Medical device tracking systems and methods of using the same

Abstract

A medical system that includes a medical device having an imaging device configured to capture images of a target site. A location of the target site is determined based on the images. The medical device includes a light source configured to direct light onto the location of the target site, and a processor and non-transitory computer readable medium storing instructions that, when executed by the processor, causes the processor to move a sensor of a medical instrument toward the location of the target site based on the sensor detecting the light at the target site.

1 - 20 . (canceled) 
     
     
         21 . A medical system, comprising:
 a medical device including:
 an imaging device configured to capture images of a target site, wherein a location of the target site is determined based on the images; and 
 a light source configured to direct a light onto the location of the target site; and 
   a processor and non-transitory computer readable medium storing instructions, wherein the medical device is configured to receive the instructions, wherein the medical device is movable toward the target site in response to (i) a sensor receiving the instructions or (ii) the sensor detecting the light at the target site, wherein the sensor is configured to detect the light at the target site.   
     
     
         22 . The medical system of  claim 21 , wherein the instructions stored in the non-transitory computer readable medium cause the processor to:
 detect a change in location of the imaging device relative to the target site; and   determine the location of the target site relative to the imaging device,   wherein, in response to detecting a change in location of the imaging device relative to the target site and determining the location of the target site relative to the imaging device, the light is redirected to the location of the target site.   
     
     
         23 . The medical system of  claim 22 , wherein the processor is configured to detect the change in location of the imaging device relative to the target site based on images periodically captured by the imaging device; and
 wherein the processor is configured to compare the location of the target site to an original location of the target site to determine a positional variance.   
     
     
         24 . The medical system of  claim 23 , wherein the processor is configured to determine whether the positional variance exceeds a preprogrammed threshold, wherein when the positional variance exceeds the preprogrammed threshold the processor at least obtains image data of the target site with the imaging device and analyzes the location of a target site. 
     
     
         25 . The medical system of  claim 24 , wherein the light source includes a source to generate a laser beam. 
     
     
         26 . The medical system of  claim 21 , wherein the imaging device includes a camera. 
     
     
         27 . The medical system of  claim 21 , wherein the processor is configured to generate a visual identifier along the images captured by the imaging device indicative of the location of the target site. 
     
     
         28 . A medical system comprising:
 a medical device including:
 an imaging device configured to capture images of a target site; 
 a light source configured to direct a light onto the target site; and 
 a mirror configured to reflect the light generated by the light source toward the target site; and 
   a medical instrument movably disposed within a working channel of the medical device, wherein the medical instrument is movable relative to the medical device, the medical instrument including a sensor configured to detect the light on the target site, wherein the medical instrument is movable toward the target site in response to the sensor detecting the light on the target site.   
     
     
         29 . The medical system of  claim 28 , wherein the mirror includes a micro-mirror (MEMs mirror) configured to reflect the light along two axes. 
     
     
         30 . The medical system of  claim 28 , wherein the light source is disposed on a distal end of the medical device, wherein the mirror is positioned adjacent to the light source on the medical device, wherein the light source includes a source to generate a laser beam. 
     
     
         31 . The medical system of  claim 28 , further comprising a processor configured to detect movement of the medical device relative to the target site based on images captured by the imaging device; and wherein the light source is configured to redirect the light based on the detected movement of the medical device. 
     
     
         32 . The medical system of  claim 28 , wherein the sensor includes at least one of a photodetector, a photodiode, and a charged coupled device (CCD), wherein the sensor is configured to generate a photodiode signal in response to detecting the light at the target site. 
     
     
         33 . The medical system of  claim 32 , wherein a strength of the photodiode signal generated by the sensor includes a greater intensity when the sensor is positioned at a first distance from the light, and includes a smaller intensity when the sensor is positioned at a second distance from the light; and
 wherein the first distance is less than the second distance.   
     
     
         34 . A method of moving a medical instrument toward a target site, the method comprising:
 delivering a medical instrument having a sensor to a target site;   capturing images of the target site with an imaging device;   marking a location of the target site based on the images;   detecting light from the location by the sensor; and   automatically moving the medical instrument toward the target site based on the sensor detecting the light at the location.   
     
     
         35 . The method of  claim 34 , wherein in response to detecting movement of the medical instrument toward the target site, the method further comprises:
 capturing images of the target site with the imaging device to determine a second location of the target site;   redirecting the light from the light source to the second location; and   automatically moving the medical instrument toward the target site based on the sensor detecting the light at the second location.   
     
     
         36 . The method of  claim 34 , wherein in response to moving the medical instrument toward the target site, the method further comprises:
 locking onto the target site with the sensor and automatically steering a distal end of the medical instrument toward the target site.   
     
     
         37 . The method of  claim 34 , wherein in response to capturing images of the target site with an imaging device, the method further comprises:
 using target identification logic to mark a location of a target site, wherein the imaging device executes the target identification logic to automatically redirect the medical instrument when the medical device has moved relative to the target site by periodically capturing images for comparison to image data within the imaging device.   
     
     
         38 . The method of  claim 34 , wherein the sensor includes at least one of a photodetector, a photodiode, and a charged coupled device (CCD). 
     
     
         39 . The method of  claim 38 , wherein the sensor is configured to generate a photodiode signal in response to detecting the light at the target site. 
     
     
         40 . The method of  claim 39 , wherein a strength of the photodiode signal generated by the sensor includes a greater intensity when the medical device is positioned at a first distance from the light, and includes a smaller intensity when the medical device is positioned at a second distance from the light; and
 wherein the first distance is less than the second distance.