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US 10,893,842 B2Granted
System and method for pose estimation of an imaging device and for determining the location of a medical device with respect to a target
AssigneeCovidien LP
InventorsRon Barak, Ariel Birenbaum, Guy Alexandroni, Oren P. Weingarten
Life of this patent
Estimating the term…
Abstract
A system and method for estimating a pose of an imaging device for one or more images is provided.
Claims20
A method for estimating a pose of an imaging device for an image by utilizing a structure of markers, the method comprising using at least one hardware processor for:
- generating a probability map for the image indicating a probability of each pixel of the image to belong to a projection of a marker of the structure of markers, wherein the image comprises a projection of at least a portion of the structure of markers;
- generating different candidates for the projection of the structure of markers on the image by virtually positioning the imaging device in possible different virtual poses;
- identifying a candidate of the generated different candidates having a highest probability of being the projection of the structure of markers on the image based on the probability map for the image;
- and
- estimating the pose of the imaging device for the image based on a virtual pose of the possible different virtual poses used to generate the identified candidate.
2 more elements
A system for estimating a pose of an imaging device for an image, the system comprising:
- a structure of markers;
- an imaging device configured to acquire an image of at least a portion of the structure of markers;
- and
- a computing device comprising:
- (i) a storage device having stored thereon instructions for:
- generating a probability map for the image indicating a probability of each pixel of the image to belong to a projection of a marker of the structure of markers;
- generating different candidates for the projection of the structure of markers on the image by virtually positioning the imaging device in possible different poses;
- and
- identifying a candidate of the generated different candidates having a highest probability of being the projection of the structure of markers on the image based on the probability map for the image;
- and
- (ii) at least one hardware processor configured to execute the instructions.
8 more elements
A system for estimating a pose of an imaging device for an image of a target area, the image including a structure of markers, the system comprising:
- a computing device comprising:
- (i) a storage device having stored thereon instructions for:
- generating a probability map for the image indicating a probability of each pixel of the image to belong to a projection of a marker of the structure of markers;
- generating different candidates for the projection of the structure of markers on the image by virtually positioning the imaging device in possible different poses;
- and
- identifying a candidate of the generated different candidates having a highest probability of being the projection of the structure of markers on the image based on the probability map for the image;
- and
- (ii) at least one hardware processor configured to execute the instructions.
5 more elements
Dependencies are inferred from the claim text.