William E. Higgins,Jason D. Gibbs,Duane C. Cornish
申请号：
US13362123
公开号：
US20120203067A1
申请日:
2012.01.31
申请国别(地区):
US
年份:
2012
代理人:
摘要：
A technician-free strategy enables real-time guidance of bronchoscopy. The approach uses measurements of the bronchoscopes movement to predict its position in 3D virtual space. To achieve this, a bronchoscope model, defining the devices shape in the airway tree to a given point p, provides an insertion depth to p. In real time, the invention compares an observed bronchoscope insertion depth and roll angle, measured by an optical sensor, to precalculated insertion depths along a predefined route in the virtual airway tree to predict a bronchoscopes location and orientation.
