CN106793938B - 用于标注活检位置的方法 - Google Patents
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Abstract
公开了用于标注活检位置的方法、系统和装置,所述方法包括以下步骤:将导航规划加载到导航系统,所述导航规划包括由多张CT图像形成的CT体;将探头插入患者气道中,所述探头包括与导航系统操作性通信的传感器;将探头的检测位置与导航规划中的CT体配准;在导航规划中选择靶标;将探头和位置传感器引导至靶标;将位置传感器的位置作为活检位置存储在导航系统中;和在存储的活检位置处进行活检。
Description
技术领域
本公开文本涉及活检位置标注和用于在支气管树模型上标注活检位置的装置、系统和方法。
背景技术
用于检查患者气道的普通装置是支气管镜。通常,支气管镜通过患者鼻部或嘴部被插入患者气道中,可延伸到患者肺部。典型的支气管镜包括细长的挠性管,挠性管具有用于照亮在支气管镜末端的远端的区域的照明组件、用于提供来自支气管镜末端的视频图像的成像组件、以及工作通道,诸如诊断仪器(如,活检工具)、治疗仪器等的仪器可通过工作通道插入。
但是,支气管镜由于其尺寸而在被推入气道多远的程度方面受限。如果支气管镜太大而达不到肺部深处的靶标位置,临床医生可采用某些实时成像模式,如,荧光检查法。荧光图像尽管有用,但是在导航方面存在某些缺陷,原因是,其通常难以将管腔通道与固态组织区分开。此外,通过荧光镜形成的图像是二维的,而对患者气道进行导航要求能三维操纵。
为了解决这些问题,通常通过一系列的计算机断层(CT)图像形成气道或其他管腔网络的三维模型的系统已经得到发展。一种这样的系统已经发展成为目前由有限合伙公司(Covidien LP)公司出售的电磁导航支气管镜系统(ELECTROMAGNETICNAVIGATION)(ENBTM)的一部分。这种系统的细节已经在受让人相同的美国专利第7,233,820号中得到描述,该美国专利于2004年3月29日申请,申请人为Gilboa,名称为“用于针对分支结构中的靶标进行导航的内窥镜结构和技术”,其全部内容通过引用方式组合在本文中。
尽管美国专利第7,233,820号中所述的系统相当有用,但是,始终希望对这样的系统进行改进和补充。
发明内容
根据本公开文本提供了一种用于标注活检位置的方法。
在本公开文本的一个方面,该方法包括以下步骤:将导航规划加载到导航系统,所述导航规划包括由多张CT图像形成的CT体;将探头插入患者气道中,所述探头包括与导航系统操作性通信的位置传感器;将探头的检测位置与导航规划中的CT体配准;在导航规划中选择靶标;将探头和位置传感器引导至靶标;将位置传感器的位置作为活检位置存储在导航系统中;和,在存储的活检位置处进行活检。
在本公开文本的另一方面,该方法还包括如下步骤:将对应于活检位置的虚拟标注物置于由CT体形成的患者气道的3D模型或由CT体的切片形成的患者气道的局部视图中的至少一个中。
在本公开文本的又一方面,该方法还包括如下步骤:将探头通过延伸的工作通道插入。
在本公开文本的另一方面,该方法还包括如下步骤:相对于延伸的工作通道锁定探头。
在本公开文本的又一方面,该方法还包括如下步骤:将延伸的工作通道和探头插入支气管镜中,并且将它们一起引导至靶标。
在本公开文本的另一方面,该方法还包括如下步骤:当位置传感器被引导至靶标时,在靶标处锁定延伸的工作通道的位置。
在本公开文本的又一方面,该方法还包括如下步骤:将探头从延伸的工作通道移走,通过延伸的工作通道将活检工具插入至靶标以进行活检。
在本公开文本的另一方面,该方法还包括如下步骤:相对于靶标调节探头的位置;将位置传感器的第二位置作为第二活检位置存储在导航系统中;和在第二次检位置处进行第二活检。
