Menglong Ye,Ritwik Ummalaneni,Hedyeh Rafii-Tari,David Paul Noonan
申请号：
US16425069
公开号：
US20190365209A1
申请日:
2019.05.29
申请国别(地区):
US
年份:
2019
代理人:
摘要：
Provided are robotic systems and methods for navigation of luminal network that detect physiological noise. In one aspect, the system includes a set of one or more processors configured to receive first and second image data from an image sensor located on an instrument, detect a set of one or more points of interest the first image data, and identify a set of first locations and a set of second location respectively corresponding to the set of points in the first and second image data. The set of processors are further configured to, based on the set of first locations and the set of second locations, detect a change of location of the instrument within a luminal network caused by movement of the luminal network relative to the instrument based on the set of first locations and the set of second locations.
