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公开(公告)号：US12004849B2
公开(公告)日：2024-06-11
申请号：US16211314
申请日：2018-12-06
申请人： Covidien LP
IPC分类号： A61B5/06 , A61B1/267 , A61B5/00 , A61B6/00 , A61B6/03 , A61B6/50 , A61B17/00 , A61B34/10 , A61B34/20 , A61B90/00 , G06T7/30
CPC分类号： A61B5/066 , A61B1/2676 , A61B5/062 , A61B5/7253 , A61B6/032 , A61B34/20 , G06T7/30 , A61B6/504 , A61B6/5247 , A61B6/547 , A61B2017/00809 , A61B2034/105 , A61B2034/2051 , A61B2034/2072 , A61B2090/363 , A61B2090/364 , A61B2090/3925
摘要： Methods, systems, and computer-readable media for registering electromagnetic navigation data of a luminal network to a 3D model of the luminal network includes accessing a 3D model of a luminal network based on computed tomographic (CT) images of the luminal network, the 3D model corresponding to a CT coordinate space, selecting a plurality of reference points within the 3D model of the luminal network, accessing a plurality of survey points within the luminal network, the plurality of survey points being based on electromagnetic navigation data and corresponding to a body coordinate space, correlating the plurality of reference points and the plurality of survey points to determine pairs of correlated reference points and survey points; and deriving a transformation that maps the body coordinate space to the CT coordinate space based on the pairs of correlated reference points and survey points.
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公开(公告)号：US11481969B2
公开(公告)日：2022-10-25
申请号：US17233817
申请日：2021-04-19
申请人： Covidien LP
发明人： Jiguang Shen , Lev A. Koyrakh , Oren P. Weingarten , Ron Barak
摘要： Systems, methods, and computer-readable media for registering initial computed tomography (CT) images of a luminal network with subsequent CT images of the luminal network include obtaining initial CT images of the luminal network and subsequent CT images of the luminal network, generating an initial three-dimensional (3D) model of the luminal network based on the initial CT images of the luminal network, generating a subsequent 3D model of the luminal network based on the subsequent CT images of the luminal network, and matching the initial 3D model with the subsequent 3D model based on a registration.
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公开(公告)号：US10984585B2
公开(公告)日：2021-04-20
申请号：US16217413
申请日：2018-12-12
申请人： Covidien LP
发明人： Jiguang Shen , Lev A. Koyrakh , Oren P. Weingarten , Ron Barak
摘要： Systems, methods, and computer-readable media for registering initial computed tomography (CT) images of a luminal network with subsequent CT images of the luminal network include obtaining initial CT images of the luminal network and subsequent CT images of the luminal network, generating an initial three-dimensional (3D) model of the luminal network based on the initial CT images of the luminal network, generating a subsequent 3D model of the luminal network based on the subsequent CT images of the luminal network, matching the initial 3D model with the subsequent 3D model based on a registration, and performing geometric filtering and/or topological filtering on the matching of the initial 3D model and the subsequent 3D model.
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公开(公告)号：US20210000550A1
公开(公告)日：2021-01-07
申请号：US17023640
申请日：2020-09-17
申请人： Covidien LP
发明人： Sean M. Morgan , Lev A. Koyrakh
摘要： A system for calibrating an electromagnetic navigation system is provided. The system includes an antenna assembly having a substrate, multiple pairs of transmit coils, multiple receive coils, multiple input terminals, and multiple output terminals. The substrate includes multiple layers, and each of the transmit coils is deposited on a respective one of the layers and each of the receive coils is deposited on another respective one of the layers. Each of the pairs of transmit coils corresponds to a respective one of the receive coils. Each of the transmit coils is coupled to a respective one of the input terminals, and each of the receive coils is coupled to a respective one of the output terminals.
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公开(公告)号：US20200323463A1
公开(公告)日：2020-10-15
申请号：US16913204
申请日：2020-06-26
申请人： Covidien LP
摘要： Disclosed are systems, devices, and methods for registering a luminal network to a 3D model of the luminal network. An example method comprises generating a 3D model of a luminal network, identifying a target within the 3D model, determining locations of a plurality of carinas in the luminal network proximate the target, displaying guidance for navigating a location sensor within the luminal network, tracking the location of the location sensor, comparing the tracked locations of the location sensor and the portions of the 3D model representative of open space, displaying guidance for navigating the location sensor a predetermined distance into each lumen originating at the plurality of carinas proximate the target, tracking the location of the location sensor while the location sensor is navigated into each lumen, and updating the registration of the 3D model with the luminal network based on the tracked locations of the location sensor.
