Patent Document ID: 9278203
Application ID: 12056123
Patent Status: 1

Claim One:
1. A method of navigating a device to an area of interest and imaging the area of interest in a branched structure comprising: using a first imaging modality to obtain at least one image of the branched structure; generating a recommended path inside the branched structure to the area of interest; imaging at least one tracing element projecting from a device in the branched structure using a second imaging modality, the at least one tracing element able to move with biological movement of the branched structure; deploying additional tracing elements to fluoroscopically illuminate locations of anatomical features by releasing a plurality of markers tethered to and radially extending from the device; tracing an actual three-dimensional path traveled by the device and the additional tracing elements by acquiring a plurality of images using the second imaging modality; registering at least one image from the first imaging modality to at least one image from the second imaging modality by comparing the actual three-dimensional path of the device with the recommended path; superimposing the at least one image from the first imaging modality and the at least one image from the second imaging modality; and navigating the device through the branched structure to the area of interest by viewing a location of the device in a real-time image obtained with the second imaging modality of the tracing element relative to the at least one image from the first imaging modality.