheral airway that leads to the target.
Claim 2
Independent Claim
160 words
A system for endoscopic path planning, comprising: a memory device for storing a program; a processor in communication with the memory device, the processor operative with the program to: receive an image of a lung, wherein the image includes airways and arteries, and wherein certain peripheral airways are not visible in the image, but peripheral arteries corresponding to the non-visible peripheral airways are visible in the image; identify a target in an image of a lung, wherein the target is located near a non-visible peripheral airway; and automatically generate an endoscopic path to the target, wherein the endoscopic path follows a visible airway that leads to the non-visible peripheral airway, and then, follows a path computed by the processor based on coordinates of the non-visible peripheral airway's nearest matching peripheral artery to the target, wherein the endoscopic path is inside the visible airway that leads to the non-visible peripheral airway and the non-visible peripheral airway that leads to the target.
Claim 3
Dependent Claim
78 words
The system of claim 1 , wherein when the system is used to perform a bronchoscopy, the processor is further operative with the program to: receive an image that identifies a location of a tip of a bronchoscope that has been inserted into the lung; register the image with a corresponding image from the endoscopic path; and determine where the tip of the bronchoscope is located in relation to where it should be located in the endoscopic path.
Claim 4
Dependent Claim
37 words
The system of claim 2 , wherein the processor is further operative with the program to: cause a user to reposition the tip of the bronchoscope to match where it should be located in the endoscopic path.
Claim 5
Dependent Claim
20 words
The system of claim 1 , wherein the target comprises a nodule, cancerous protrusion, non-cancerous protrusion, lesion, tumor, or stenosis.
Claim 6
Dependent Claim
33 words
The system of claim 1 , wherein the image is received from a device employing a computed tomographic (CT), helical CT, x-ray, positron emission tomographic, fluoroscopic, ultrasound, or magnetic resonance (MR) imaging technique.
Claim 7
Dependent Claim
23 words
The system of claim 1 , wherein the processor is further operative with the program when identifying the target to: select the target.
Claim 8
Dependent Claim
100 words
The system of claim 1 , wherein the processor is further operative with the program when generating an endoscopic path to the target to: segment airways and arteries in the lung; compute an airway tree of the segmented airways and an artery tree of the segmented arteries; match the computed airway and artery trees to each other; use the matched trees to find the non-visible peripheral airway's nearest matching peripheral artery; and select a jump point where the endoscopic path switches from following the visible airway to following the path computed based on coordinates of the nearest matching peripheral artery.
Claim 9
Dependent Claim
18 words
The system of claim 7 , wherein the jump point is near an end of the visible airway.
Claim 10
Dependent Claim
18 words
The system of claim 7 , wherein the jump point is at a midpoint of the visible airway.
Claim 11
Dependent Claim
20 words
The system of claim 1 , wherein the processor is further operative with the program to: display the endoscopic path.
Claim 12
Independent Claim
144 words
A system for endoscopic path planning, comprising: means for receiving an image of a lung, wherein the image includes airways and arteries, and wherein certain peripheral airways are not visible in the image, but peripheral arteries corresponding to the non-visible peripheral airways are visible in the image; means for identifying a target in an image of a lung, wherein the target is located near a non-visible peripheral airway; and means for automatically generating an endoscopic path to the target, wherein the endoscopic path follows a visible airway that leads to the non-visible peripheral airway, and then, follows a path computed by a machine based on coordinates of the non-visible peripheral airway's nearest matching peripheral artery to the target, wherein the endoscopic path is inside the visible airway that leads to the non-visible peripheral airway and the non-visible peripheral airway that leads to the target.
Claim 13
Independent Claim
144 words
A system for endoscopic path planning, comprising: means for receiving an image of a lung, wherein the image includes airways and arteries, and wherein certain peripheral airways are not visible in the image, but peripheral arteries corresponding to the non-visible peripheral airways are visible in the image; means for identifying a target in an image of a lung, wherein the target is located near a non-visible peripheral airway; and means for automatically generating an endoscopic path to the target, wherein the endoscopic path follows a visible airway that leads to the non-visible peripheral airway, and then, follows a path computed by a machine based on coordinates of the non-visible peripheral airway's nearest matching peripheral artery to the target, wherein the endoscopic path is inside the visible airway that leads to the non-visible peripheral airway and the non-visible peripheral airway that leads to the target.
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| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
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| 3.5 Years (Year 4) | 2013-10-25 | 2014-04-26 | 2014-10-26 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2017-10-25 | 2018-04-26 | 2018-10-26 | $3760.00 | Window Closed / Lapsed |
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