# US 10,869,642 B2 · Automatic movement detection > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,869,642 B2 - Document ID: US10869642B2 - Status: Granted - Kind: B2 - Application number: 15/557,855 - Filed: 2016-03-02 - Published: 2018-03-01 - Granted: 2020-12-22 - Earliest claimed: 2015-03-16 - Assignees: Koninklijke Philips N.V. - Applicants: Koninklijke Philips N.V. - Inventors: Olivier Pierre Nempont; Guillaume Julien Joseph Pizaine; Raoul Florent - Web page: https://patentgrep.com/patent/US10869642B2 ## CPC - A61B 6/12: Arrangements for detecting or locating foreign bodies - A61B 6/461: {Displaying means of special interest} - A61B 6/487: {involving fluoroscopy} - A61B 6/504: {for diagnosis of blood vessels, e.g. by angiography} - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - G06T 7/0012: {Biomedical image inspection} - G06T 7/246: using feature-based methods, e.g. the tracking of corners or segments - A61B 2034/2065: {Tracking using image or pattern recognition} - A61B 2090/363: {Use of fiducial points} - A61M 2025/09166: {having radio-opaque features} - G06T 2207/10016: Video; Image sequence - G06T 2207/10121: Fluoroscopy - G06T 2207/30021: Catheter; Guide wire - G06T 2207/30104: Vascular flow; Blood flow; Perfusion - G06V 2201/034: of medical instruments - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract A method and device is proposed for automatic detection of an event in which a device is leaving a stable position relative to and within an anatomy. The method comprises the steps of receiving a sequence of fluoroscopic images, detecting a device in at least two of the fluoroscopic images, determining a motion field of the detected device in the sequence of fluoroscopic images, generating a sequence of integrated images by integrating the sequence of fluoroscopic images taking into consideration the motion field, determining a saliency metric based on the integrated images, identifying a landmark in the integrated images based on the saliency metric, and determining as to whether the landmark is moving relative to the device, based on a variation of the saliency metric. ## Claims ### Claim 1 A method for automatic detection of an event in which a device is leaving a stable position relative to and within an anatomy, the method comprising the steps of: receiving a sequence of fluoroscopic images, detecting the device in at least two of the fluoroscopic images, determining a motion field of the detected device in the sequence of fluoroscopic images, generating a sequence of integrated images by integrating the sequence of fluoroscopic images taking into consideration the motion field, determining a saliency metric based on the integrated images, identifying a landmark in the integrated images based on the saliency metric, wherein said method further comprises the steps of: visualizing at least one fluoroscopic image out of the sequence of fluoroscopic images together with a roadmap as an overlay of the roadmap on the at least one fluoroscopic image; and masking the roadmap when a motion of the landmark relative to the device is determined. ### Claim 2 (depends on 1) The method of claim 1, further comprising a step of: determining as to whether the landmark is moving relative to the device, based on a variation of the saliency metric. ### Claim 3 (depends on 1) The method of claim 1, wherein the sequence of fluoroscopic images comprises a first fluoroscopic image and a second fluoroscopic image, wherein the determining of a motion field comprises a determining of a displacement of the device between a position detected in the first fluoroscopic image and a position detected in the second fluoroscopic image, and wherein the displacement is taken into consideration for integrating the plurality of fluoroscopic images. ### Claim 4 (depends on 1) The method of claim 1, wherein the integration of the sequence of fluoroscopic images is a temporal integration. ### Claim 5 (depends on 4) The method of claim 4, wherein the landmark in an integrated image is determined based on the height of pixel values. ### Claim 6 (depends on 5) The method of claim 5, wherein the saliency metric varies when pixel values vary in the sequence of integrated images. ### Claim 7 (depends on 1) The method of claim 1, wherein the landmark includes a calcification in a vascular system. ### Claim 8 (depends on 7) The method of claim 7, wherein the landmark includes an already implanted element. ### Claim 9 (depends on 1) A system for automatic detection of an event in which a device is leaving a stable position relative to and within an anatomy, comprising: a device for generating fluoroscopic images, and a processing device for processing the fluoroscopy images in accordance with the method of claim 1. ### Claim 10 (depends on 9) The system of claim 9, further comprising a monitor for displaying images. ### Claim 11 (depends on 10) The system of claim 10, further comprising a database providing a roadmap. ### Claim 12 (depends on 1) A computer program for automatic detection of an event in which a device is leaving a stable position relative to and within an anatomy, when executed on a processing device of a system for automatic detection of an event in which a device is leaving a stable position relative to and within an anatomy, comprising: a device for generating fluoroscopic images, and a processing device for processing the fluoroscopy images, causing the system to perform the method according to claim 1.