Patent ID: 9129359
Filing Date: 2015-09-08
Classification: A61B,G06T

Abstract:
1. A method of registering a computer model of a lumen network to an actual lumen network of a patient while navigating the lumen network with a probe, comprising: collecting data pertaining to an actual location of a probe by utilizing electromagnetic sensors located on the probe; processing successive data points of the probe location to establish a probe path through an actual lumen network of a patient; iteratively registering the probe path to a path shape in a computer model of a lumen network while tracking the location of the probe; and correcting registration error by iteratively adjusting, as the probe navigates the actual lumen network, the location of the probe in the computer model and relative to the actual lumen network such that said probe path lies within the path shape, wherein the path shape in the computer model displays a path where the probe is to be navigated.