Patent ID: 8696547
Filing Date: 2014-04-15
Classification: A61B

Abstract:
1. A method for determining properties of a body lumen at different states with an endoscopic instrument comprising: providing a computer having a processor configured to: acquire a first set of 3D image data of a body lumen at a first lumen state; acquire a second set of 3D image data of the body lumen at a second lumen state, the body lumen having a different shape in the second lumen state than in the first lumen state; determine from the first set of previously acquired 3D image data a first property at each location along the body lumen; determine from the second set of previously acquired 3D image data the first property at each location along the body lumen; register the first property at the first lumen state to the first property at the second lumen state at each location along the body lumen, thereby mapping the first property at the first lumen state and the first property at the second lumen state for each location along the body lumen; estimate an endoscopic instrument position of the endoscopic instrument relative to the body lumen when the endoscopic instrument has been advanced into the body lumen; and automatically identify in real time at least one of the following: the first property at the first lumen state based on the endoscopic instrument position and the mapping, and the first property at the second lumen state based on the endoscopic instrument position and the mapping.