David S. Mintz,Atiyeh Ghoreyshi,Prasanth Jeevan,Yiliang Xu,Gehua Yang,Matthew Joseph Leotta,Charles V. Stewart
申请号：
US15268238
公开号：
US09727963B2
申请日:
2016.09.16
申请国别(地区):
US
年份:
2017
代理人:
摘要：
Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state.