在本公开文本的又一方面,该方法还包括如下步骤:在导航规划中选择第二靶标;将探头和位置传感器引导至第二靶标;将位置传感器的第二位置作为第二活检位置存储在导航系统中;和在存储的第二活检位置处进行活检。
在本公开文本的另一方面,该方法还包括如下步骤:从活检位置或第二活检位置中的至少一个位置提供组织,以用于现场快速评估。
在本公开文本的另一方面,该方法还包括如下步骤:从现场快速评估的临床医生接收表明需要返回到活检位置或第二活检位置中的至少一个位置的结果;根据现场快速评估,将通向活检位置或第二活检位置中的至少一个位置的路径呈现在导航规划中,所述至少一个位置作为返回靶标;将位置传感器引导至返回靶标;将位置传感器的返回位置作为返回活检位置存储在导航系统中;和在存储的返回活检位置处进行另外的活检或处理中的至少一种。
在本公开文本的另一方面,该方法还包括如下步骤:关于活检位置,存储离靶标中央的距离和活检位置号码。
在不违背本公开文本的范围的情况下,本公开文本的上述任何方面可组合。
附图说明
本领域的普通技术人员通过参照附图阅读了对本公开文本的各实施例的描述后,将能明显看出当前所公开的系统和方法的目的和特征,附图如下:
图1是根据本公开文本的电磁导航系统的透视图;
图2是被配置成与图1的系统一起使用的工作站的示意图;
图3是流程图,示出了根据本公开文本所提供的用于在3D模型上标注活检位置的方法;
图4是图2中的工作站的用户界面的示意图,呈现了根据本公开文本用于标注活检位置的视图;
图5是图2中的工作站的用户界面的示意图,呈现了用于标注靶标的活检或处理的位置的视图;
图6是图2中的工作站的用户界面的示意图,呈现了表示多个被标注的活检位置的视图。
具体实施方式
根据本公开文本提供了用于在三维(3D)模型上标注活检位置的装置、系统和方法,下面将对其进行详细描述。可预想到用于形成3D模型的各种方法,其中的一些方法在待审的美国专利申请第13/838,805号、第13/838,997号和第13/839,224号中得到了更充分的描述,它们的名称均为“路径规划系统和方法”,申请日均为2013年3月15日,发明人均为Baker,所有这些美国申请的全部内容通过引用方式组合在本文中。位置传感器可组合到不同类型的工具和导管中,以追踪位置,帮助引导工具。位置传感器或工具的导航在待审的美国临时专利申请第62/020,240号中得到更充分的描述,其名称为“用于在肺部内导航的系统和方法”,申请日为2014年7月2日,发明人为Brown等,其全部内容通过引用方式组合在本文中。位置传感器的追踪位置也可用于在患者气道的三维模型上对在患者气道内进行活检或处理的位置进行实际标注。
本公开文本的ENB系统的其他特征在下列待审的美国临时专利申请中得到了描述:第62/020,238号,其名称为“智能显示器”,申请日为2014年7月2日,发明人为KEHAT等;第62/020,242号,其名称为“用于患者肺部的多个CT扫描片的统一坐标系统”,申请日为2014年7月2日,发明人为Greenburg;第62/020,245号,其名称为“CT对准”,其申请日为2014年7月2日,发明人为Klein等;第62/020,250号,其名称为“用于荧光镜位姿评估的算法”,申请日为2014年7月2日,发明人为Merlet;第62/020,253,其名称为“气管标注”,申请日为2014年7月2日,发明人为Lachmanovich等;第62/020,257号,名称为“人体肺气管的自动检测”,申请日为2014年7月2日,发明人为Markov等;第62/020,261号,其名称为“肺和胸膜分割”,申请日为2014年7月2日,发明人为Markov等;第62/020,258号,其名称为“锥形视图-在三维导航过程中提供距离和方位的方法”,申请日为2014年7月2日,发明人为Lachmanovich等;和第62/020,262号,其名称为“用于在肺部内进行工具导航的肺部动态三维地图视图”,申请日为2014年7月2日,发明人为Weingarten等。上述所有文献的全部内容通过引用方式组合在本文中。
