Dynamic deformation tracking for navigational bronchoscopy

Abstract

Systems and methods for tracking movement of a catheter within airways of a lung. A deformable model of the lung represents airways of the lung as airway segments joined at bifurcations. Deformation of the lung model uses modification of the angles and/or positions of the airway segments with respect to each other. An initial model may be generated, for example, based on segmentation of a CT image. A baseline deformable registration of the initial model to a lung shape of the patient at the beginning of the procedure may be established from position measurements of the catheter along plurality of different pathways. Optionally, the baseline registration is dynamic according to respiratory phase. Relative to the baseline registration, real-time changes in lung shape may be modeled by using further measurements obtained using the catheter as it navigates to a target, preferably using position sensors distributed along the catheter body.