Patent ID: 11931111
Assignee: COVIDIEN LP
Field: Medical technology (Instruments)
Classification: CPC A  G | IPC A  G

Claim 15:
16. A system comprising:
a localization system configured to determine a location of a plurality of passageways in a passageway system associated with an organ;
an endoscopic imaging device configured to generate a stream of intraoperative images; and
a controller configured to:
reconstruct the passageway system based on the location of the plurality of passageways;
determine, based on a preoperative image of a passageway system and a structure of interest (SOI), a location of the SOI relative to the passageway system in the preoperative image;
determine, based on the location of the SOI relative to the passageway system in the preoperative image, a location of the SOI relative to the reconstructed passageway system;
receive, from the endoscopic imaging device, an intraoperative image;
determine a location of the endoscopic imaging device relative to a location of the reconstructed passageway system;
determine a location of the SOI relative to the intraoperative image based on the location of the SOI relative to the reconstructed passageway system and the determined location of the endoscopic imaging device relative to the location of the reconstructed passageway system; and
overlay an image object representing the SOI on the intraoperative image at the determined location of the SOI relative to the intraoperative image.