下面描述了这类装置、组合这类装置的系统以及使用这类装置和系统的方法的详细实施例。但是,这些详细的实施例仅是本公开文本的实例,可以以各种形式实施。因此,文中公开的特定结构和功能方面的细节不应解释为是限制性的,而仅解释为用于权利要求书的基础,是可让本领域的技术人员以不同方式使用本公开文本的几乎所有合适的细节结构的典型基础。尽管针对患者气道的支气管镜描述了下面的实施例,但是,本领域的技术人员将能意识到,相同或类似的装置、系统和方法同样也可使用在其他管腔网络(如,血管网络、淋巴网络和/或胃肠网络)中。
参照图1,根据本公开文本提供了一种电磁导航(EMN)系统10。一种这样的EMN系统是目前由柯惠有限合伙公司(Covidien LP)出售的电磁导航支气管镜系统(ELECTROMAGNETIC NAVIGATION)。可通过使用EMN系统10执行的其他任务包括,规划通向靶向组织的路径、将定位组件引导至靶组织、将活检工具引导至靶组织,以通过使用用数字标注获取组织样本的位置的活检工具以及将一个或更多个回波标注物布置在靶标处或其周围而从靶组织获取组织样本。
EMN系统10通常包括被配置成支撑患者的手术台40;被配置成通过患者嘴部和/或鼻插入患者气道中的支气管镜50;联接到支气管镜50上以显示从支气管镜50接收到的视频图像的监测设备60;包括追踪模块72、多个基准传感器74和电磁场发生器76的追踪系统70;工作站80;工作站80包括用于便利于规划路径、识别靶组织、针对靶组织导航和用数字标注活检位置的软件和/或硬件。
图1也示出了两种类型的导管导引组件90、100。这两种导管导引组件90、100可与EMN系统10一起使用,共享一些共同元件。每个导管导引组件90、100包括连接到延伸的工作通道(EWC)96的柄部91。EWC 96的尺寸适于布置到支气管镜50的工作通道内。操作中,包括电磁(EM)传感器94的可定位的导引器(LG)92被插入EWC 96中,被锁定到合适位置上,使得传感器94延伸所需距离,超出EWC 96的远端末端93。追踪模块72和工作站80可得到EM传感器94在电磁场发生器76产生的电磁场内的位置,因而可得到EWC96的远端在所述电磁场内的位置。导管导引组件90、100具有不同的操作机构,但是每个机构均包含柄部91,通过旋转和压缩方式操纵柄部91以控制LG 92的远端末端93、延伸的工作通道96。导管导引组件90目前在市场上由柯惠有限合伙公司(Covidien LP)出售,其商标名称为手术套件。同样地,导管导引组件100目前由柯惠有限合伙公司(Covidien LP)出售,其商标名称为EDGETM手术套件。这两种套件包括柄部91、延伸的工作通道96和可定位的导引器92。为了更详细地描述导管导引组件90、100,请参照拥有人相同的美国专利申请序列第13/836,203号,其申请日为2013年3月15日,发明人为Ladtkow等,其全部内容通过引用方式组合在本文中。
如图1所示,示出患者躺在手术台40上,支气管镜50通过患者嘴部插入患者气道中。支气管镜50包括照明源和视频图像系统(未清楚示出),并且联接到监测设备60(如,视频显示器)上,以显示从支气管镜50的视频图像系统接收到的视频图像。
包括LG 92和EWC 96的导管导引组件90、100被配置成用于通过支气管镜50的工作通道插入患者气道中(但是,可替换地,导管导引组件90、100可在没有支气管镜50的情况下使用)。LG 92和EWC96可通过锁定机构99相对于彼此可选择地被锁定。六自由度电磁追踪系统70(如,类似于美国专利第6,188,355号、已公开的PCT申请第WO 00/10456号和第WO 01/67035号中所公开的追踪系统,所述的每篇文献的全部内容通过引用方式组合在本文中)或其他任何合适的定位测量系统可用于导航,但是也可考虑采用其他配置。追踪系统70被配置成与导管导引组件90、100一起使用,以在EM传感器94与EWC 96一起协同移动通过患者气道时追踪EM传感器94的位置,如下详述。
