Systems, Instruments, and Methods for Four Dimensional Soft Tissue Navigation

Abstract

A surgical instrument navigation system is provided that visually simulates a virtual volumetric scene of a body cavity of a patient from a point of view of a surgical instrument residing in the cavity of the patient. The surgical instrument navigation system includes: a surgical instrument; an imaging device which is operable to capture scan data representative of an internal region of interest within a given patient; a tracking subsystem that employs electro-magnetic sensing to capture in real-time position data indicative of the position of the surgical instrument; a data processor which is operable to render a volumetric, perspective image of the internal region of interest from a point of view of the surgical instrument; and a display which is operable to display the volumetric perspective image of the patient.

1 - 8 . (canceled) 
     
     
         9 . An endoscope and navigable catheter combination for use in a patient's anatomy, the combination comprising:
 an endoscope of the type defining a working lumen extending from a proximal end to a distal end of the endoscope, an imaging device, the distal end having a steerable distal tip;   a navigable catheter having a proximal end and a distal end and having at least one 5 DOF position sensor for periodically reporting position in three-dimensional space, said catheter located in said working lumen, the at least one position sensor positioned adjacent the steerable distal tip, the position sensor selected from the group consisting of an optical sensor, an electromagnetic sensor and any combination thereof;   a plurality of coupling offset devices connecting said endoscope to said navigable catheter at their respective proximal ends;   the plurality of coupling offset devices securing the navigable catheter together with said endoscope in a predetermined location within the anatomy thereby permitting steering deflection of said navigable catheter to collect data, said data used to compute direction of view from said periodic position information.   
     
     
         10 . The combination of  claim 9  wherein the at least one position sensor is detachable. 
     
     
         11 . The combination of  claim 9  wherein the plurality of coupling offset devices comprises a first coupling offset device and a second coupling offset device. 
     
     
         12 . The combination of  claim 11  wherein the distal end of the navigable catheter is configured to be extended at least 1 cm beyond the distal tip by removal of one or both of the first coupling offset device and the second coupling offset device. 
     
     
         13 . The combination of  claim 11  wherein the distal end of the navigable catheter is configured to be extended at least 2 cm beyond the distal tip by removal of one or both of the first coupling offset device and the second coupling offset device. 
     
     
         14 . The combination of  claim 11  wherein the distal end of the navigable catheter is configured to be extended at least 3 cm beyond the distal tip by removal of one or both of the first coupling offset device and the second coupling offset device. 
     
     
         15 . The combination of  claim 9  wherein the proximal end of the endoscope defines a distal port in communication with the working lumen. 
     
     
         16 . The combination of  claim 15  wherein contact of one of the plurality of coupling offset devices with the port prevents further extension of the catheter while permitting retraction of the catheter from the working lumen. 
     
     
         17 . The combination of  claim 9  wherein each of the plurality of coupling offset devices is constructed and arranged for snap-on engagement with the catheter. 
     
     
         18 . The combination of  claim 9  wherein the distal end of the endoscope is selected from one member of the group consisting of an aspiration needle, a brush, a forceps and any combination thereof.