Measuring a length of movement of an elongate intraluminal

Abstract

A measurement system for measuring a length of movement of an elongate intraluminal device. Cameras are included to obtain three-dimensional video data of movement of an elongate intraluminal device by hand. The video data is processed to track the movement of the elongate intraluminal device in three dimensions to provide the length measurement of movement of the elongate intraluminal device.

1 . A system, comprising:
 a processor configured for communication with an extracorporeal imaging device, wherein the processor is configured to:
 receive, via the extracorporeal imaging device, video data of an elongate intraluminal device and a user controlling navigation of the elongate intraluminal device, wherein the video data of the elongate intraluminal device includes a proximal portion of the elongate intraluminal device positioned outside of a patient; 
 determine whether the proximal portion of the elongate intraluminal device is grasped by the user; 
 in response to determining that the elongate intraluminal device is grasped by the user, analyze the video data to track a movement of the elongate intraluminal device; and 
 provide a first output based on analyzing the video data to a display in communication with the processor. 
   
     
     
         2 . The system of  claim 1 , wherein a distal portion of the elongate intraluminal device is positioned inside the patient. 
     
     
         3 . The system of  claim 1 , wherein the movement of the elongate intraluminal device comprises a movement of the proximal portion of the elongate intraluminal device, wherein the processor is further configured to track a movement of a distal portion of the elongate intraluminal device based on the movement of the proximal portion of the elongate intraluminal device. 
     
     
         4 . The system of  claim 1 , wherein the processor is configured to determine whether the proximal portion of the elongate intraluminal device is grasped by the user based on a configuration of a hand of the user included in the video data. 
     
     
         5 . The system of  claim 1 , wherein the processor is configured to determine whether the proximal portion of the elongate intraluminal device is grasped by the user based on an audio command received at the processor. 
     
     
         6 . The system of  claim 1 , wherein the movement of the elongate intraluminal device comprises at least one of a rotational movement or a linear movement. 
     
     
         7 . The system of  claim 1 , wherein the processor is configured to:
 analyze the video data to track a linear movement of the elongate intraluminal device in response to a first user command; and   analyze the video data to track a rotational movement of the elongate intraluminal device in response to a different, second user command.   
     
     
         8 . The system of  claim 1 , wherein the processor is further configured to:
 determine, based on the video data, at least one of a length of a linear movement of the elongate intraluminal device or a measure of rotation of a rotational movement of the elongate intraluminal device,   wherein the first output comprises an indication of at least one of the length or the measure of rotation.   
     
     
         9 . The system of  claim 1 , wherein the elongate intraluminal device comprises a sensor configured to obtain sensing data while positioned within a bodily lumen of the patient, wherein the processor is further configured to:
 construct a model of the bodily lumen based on the sensing data and the tracked movement of the elongate intraluminal device, and   wherein the first output comprises the model.   
     
     
         10 . The system of  claim 1 , wherein, in response to determining that the elongate intraluminal device is grasped by the user, the processor is further configured to:
 provide, to the display, a second output indicating that the elongate intraluminal device is grasped.   
     
     
         11 . The system of  claim 1 , wherein, based on analyzing the video data, the processor is further configured to:
 provide a second output to the extracorporeal imaging device, wherein the second output comprises a command to adjust a field of view of the extracorporeal imaging device.   
     
     
         12 . The system of  claim 1 , wherein the processor is configured to track the movement of the elongate intraluminal device based on a subset of a plurality of image frames included in the video data. 
     
     
         13 . The system of  claim 1 , wherein the video data comprises three-dimensional video data. 
     
     
         14 . The system of  claim 1 , wherein the processor is further configured to, in response to determining that the elongate intraluminal device is not grasped by the user:
 refrain from analyzing the video data to track the movement of the elongate intraluminal device.   
     
     
         15 . The system of  claim 1 , wherein the processor is configured to track the movement of the elongate intraluminal device based on an optical marker associated with the user included in the video data. 
     
     
         16 . The system of  claim 1 , further comprising the elongate intraluminal device.