如图1所示,电磁场发生器76定位在患者下方。电磁场发生器76和所述多个基准传感器74与追踪模块72相互连接,追踪模块72可获得每个基准传感器74的六自由度位置。基准传感器74中的一个或更多个附接到患者胸部。基准传感器74的六自由度坐标被发送到包括应用程序81的工作站80,在应用程序中传感器74用于计算患者的基准坐标框架。
图1中也示出了导管活检工具102,其在导航到靶标和移走LG 92之后可被插入导管导引组件90、100中。使用活检工具102从靶组织采集一个或更多个组织样本。如下详述,活检工具102还被配置成与追踪系统70一起协同使用,以便利于将活检工具102导航至靶组织、相对于靶组织操纵活检工具102以获得组织样本时追踪活检工具102的位置、和/或标注获得组织样本的位置。
尽管上面已经针对EM传感器94包含在LG 92中的情形详述了导航操作,但是也可预想到,EM传感器94可嵌入或组合到活检工具102内,使得活检工具102可以可选地用于导航而不需要LG或不需要使用LG时要求必须执行的工具置换操作。各种可使用的活检工具在均于2013年11月20日申请的美国临时专利申请第61/906,732号和第61/906,762号以及于2014年3月14日申请的美国临时专利申请第61/955,407号中得到描述,这三篇美国临时专利的名称均为“将活检工具引导至靶标位置以及使用活检工具获取组织样本的装置、系统和方法”,它们的全部内容通过引用方式组合在本文中,可与本文中所述的EMN系统10一起使用。
在手术规划期间,工作站80使用计算机断层(CT)图像数据用于产生和观察患者气道的三维模型(3D模型),能在3D模型上(自动、半自动或手动)识别靶组织,允许选择通过患者气道通向靶组织的路径。更具体而言,CT扫描片可被处理和组合成3D体,然后使用3D体形成患者气道的3D模型。3D模型可呈现在与工作站80相联的显示监测器81上或以任何其他合适方式呈现。通过使用工作站80,3D体的各种切片和3D模型的视图可呈现和/或可由临床医生操纵,以便利于识别靶标和选择通过患者气道接近靶标的合适路径。3D模型也示出了对先前执行活检的位置做出的标注,包括日期、时间和关于所获取的组织样本的其他识别信息。也可选择这些标注作为对规划路径所通向的靶标。一旦选择好,就保存路径以在导航步骤期间使用。合适的路径规划系统和方法的实例在美国专利申请序列第13/838,805号、第13/838,997号和第13/839,224号中得到描述,这些文献的名称均为“路径规划系统和方法”,申请日均为2014年3月15日,它们的全部内容通过引用方式组合在本文中。
导航期间,EM传感器94(与追踪系统70相结合)使得当EM传感器94或活检工具102前进通过患者气道时能够追踪EM传感器94和/或活检工具102。
现在转向图2,图2示出了工作站80的系统示意图。工作站80可包括存储器202、处理器204、显示器206、网络接口208、输入装置210和/或输出模块212。
存储器202包括计算机可读的任何非临时性存储介质,用于存储可由处理器204执行的数据和/或软件,处理器204控制工作站80的操作。在某实施例中,存储器202可包括一个或更多个固态存储设备,如,闪存芯片。可选地或除所述的一个或更多个固态存储设备之外,存储器202可包括一个或更多个大容量存储设备,其通过大容量存储控制器(未示出)和通信总线(未示出)连接到处理器204上。尽管文中对计算机可读介质的描述涉及固态存储器,但是,本领域的技术人员应该意识到,计算机可读的存储介质可以是处理器204可访问的任何可利用的媒介。即,计算机可读的存储介质包括以任何方法或技术实施,用于存储如计算机可读指令、数据结构、程序模块或其他数据等信息的非临时性介质、易失和非易失介质、可移除和不可移除介质。例如,计算机可读存储介质包括RAM、ROM、EPROM、EEPROM、闪存或其他固态存储技术、CD-ROM、DVD、蓝光或其他光存储器、磁带盒、磁带、磁盘存储器或其他磁存储设备、或可用于存储合适信息并可由工作站80访问的其他任何介质。
