Medical system providing dynamic registration of a model of an anatomical structure for image-guided surgery

Abstract

A medical system provides navigation assistance to a surgeon so that the surgeon may navigate a flexible medical device through linked passages of an anatomical structure to a target in or adjacent to the anatomical structure. As the medical device moves through the linked passages, images are captured by an image capturing element at its distal end and pose and shape information for the medical device are received from sensors disposed in the medical device. A 4-D computer model of the anatomical structure is registered to the medical device using one or both of 4-D shape registration and virtual camera registration so that the captured image and a virtual image generated from the perspective of a virtual camera are registered to each other and displayed while providing an indication of a navigational path to the target.

Description

technical field [0001] The present invention relates generally to medical systems, and in particular to medical systems that provide dynamic registration of models of anatomical structures for image-guided surgery. Background technique [0002] Image-guided surgery assists a surgeon in manipulating medical instruments to a target within a patient so that therapeutic and / or diagnostic medical procedures can be performed on the target. For guidance, the pose (ie, position and orientation) of the working end of the medical instrument may be tracked, and an image displayed along with or superimposed on the model of the anatomy associated with the target. Models may be computer generated from preoperative and / or intraoperative patient anatomical scan data such as x-ray, ultrasound, fluoroscopy, computed tomography (CT), magnetic resonance imaging (MRI), and other imaging techniques. The medical device may be an endoscope, catheter, or medical device having a steerable tip and a ...

AI Technical Summary

Problems solved by technology

However when the anatomy is neither fixed nor rigid but instead moves and / or changes shape according to the periodic or non-periodic motion of the anatomy, as is the case with a patient's lungs or heart beating, proper registration of the model with the medical device can be very difficult

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