TISSUE IMAGING AND IMAGE GUIDANCE IN LUMINAL ANATOMIC STRUCTURES AND BODY CAVITIES

摘要

Navigational imaging system and method for use in branched luminal structure. Flexible, spatially steerable probe is equipped with forward- and side-imaging mutually complementing means to enable sub-surface imaging, quantitative determination of probe's positioning with respect to anatomical identifiers of structure, forming 3D image of structure in a volume defined by the imaging means, and positioning of probe in registration with a 3D coordinate system that is independent from the structure. Method includes determining anatomical identifiers of luminal structure branches based on 3D and sub-surface images, assigning such identifiers as fiducial points, and correlating the determined identifiers with those obtained from anatomical model to select target branch for further steering the probe. Optionally, data representing a distance between a branch of lumen from fiducial point and angular orientation of the branch is extracted from complete 3D and quantitative image of lumen obtained during a pull-back of probe along the lumen.

主权项

1. A navigational system comprising:
a guiding probe having an axis and including proximal and distal ends; a first means for delivery of energy between the proximal and distal ends inside the probe; a second means for coupling of energy between the first means and an ambient medium around the probe within at least one of a first angle range and a second angle range, the second means juxtaposed with the first means at the distal end; and a third means adapted to change at least one of a position and an orientation of the distal end of the guiding probe in response to a user input applied to the third means; wherein the guiding probe is dimensioned to be repositionably insertable into a anatomical luminal network having a parent luminal branch and at least one child luminal branch branching from the parent luminal branch at a corresponding branching point, the branching point having associated geometrical and anatomical identifiers, wherein the first angle range is defined between about 45 degrees and about 135 degrees with respect to the axis and the second angle range is defined between about −45 degrees and about 45 degrees with respect to the axis; and an imaging console including a data-processing unit and operably cooperated with the proximal end to receive data representing energy delivered from the anatomical luminal network through the second means to the proximal end, and to form, based on such received data, output data that enable a rendering of a three-dimensional (3D) structure of the anatomical luminal network in a volume associated with the second angle range, wherein the rendering quantitatively represents positioning of the distal end with respect to a local anatomical structure of the lumen tree.