存储器202可存储应用程序81和/或CT数据214。应用程序81在被处理器204执行时可引起显示器206呈现用户界面216。网络接口208可被配置成连接到网络上,如,包括有线网络和/或无线网络的局域网(LAN)、广域网(WAN)、无线移动网络、蓝牙网络和/或因特网。输入装置210可以是用户可借以与工作站80交互的任何设备,如,鼠标、键盘、脚踏开关、触摸屏和/或语音接口。输出模块212可包括任何连接端口或总线,如,并行端口、串行端口、通用串行总线(USB)、或对本领域的技术人员公知的其他任何类似的连接端口。
现在参照图3,示出了用于数字地标注活检过程期间获取组织样本的位置的示例方法的流程图。在导航开始之前,临床医生将导航规划从存储器202、USB设备或从网络接口208加载到应用程序81中。首先,通过锁定机构99将LG 92和EWC 96锁定在一起,然后将它们插入支气管镜50中,使得EM传感器94从支气管镜50的远端伸出。然后,在步骤S502中临床医生将支气管镜50插入患者体内。支气管镜50例如可通过患者的嘴部或鼻部被插入。可选地,EM传感器94可嵌入EWC 96的远端末端内,并且可独立于LG 92操作。
在步骤S504中,临床医生使支气管镜50、LG 92和EWC 96前进进入患者气道的每个区域,直到LG 92的EM传感器94的位置和导航规划的3D体之间配准。美国专利申请第62/020,220号中公开了配准过程的其他信息,该美国专利申请的名称为“实时自动配准反馈”,申请日为2014年7月2日,发明人为Brown,其全部内容通过引用方式组合在本文中。
一旦完成配准,用户界面216就将图4中所示的视图600呈现给临床医生,以帮助临床医生将LG 92和EWC 96引导至靶标604。视图600可包括局部视图602、三维地图动态视图606和支气管镜视图608。局部视图602给临床医生呈现出LG 92的远端末端93处或与其对准的3D体的切片610。从升高的角度呈现切片610。局部视图602也给临床医生显现出LG 92的远端末端93(其为虚拟探头612的形式)。虚拟探头612向临床医生指示LG 92的远端末端93所面向的方向,这样临床医生就能控制在患者气道中推进LG 92和EWC 96的操作。
三维地图动态视图606呈现出患者气道的动态三维模型614,其由加载的导航规划的3D体形成。动态三维模型614的方位根据EM传感器94在患者气道内的运动自动更新,给临床医生提供动态3D模型614的视图,该视图相对而言不会被不在通向靶标604的路径上的气道支管遮住。三维地图动态视图606也将上述虚拟探头612呈现给临床医生,当临床医生将EM传感器94推动通过患者相应的气道时,虚拟探头612旋转并移动通过呈现在动态三维模型606中的气道。
支气管镜视图608将从支气管镜50接收到的实时图像呈现给临床医生,在支气管镜50朝靶标604被导航通过患者气道中时可让临床医生实时直观地检查患者气道。
临床医生朝靶标604引导支气管镜50,直到患者气道变得太小以致支气管镜50不能穿过为止,然后,将支气管镜50固定在合适位置。LG 92和EWC 96然后从支气管镜50延伸,临床医生通过使用用户界面216的视图600朝靶标604引导LG 92和EWC 96,直到虚拟探头612靠近靶标604或被插入靶标604中,例如如图4所示。
