최소 단어 이상 선택하여야 합니다.
최대 10 단어까지만 선택 가능합니다.
다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
NTIS 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
DataON 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
Edison 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
Kafe 바로가기국가/구분 | United States(US) Patent 등록 |
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국제특허분류(IPC7판) |
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출원번호 | US-0568260 (2005-05-01) |
등록번호 | US-9055881 (2015-06-16) |
국제출원번호 | PCT/IL2005/000452 (2005-05-01) |
§371/§102 date | 20080422 (20080422) |
국제공개번호 | WO2005/102175 (2005-11-03) |
발명자 / 주소 |
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출원인 / 주소 |
|
대리인 / 주소 |
|
인용정보 | 피인용 횟수 : 3 인용 특허 : 684 |
Systems and methods for endoscopic procedures employ a first technique to ensure initial correct alignment of an endoscope (100) with a desired target (10). A reference image (51) is then acquired from an imaging arrangement associated with the endoscope. During a subsequent stage of the procedure,
Systems and methods for endoscopic procedures employ a first technique to ensure initial correct alignment of an endoscope (100) with a desired target (10). A reference image (51) is then acquired from an imaging arrangement associated with the endoscope. During a subsequent stage of the procedure, tracking of the endoscope position relative to the target is performed partially or entirely by image-based tracking by comparing features in real-time video image (52) produced by imaging arrangement with features in the reference image (51). The feature comparison may be performed visually by a user, or may be automated to offer more specific corrective suggestions to the user.
1. A method for confirming correct alignment of a distal end of an endoscope including an imaging arrangement during an endoscopic procedure, the method comprising: positioning the distal end of the endoscope adjacent to a target location and capturing a reference image using the imaging arrangement
1. A method for confirming correct alignment of a distal end of an endoscope including an imaging arrangement during an endoscopic procedure, the method comprising: positioning the distal end of the endoscope adjacent to a target location and capturing a reference image using the imaging arrangement;sensing a real-time video image using the imaging arrangement;comparing features of the real-time video image with the reference image to determine whether the endoscope is correctly aligned;if the endoscope is not correctly aligned: measuring a mismatch between the reference image and the real-time video image;providing a visual indication of the mismatch, the visual indication including directionality and magnitude information; andadjusting a position of the endoscope based on the directionality and magnitude information derived from the mismatch; andcorrelating a sub-window of the reference image provided on a display, and centered on the target location, with a corresponding sliding window of the real-time video image provided on the display. 2. The method of claim 1, wherein said step of positioning employs a target location identified in three-dimensional image data of a region of a body to be treated. 3. The method of claim 2, wherein said three-dimensional image data is derived from an imaging technique selected from: computerized tomography; magnetic resonance imaging; positron emission tomography; and ultrasound. 4. The method of claim 1, wherein the positioning step employs a position sensor associated with the distal end of the endoscope, said position sensor configured to aid in the measuring of the mismatch between the reference image and the real-time video image. 5. The method of claim 4, wherein the positioning step is performed by comparing a position of the distal end of the endoscope as measured in the measuring step and the target location. 6. The method of claim 4, wherein said position sensor is part of an elongated element deployed within a working channel of the endoscope, and wherein said elongated element is withdrawn from the working channel prior to said comparing step. 7. The method of claim 1, wherein said target location is not visible in said reference image. 8. The method of claim 1, further comprising displaying simultaneously said reference image and said real-time video image to facilitate the visual indication of the mismatch. 9. The method of claim 1, wherein said comparing step includes co-processing said reference image and at least one frame from the real-time video image, the method further comprising generating an alarm signal if the visual indication of the mismatch exceeds a predefined value. 10. The method of claim 1, wherein said comparing includes co-processing said reference image and at least one frame from said real-time video to determine a displacement correction required to compensate for erroneous movement of the endoscope, the method further comprising generating a display indicative to a user of said displacement correction required to compensate for the erroneous movement of the endoscope. 11. The method of claim 1, wherein said comparing includes co-processing said reference image and at least one frame from said real-time video to determine a transformation relating said real-time video frame to said reference image, the method further comprising generating a display corresponding to said real-time video with addition of an indication of a target location, position of said indication being derived at least in part by use of said transformation. 12. The method of claim 1, wherein the endoscope is a bronchoscope. 13. A system for ensuring correct alignment of an endoscope during performance of an endoscopic procedure, the system comprising: an endoscope having a distal end for insertion into a body;an imaging arrangement associated with said endoscope and configured to generate a real-time video image of a region beyond said distal end; anda processing system associated with said imaging arrangement and configured to: (i) in an initial state of alignment with a target location, derive from said imaging arrangement a reference image corresponding to correct alignment with the target location,(ii) derive from said imaging arrangement real-time images of the region beyond said distal end,(iii) co-process said reference image and said real-time images to determine a current alignment status of said endoscope with the target location,(iv) if said endoscope is not currently aligned:measure a mismatch between the reference image and the real-time video image;provide a visual indication of the mismatch, the visual indication including directionality and magnitude information; andadjust a position of the endoscope based on the directionality and magnitude information derived from the mismatch; and(v) correlate a sub-window of the reference image provided on a display, and centered on the target location, with a corresponding sliding window of the real-time video image provided on the display. 14. The system of claim 13, wherein said processing system is configured to co-process said reference image and said real-time images, said processing system further generating an alarm signal if the visual indication of the mismatch exceeds a predefined value. 15. The system of claim 13, further comprising a display for displaying at least said real-time images to a user, wherein said processing system is configured to co-process said reference image and said real-time images to determine a displacement correction required to compensate for erroneous movement of the endoscope, said processing system further generating an indication on said display indicative to a user of said displacement correction required to compensate for the erroneous movement of the endoscope. 16. The system of claim 13, further comprising a display for displaying at least said real-time images to a user, wherein said processing system is configured to co-process said reference image and said real-time images to determine a transformation relating said real-time video frame to said reference image, said processing system further generating on said display an indication of a target location, position of said indication being derived at least in part by use of said transformation. 17. The system of claim 13, further comprising a position sensor carried by an elongated element removably deployable along a working channel of said endoscope.
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