Feature-based registration method
AssigneeCovidien LP
InventorDorian Averbuch
Life of this patent
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Abstract
Methods for registering a three-dimensional model of a body volume to a real-time indication of a sensor position that involve analyzing scanned and sensed voxels and using parameters or thresholds to identify said voxels as being either tissue or intraluminal fluid. Those voxels identified as fluid are then used to construct a real-time sensed three-dimensional model of the lumen which is then compared to a similarly constructed, but previously scanned model to establish and update registration.
Claims24
A method for registering a three-dimensional model to an image of a sensor, the method comprising:
- inserting a sensor into a body lumen to acquire location data of the sensor;
- assigning a density value to each voxel of a plurality of voxels of a three-dimensional model based on the acquired location data;
- determining a voxel of the plurality of voxels, which is closest to the sensor, based on a plurality of parameters, each of which has a predefined threshold;
- and
- registering the closest voxel to the acquired location data.
A method for registering a three-dimensional model to a sensing volume of a sensor, the method comprising:
- segmenting a plurality of voxels of the three-dimensional model;
- inserting a sensor into a body lumen to acquire sensing volume voxels from the sensor;
- assigning a density value for each voxel of the sensing volume voxels;
- and
- segmenting the sensing volume voxels based on a threshold;
- and
- registering a first portion of the plurality of voxels of the three-dimensional model to the segmented sensing volume voxels.
Dependencies are inferred from the claim text.