然后,临床医生开始活检,其方法是致动“标注位置”按钮614,以直观地标注虚拟探头612在3D体中的位置,该位置对应于在步骤S508中EM传感器94的配准位置。致动“标注位置”按钮616引起用户界面216呈现出包含标注位置细节的视图700,如图5所示。例如,视图700可显示离靶区中央618的距离以及活检位置号码620。
在致动“标注位置”按钮616之后,在步骤S510中,临床医生可将LG 92从EWC 96和支气管镜50中移走,将活检工具102插入支气管镜50和EWC 96中,以在靶标604处获取组织样本。在一些实施例中,然后临床医生将活检工具102从EWC 96和支气管镜50中移走,再将LG 92插入。当LG 92到达EWC 96的远端时,临床医生致动视图700中的表示活检完成的“完成”按钮624。尽管在本文中以特定顺序描述了执行活检的步骤S510和标注位置的步骤S508,但是这两个步骤可以任何次序执行。
活检期间,应用程序81存储患者气道内的由虚拟探头612标注的位置,将虚拟标注物622置于视图600中的3D模型614和局部视图602中,标注获取组织样本的位置。在一致动视图600中的“标注位置”按钮616时、活检期间、或在致动视图700中的“完成”按钮624时,存储该位置并布置虚拟标注物622。另外,获取组织样本的位置也可通过物理方式标注,例如,植入在将来对患者进行CT扫描中可检测到的回声标注物或颜料;在某些情况下,上述位置可与存储在CT图像数据和/或导航规划中的虚拟标注物622的位置比较。在获取组织样本和标注位置之后,临床医生可将活检工具102从支气管镜50中移走,将组织样本提供给现场快速评估(ROSE)医生立即进行检测,或递交给实验室进行常规测试。
临床医生在步骤S512中确定是否需要对靶标604进行另一活检。如果需要执行另一活检,临床医生在步骤S514中通过使用视图600相对于靶标604再定位LG 92,重复步骤S508和S512。如果不要求对靶标604进行另外的活检,临床医生在步骤S516中确定是否有另一靶标要被活检。例如,临床医生可致动视图600中的靶标选择按钮623,看是否已经规划对另一靶标进行导航。如果有另一靶标,临床医生可通过致动靶标选择按钮623对新靶标进行导航,可对新靶标重复上述步骤S506至S516。
如图6所示,虚拟标注物622可在视图800中显示每个标注的活检位置,临床医生可在稍后时间(例如,在接收到ROSE测试结果时)返回到指定的活检位置,进行另一活检或处理。虚拟标注物622可保存为导航规划的一部分,可包括涉及活检的另外信息,如,获取组织样本的日期和时间,对组织样本执行的相关测试的结果、和/或涉及活检的其他信息。虚拟标注物622也可用作将来使用导航规划来规划另外的路径所用的靶标。例如,由于针对靶标604规划的路径已知,因此应用程序81可基于所述路径针对已存储的虚拟标注物622自动形成路径。可选地,LG 92到达虚拟标注物622实际所采用的路径可与虚拟标注物622一起存储。临床医生也可选择显示哪个虚拟标注物622,其方法是,致动虚拟标注物菜单626,从视图616中选择与活检位置号码620对应的虚拟标注物位置628,例如如图4所示。
尽管附图中已经示出了本公开文本的几个实施例,但是并不意为本公开文本局限于此,而意为本公开文本的范围与本技术领域将允许的范围一样宽,同样也这样理解说明书。因此,上面的描述不应解释为是限制性的,而仅用于示例说明具体实施例。本领域的技术人员将能在所附的权利要求书的范围和实质内预想到其他改进。
Claims (12)
1.一种用于标注患者气道中的活检位置的系统,包括:
探头,所述探头被配置为插入患者气道中并且包括位置传感器;
追踪系统,所述追踪系统被配置为用于追踪所述探头和/或位置传感器的位置;以及
导航系统,所述导航系统配置为加载导航规划以及在导航规划中选择靶标,所述导航规划包括从多张CT图像形成的CT体,