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公开(公告)号：US10792106B2
公开(公告)日：2020-10-06
申请号：US15337150
申请日：2016-10-28
申请人： COVIDIEN LP
发明人： Sean M. Morgan , Lev A. Koyrakh
摘要： A system for calibrating an electromagnetic navigation system is provided. The system includes an antenna assembly having a substrate, multiple pairs of transmit coils, multiple receive coils, multiple input terminals, and multiple output terminals. The substrate includes multiple layers, and each of the transmit coils is deposited on a respective one of the layers and each of the receive coils is deposited on another respective one of the layers. Each of the pairs of transmit coils corresponds to a respective one of the receive coils. Each of the transmit coils is coupled to a respective one of the input terminals, and each of the receive coils is coupled to a respective one of the output terminals.
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公开(公告)号：US12086930B2
公开(公告)日：2024-09-10
申请号：US17949293
申请日：2022-09-21
申请人： Covidien LP
发明人： Jiguang Shen , Lev A. Koyrakh , Oren P. Weingarten , Ron Barak
CPC分类号： G06T17/00 , G06T5/20 , G06T7/0012 , G06T7/344 , G06T7/62 , G06T7/64 , G06T2207/10081 , G06T2207/30061
摘要： Systems, methods, and computer-readable media for registering initial computed tomography (CT) images of a luminal network with subsequent CT images of the luminal network include obtaining initial CT images of the luminal network and subsequent CT images of the luminal network, generating an initial three-dimensional (3D) model of the luminal network based on the initial CT images of the luminal network, generating a subsequent 3D model of the luminal network based on the subsequent CT images of the luminal network, and matching the initial 3D model with the subsequent 3D model based on a registration.
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公开(公告)号：US11576588B2
公开(公告)日：2023-02-14
申请号：US16913204
申请日：2020-06-26
申请人： Covidien LP
IPC分类号： A61B5/00 , A61B5/06 , A61B10/04 , A61B34/20 , A61B1/267 , A61B5/08 , A61B6/03 , A61B6/00 , A61B17/00 , A61B90/00 , A61B34/10
摘要： Disclosed are systems, devices, and methods for registering a luminal network to a 3D model of the luminal network. An example method comprises generating a 3D model of a luminal network, identifying a target within the 3D model, determining locations of a plurality of carinas in the luminal network proximate the target, displaying guidance for navigating a location sensor within the luminal network, tracking the location of the location sensor, comparing the tracked locations of the location sensor and the portions of the 3D model representative of open space, displaying guidance for navigating the location sensor a predetermined distance into each lumen originating at the plurality of carinas proximate the target, tracking the location of the location sensor while the location sensor is navigated into each lumen, and updating the registration of the 3D model with the luminal network based on the tracked locations of the location sensor.
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公开(公告)号：US10722311B2
公开(公告)日：2020-07-28
申请号：US15337166
申请日：2016-10-28
申请人： COVIDIEN LP
发明人： Lev A. Koyrakh , Sean M. Morgan
摘要： Systems and methods for identifying a location and/or an orientation of an electromagnetic (EM) sensor navigated within an EM volume are provided. Calculated EM field strengths at each gridpoint of a second set of gridpoints of the EM volume are retrieved from a memory. An EM field is generated by way of an antenna assembly. A measured EM field strength is received from the EM sensor. A first gridpoint among a first set of gridpoints of the EM volume is identified based on the measured EM field strength and a high density (HD) map. The location and/or the orientation of the EM sensor is identified based on the HD map, using the first gridpoint as an initial condition, with the second set of gridpoints also including the first set of gridpoints.
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10.发明授权公开(公告)号：US10517505B2
公开(公告)日：2019-12-31
申请号：US15337195
申请日：2016-10-28
申请人： COVIDIEN LP
发明人： Sean M. Morgan , Lev A. Koyrakh
摘要： Systems, methods, and computer-readable media for optimizing an electromagnetic navigation system are provided. Multiple test signals corresponding to multiple combinations of phase offset values of a plurality of frequency components, respectively, are generated. Based on the test signals, a table including peak signal amplitudes associated with the respective test signals is generated. A minimum value of the stored peak signal amplitudes is identified in the table. Based on the table, a determination is made as to which combination of phase offset values is associated with the minimum value of the stored peak signal amplitudes. The determined combination of phase offset values is stored in a memory for use, during an electromagnetic navigation procedure, in generating a signal including the frequency components having the determined combination of phase offset values, respectively.
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