Systems and methods for anatomic motion compensation

Abstract

A method of modeling a cyclic anatomical motion comprises receiving a pose dataset for an identified point on an interventional instrument retained within and in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters. The method also includes determining a set of pose differentials for the identified point with respect to a reference point at each of the plurality of time parameters and identifying a periodic signal for the cyclic anatomical motion from the set of pose differentials.

1 - 20 . (canceled) 
     
     
         21 . A method of tracking a cyclic anatomical motion, the method comprising:
 receiving a pose dataset for an identified point on an interventional instrument retained within and in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters and   identifying a periodic signal for the cyclic anatomical motion, wherein the cyclical anatomical motion comprises respiration motion.   
     
     
         22 . The method of  claim 21  wherein the pose dataset is received from a shape sensor within the interventional instrument. 
     
     
         23 . The method of  claim 21  further comprising determining a set of pose differentials for the identified point with respect to a main carina of a set lungs. 
     
     
         24 . The method of  claim 21  wherein identifying a periodic signal for the cyclic anatomical motion includes applying a data mapping tool to select a predetermined motion measurement based upon a region of a set of lungs where a distal portion of the interventional instrument is located. 
     
     
         25 . The method of  claim 21  wherein identifying a periodic signal for the cyclic anatomical motion includes:
 computing a cardiac frequency; 
 computing a respiratory frequency; and 
 using the computed cardiac and respiratory frequencies to digitally filter the pose dataset. 
 
     
     
         26 . The method of  claim 21  wherein identifying a periodic signal for the cyclic anatomical motion includes applying a band-pass filter to the pose dataset. 
     
     
         27 . The method of  claim 21  wherein receiving a pose dataset includes receiving a user command to initiate receiving a pose dataset. 
     
     
         28 . The method of  claim 21  wherein receiving a pose dataset includes receiving the pose dataset when the interventional instrument is not moving. 
     
     
         29 . The method of  claim 21  further comprising modifying a user display image based upon the periodic signal for the cyclic anatomical motion. 
     
     
         30 . The method of  claim 29  wherein modifying a user display includes modifying a position of a target tissue in the user display image. 
     
     
         31 . The method of  claim 29  wherein modifying a user display includes modifying a preoperative anatomic model. 
     
     
         32 . The method of  claim 29  further comprising displaying an uncertainty indicia with an image of the interventional instrument. 
     
     
         33 . The method of  claim 21  further comprising modifying instrument navigation based upon the periodic signal for the cyclic anatomical motion. 
     
     
         34 . The method of  claim 21  further comprising modifying received user commands for the interventional instrument based upon the periodic signal for the cyclic anatomical motion. 
     
     
         35 . The method of  claim 21  further comprising monitoring a patient motion and comparing the monitored patient motion to the identified periodic signal for the cyclic anatomical motion. 
     
     
         36 . The method of  claim 21  further comprising selecting an instrument deployment location based on the cyclic anatomical motion. 
     
     
         37 . A medical system, comprising:
 an interventional instrument; and   a control system including one or more processors, the control system configured to:
 receive a pose dataset for an identified point on the interventional instrument while the interventional instrument is retained within and in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters; and 
 identify a periodic signal for a cyclic anatomical motion of the patient anatomy, wherein the cyclic anatomic motion comprises respiration motion. 
   
     
     
         38 . The medical system of  claim 37 , wherein the pose dataset is received from a shape sensor disposed within the interventional instrument. 
     
     
         39 . The medical system of  claim 37 , wherein the control system is further configured to:
 determine a set of pose differentials for the identified point.   
     
     
         40 . The medical system of  claim 37 , wherein the control system is further configured to:
 modify received user commands for the interventional instrument based upon the periodic signal for the cyclic anatomical motion.