其中,所述位置传感器与导航系统操作性通信,并且所述用于标注患者气道中的活检位置的系统被配置成,在所述探头的检测位置与导航规划中的CT体配准之后,所述探头和位置传感器被引导至所选择的靶标,位置传感器的位置作为活检位置被存储在导航系统中;以及
其中,所述导航系统被配置为能够将对应于活检位置的虚拟标注物置于从CT体形成的患者气道的3D模型或从CT体的切片形成的患者气道的局部视图二者中的至少一个中;
其中,所述局部视图能够呈现所述探头的远端末端处的CT体的切片,所述探头的远侧末端成虚拟探头的形式;
其中,所述患者气道的3D模型是动态3D模型,动态3D模型的方位根据位置传感器在患者气道内的运动自动更新,以便提供动态3D模型的视图,该视图相对而言不会被不在通向靶标的路径上的气道支管遮住,并且所述动态3D模型的视图能够呈现所述虚拟探头使得能够虚拟地示出所述虚拟探头在气道中的移动和旋转。
2.根据权利要求1所述的用于标注患者气道中的活检位置的系统,还包括用于探头插入的延伸的工作通道。
3.根据权利要求2所述的用于标注患者气道中的活检位置的系统,其中所述探头能够相对于延伸的工作通道锁定。
4.根据权利要求3所述的用于标注患者气道中的活检位置的系统,还包括支气管镜,所述延伸的工作通道和探头能够插入支气管镜中。
5.根据权利要求4所述的用于标注患者气道中的活检位置的系统,其中当位置传感器被引导至靶标时,在靶标处所述延伸的工作通道的位置被锁定。
6.根据权利要求4所述的用于标注患者气道中的活检位置的系统,还包括活检工具,在将探头从延伸的工作通道移走之后,活检工具通过延伸的工作通道插入至靶标以进行活检。
7.根据权利要求1所述的用于标注患者气道中的活检位置的系统,其中:
所述探头的位置能够相对于靶标调节;
所述位置传感器的被调节的第二位置作为第二活检位置存储在导航系统中。
8.根据权利要求1所述的用于标注患者气道中的活检位置的系统,其中:
在导航规划中选择第二靶标;
探头和位置传感器引导至第二靶标;
位置传感器的第二位置作为第二活检位置被存储在导航系统中。
9.根据权利要求1所述的用于标注患者气道中的活检位置的系统,其中:关于活检位置,存储离靶标中央的距离和活检位置号码。
10.根据权利要求4所述的用于标注患者气道中的活检位置的系统,还包括联接到支气管镜上以显示从支气管镜接收到的视频图像的检测设备。
11.根据权利要求1所述的用于标注患者气道中的活检位置的系统,其中所述追踪系统包括追踪模块、多个基准传感器和电磁场发生器;
其中电磁场发生器定位在患者下方,所述电磁场发生器和所述多个基准传感器与所述追踪模块相互连接,追踪模块被配置成获得每个基准传感器的六自由度位置。
12.根据权利要求11所述的用于标注患者气道中的活检位置的系统,其中所述基准传感器的六自由度位置坐标被发送到导航系统,用于计算患者的基准坐标框架。
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US20160000414A1 (en) | 2016-01-07 |
JP6635952B2 (ja) | 2020-01-29 |
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CA2953400A1 (en) | 2016-01-07 |
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EP3164052A4 (en) | 2018-03-21 |
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USD916749S1 (en) | 2021-04-20 |
CN106793938A (zh) | 2017-05-31 |
JP2017525414A (ja) | 2017-09-07 |
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