System and method for local three dimensional volume reconstruction using a standard fluoroscope

A method for constructing fluoroscopic-based three dimensional volumetric data of a target area within a patient from two dimensional fluoroscopic images, the method comprising using at least one hardware processor for:

• acquiring, via a fluoroscopic imaging device, a sequence of images of the target area, each image comprising at least a portion of a structure of markers, wherein the structure of markers is positioned between the patient and the fluoroscopic imaging device;
• estimating a pose of the fluoroscopic imaging device for a plurality of images of the sequence of images based on detection of a projection of the structure of markers on each image of the sequence of images;
• constructing fluoroscopic-based three-dimensional volumetric data of the target area based on each estimated pose of the fluoroscopic imaging device, the fluoroscopic-based three-dimensional volumetric data of the target area including a medical device and a target in the target area;
• and
• analyzing the constructed fluoroscopic-based three-dimensional volumetric data to determine an offset between a location of the medical device within the constructed fluoroscopic-based three-dimensional volumetric data of the target area and a location of the target within the constructed fluoroscopic-based three-dimensional volumetric data of the target area.

A system for constructing fluoroscopic-based three-dimensional volumetric data of a target area within a patient from two-dimensional fluoroscopic images, comprising:

• a computing device configured to:
• receive a sequence of fluoroscopic images of the target area captured by a fluoroscopic imaging device;
• estimate a pose of the fluoroscopic imaging device for a plurality of images of the sequence of fluoroscopic images;
• construct fluoroscopic-based three-dimensional volumetric data of the target area based on each estimated pose of the fluoroscopic imaging device, the fluoroscopic-based three-dimensional volumetric data of the target area including a medical device and a target;
• and
• analyze the constructed fluoroscopic-based three-dimensional volumetric data to determine an offset between a location of the medical device within the constructed fluoroscopic-based three-dimensional volumetric data of the target area and a location of the target within the constructed fluoroscopic-based three-dimensional volumetric data of the target area.