US8218846B2
Active / In Force
US
⏱️ 2.5 years remaining
Automatic pathway and waypoint generation and navigation method
Assignee: Covidien LP
•
Filing: 2009-05-14
•
Granted: 2012-07-10
•
Expires: 2029-05-14
Abstract
Abstract A navigation system for use in a luminal network of a patient, such as the airways, that is able to analyze a three-dimensional model of the luminal network and automatically determine a pathway from an entry point to a designated target. The system further automatically assigns waypoints along the determined pathway in order to assist a physician in navigating a probe to the designated target.
Inventors
- 👤 Dror Trumer
- 👤 Yaniv Nir
- 👤 Dorian Averbuch
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-09 21:27
CPC Classifications
A; A61; A61B; A61B5/00; A61B34/00; A61B34/10; A61B34/25; A61B5/08; A61B5/087; A61B6/00; A61B6/02; A61B6/03; A61B6/032; A61B6/12; A61B6/46; A61B6/461; A61B6/463; A61B6/466; A61B6/467; A61B6/469; A61B6/52; A61B6/5211; A61B6/5217; G; G06; G06T; G06T7/00; G06T7/0002; G06T7/0012; A61B2034/101; A61B2034/105; A61B2034/107; A61B90/00; A61B90/36; A61B90/37; A61B2090/376; A61B2090/3762; G06T2207/00; G06T2207/10; G06T2207/10072; G06T2207/10081; G06T2207/30; G06T2207/30004; G06T2207/30061
Claims Analysis
Total Claims: 25
Claim 1
Independent Claim
93 words
A method of providing a pathway through a luminal network of a patient from an entry point to a target comprising: collecting data regarding an anatomy of a luminal network; developing a three-dimensional map of said luminal network using said data; displaying a representation of said map on a user interface; selecting a target on said map; providing an algorithm that automatically determines a pathway from a selected entry point to said target; displaying said determined pathway on said user interface; providing an algorithm that automatically assigns and displays waypoints along said pathway.
Claim 2
Independent Claim
93 words
A method of providing a pathway through a luminal network of a patient from an entry point to a target comprising: collecting data regarding an anatomy of a luminal network; developing a three-dimensional map of said luminal network using said data; displaying a representation of said map on a user interface; selecting a target on said map; providing an algorithm that automatically determines a pathway from a selected entry point to said target; displaying said determined pathway on said user interface; providing an algorithm that automatically assigns and displays waypoints along said pathway.
Claim 3
Dependent Claim
25 words
The method of claim 1 wherein collecting data regarding an anatomy of a luminal network comprises taking a plurality of images of said luminal network.
Claim 4
Dependent Claim
26 words
The method of claim 2 wherein taking a plurality of images of said luminal network comprises taking a plurality of CT scans of said luminal network.
Claim 5
Dependent Claim
36 words
The method of claim 3 wherein developing a three-dimensional map of said luminal network using said data comprises assembling said plurality of CT scans and performing a data fill function to create a seamless three-dimensional model.
Claim 6
Dependent Claim
24 words
The method of claim 1 wherein developing a three-dimensional map of said luminal network comprises developing a skeletonized three-dimensional map of said luminal network.
Claim 7
Dependent Claim
28 words
The method of claim 1 wherein said algorithm automatically determines said pathway by performing steps comprising: beginning at said selected target; following lumina back to said entry point.
Claim 8
Dependent Claim
63 words
The method of claim 6 wherein following lumina back to said entry point comprises; selecting a point within said lumina proximate said target; determining a lumen diameter at said point; selecting a second point outside a plane of said lumen diameter; determining a second diameter at said second point; continuing to select successive points having increasing diameters until said entry point is reached.
Claim 9
Dependent Claim
36 words
The method of claim 6 wherein said luminal network comprises airways and developing a three-dimensional map of said luminal network using said data comprises labeling said map with exhalation air flow direction through said luminal network.
Claim 10
Dependent Claim
24 words
The method of claim 8 wherein following lumina back to said entry point comprises following said airflow direction labels back to said entry point.
Claim 11
Dependent Claim
25 words
The method of claim 1 wherein providing an algorithm that automatically assigns displays waypoints along said pathway comprises providing an algorithm that detects airway intersections.
Claim 12
Dependent Claim
38 words
The method of claim 10 wherein providing an algorithm that detects airway intersections further comprises providing an algorithm that detects airway intersections and designates a point spaced apart from said intersection, and on said pathway, as a waypoint.
Claim 13
Dependent Claim
56 words
The method of claim 11 wherein providing an algorithm that detects airway intersections and designates a point spaced apart from said intersection, and on said pathway, as a waypoint comprises providing an algorithm that detects airway intersections and designates a point spaced apart from said intersection toward said target, and on said pathway, as a waypoint.
Claim 14
Dependent Claim
23 words
The method of claim 1 wherein displaying said determined pathway on said user interface comprises providing a user with zoom and pan functions.
Claim 15
Dependent Claim
30 words
The method of claim 1 wherein providing an algorithm that automatically assigns and displays waypoints along said pathway comprises providing an algorithm that numbers said waypoints consecutively along said pathway.
Claim 16
Dependent Claim
32 words
The method of claim 1 further comprising providing an algorithm that generates a fly-through feature that displays a simulated navigation view from the entry point to the target on said user interface.
Claim 17
Independent Claim
59 words
A method of providing a pathway through a luminal network of a patient from an entry point to a target comprising: providing a three-dimensional map of said luminal network; selecting a target on said map; providing an algorithm that automatically determines a pathway from a selected entry point to said target; displaying said determined pathway on said user interface.
Claim 18
Independent Claim
59 words
A method of providing a pathway through a luminal network of a patient from an entry point to a target comprising: providing a three-dimensional map of said luminal network; selecting a target on said map; providing an algorithm that automatically determines a pathway from a selected entry point to said target; displaying said determined pathway on said user interface.
Claim 19
Dependent Claim
19 words
The method of claim 16 further comprising providing an algorithm that automatically assigns and displays waypoints along said pathway.
Claim 20
Dependent Claim
25 words
The method of claim 17 wherein providing an algorithm that automatically assigns displays waypoints along said pathway comprises providing an algorithm that detects airway intersections.
Claim 21
Dependent Claim
38 words
The method of claim 18 wherein providing an algorithm that detects airway intersections further comprises providing an algorithm that detects airway intersections and designates a point spaced apart from said intersection, and on said pathway, as a waypoint.
Claim 22
Dependent Claim
56 words
The method of claim 19 wherein providing an algorithm that detects airway intersections and designates a point spaced apart from said intersection, and on said pathway, as a waypoint comprises providing an algorithm that detects airway intersections and designates a point spaced apart from said intersection toward said target, and on said pathway, as a waypoint.
Claim 23
Dependent Claim
30 words
The method of claim 17 wherein providing an algorithm that automatically assigns and displays waypoints along said pathway comprises providing an algorithm that numbers said waypoints consecutively along said pathway.
Claim 24
Dependent Claim
23 words
The method of claim 16 wherein displaying said determined pathway on said user interface comprises providing a user with zoom and pan functions.
Claim 25
Dependent Claim
32 words
The method of claim 16 further comprising providing an algorithm that generates a fly-through feature that displays a simulated navigation view from the entry point to the target on said user interface.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2015-07-10 | 2016-01-09 | 2016-07-10 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2019-07-10 | 2020-01-09 | 2020-07-10 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2023-07-10 | 2024-01-09 | 2024-07-10 | $7700.00 | Window Closed / Lapsed |