Apparatuses and methods for registering a real-time image feed from an imaging device to a steerable catheter

Abstract

A method of registering a real-time image feed from an imaging device inserted into a steerable catheter using a navigation system is provided. The method includes inserting the imaging device into a working channel of the steerable catheter and generating a real-time image feed of one or more reference points, wherein the orientation of the reference points is known. The method further includes orienting a handle of the steerable catheter to a neutral position, displaying the real-time image feed on a display of the navigation system, and registering the real-time image feed to the steerable catheter by rotating the displayed image so that the reference points in the real-time image feed are matched to the known orientation of the reference points.

1 . A method of registering a real-time image feed from an imaging device inserted into a steerable catheter using a navigation system comprising a display, wherein the steerable catheter comprises an elongate flexible shaft having a proximal end portion, a distal end portion terminating in a tip, a working channel extending therebetween, and a handle attached to the proximal end portion of the flexible shaft, the method comprising:
 inserting the imaging device into the working channel of the steerable catheter;   generating a real-time image feed of one or more reference points, wherein the orientation of the reference points is known;   orienting the handle of the steerable catheter to a neutral position;   displaying the real-time image feed on the display; and   registering the real-time image feed to the steerable catheter by rotating the displayed image so that the reference points in the real-time image feed are matched to the known orientation of the reference points.   
     
     
         2 . The method of  claim 1  further comprising correcting image distortion in the real-time image feed. 
     
     
         3 . The method of  claim 1  further comprising navigating the steerable catheter into the airway of the patient and wherein the reference points comprise anatomical features of the airway of the patient. 
     
     
         4 . The method of  claim 1 , further comprising confirming the alignment of the real time image feed, comprising the steps of:
 steering the steerable catheter in a first direction;   observing that the displayed real-time image feed moves in the first direction.   
     
     
         5 . The method of  claim 3 , wherein the navigation system further comprises a localization device and is adapted to display a virtual volumetric scene of the airway on the display of the navigation system, and wherein the steerable catheter further comprises a localization element proximate the distal end portion of the elongate flexible shaft, wherein the method further comprises:
 tracking the location of the localization element of the steerable catheter in the airway using the navigation system;   determining an orientation of the registered real-time image feed with respect to the tracked location of the localization element of the steerable catheter;   recording the orientation of the registered real-time image feed with respect to the tracked location of the localization element of the steerable catheter.   
     
     
         6 . The method of  claim 5  further comprising overlaying one or more navigational aids onto the real-time image feed, wherein the navigational aids are registered to the real-time image feed. 
     
     
         7 . The method of  claim 6  wherein the navigational aids comprise one or more of a navigation pathway and a directional cue. 
     
     
         8 . The method of  claim 5  further comprising:
 displaying a virtual volumetric scene of the airway on the display of the navigation system; and 
 registering the virtual volumetric scene to the real-time image feed. 
 
     
     
         9 . The method of  claim 8  further comprising maintaining registration of the virtual volumetric scene to the real time image feed as the steerable catheter is navigated through the airway of the patient. 
     
     
         10 . The method of  claim 8  further comprising overlaying one or more navigational aids onto the real-time image feed. 
     
     
         11 . The method of  claim 10  wherein the navigational aids comprise one or more of a navigation pathway and a directional cue.