Title:
LUNG BRONCHOSCOPE NAVIGATION METHOD, ELECTRONIC DEVICE AND COMPUTER READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2023/124979
Kind Code:
A1
Abstract:
The present application relates to the field of medical instruments, and provides a lung bronchoscope navigation method, a device and a computer readable storage medium, for use in reducing the consumption of computing power and ensuring the real-time performance of navigation. The method comprises: recognizing a real lung image collected by a bronchoscope so as to determine whether the bronchoscope reaches a branch comprised in a lung bronchus; if it is determined that the bronchoscope reaches the branch comprised in the lung bronchus, obtaining a branch fi matching a bronchus of a lung segment where the bronchoscope is located currently, and registering the real lung image with a virtual image set corresponding to the branch fi; determining a virtual branch local image Pi matching the real lung image, and according to the virtual branch local image Pi, determining a real pose of the bronchoscope when reaching the branch fi; and according to the real pose of the bronchoscope when reaching the branch fi, displaying, on the real lung image, guide information for guiding the bronchoscope to lead to a target position from the branch fi.
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Inventors:
LIU RUNNAN (CN)
CHEN RIQING (CN)
XU HONG (CN)
YU KUNZHANG (CN)
ZHANG HUAN (CN)
LI NANYU (CN)
CHEN RIQING (CN)
XU HONG (CN)
YU KUNZHANG (CN)
ZHANG HUAN (CN)
LI NANYU (CN)
Application Number:
PCT/CN2022/138720
Publication Date:
July 06, 2023
Filing Date:
December 13, 2022
Export Citation:
Assignee:
HANGZHOU BRONCUS MEDICAL CO LTD (CN)
International Classes:
A61B34/20; A61B5/06; G06T19/00
Foreign References:
| CN112741692A | 2021-05-04 | |||
| US20140051986A1 | 2014-02-20 | |||
| US20150196228A1 | 2015-07-16 | |||
| US20180271358A1 | 2018-09-27 | |||
| CN113112609A | 2021-07-13 |
Attorney, Agent or Firm:
SHINY INTELLECTUAL PROPERTY FIRM (CN)
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