Patient Breathing Modeling

Abstract

A method of accounting for the movement of the lungs during an endoscopic procedure such that a previously acquired image may be dynamically registered with a display showing the position of a locatable guide. After an initial image set is acquired, an area of interest is identified and the movement thereof due to breathing is mathematically modeled. Patient movement sensors are then used to provide information on the patient's breathing patterns. This information is entered into the mathematical model in order to update the registration between the image set and a display showing the position of the locatable guide.

1 - 10 . (canceled) 
     
     
         11 . A method of representing a real-time location of a probe on a previously-acquired image, comprising:
 measuring a breathing cycle of a patient;   monitoring a real-time location of a probe inside the patient;   manipulating said real-time data such that said probe appears in a correct location on one of at least one previously-acquired images.   
     
     
         12 . The method of  claim 11  wherein manipulating said real-time data such that said probe appears in a correct location of said real-time location of said image comprises:
 monitoring locations of said at least one patient sensor as the patient inhales and exhales; 
 determining a point in a breathing cycle said patient is based on said locations of said at least one patient sensor; 
 selecting one of said at least one previously-acquired images taken closest to said point said patient is in said breathing cycle; 
 superimposing said selected one of said at least one previously-acquired images over said real-time representation of said probe location. 
 
     
     
         13 . The method of  claim 11  wherein manipulating said real-time data such that said probe appears in a correct location of said real-time location of said image comprises:
 monitoring locations of said at least one patient sensor as the patient inhales and exhales; 
 determining a point in a breathing cycle said patient is based on said locations of said at least one patient sensor; 
 selecting one of said at least one previously-acquired images; 
 superimposing said selected one of said at least one previously-acquired images over said real-time representation of said probe location; 
 warping said previously-acquired image according to said monitored locations of said patient sensors such that said real-time representation of said probe location appears in an accurate position on said previously-acquired image. 
 
     
     
         14 - 21 . (canceled)