System and method for motion compensation in medical procedures

A method for fusing images to account for patient motion compensation, comprising:

• capturing a baseline image volume;
• obtaining live images of a target volume;
• tracking an imaging instrument to obtain a pose for capturing the baseline image volume and to obtain a pose for a current image volume of the live images such that a tracking system has its coordinate system registered with the baseline image volume and the live images;
• providing for patient motion compensation between the baseline image volume and a current image volume based on field of view differences between a pose for the baseline image volume and a pose for the current image volume including minimizing a cost function which inversely relates to a likelihood of motion compensation succeeding for a 3D image acquired at the current image volume to generate and convey to a user success parameters feedback that indicates to the user a direction to reposition the imaging instrument during image acquisition to account for patient motion by improving overlap and image similarity between the pose for the baseline image volume and the pose for the current image volume after patient motion using the tracking system;
• wherein the cost function is defined as:
• f_A(ρi)=100/PercentOverlap(ρi)+w*(1−|α(ρi)|/90),
• wherein ρi is a set of probe translation and rotation parameters {tx, ty, tz, rx, ry, rz} defining the pose for the current image volume, f_A(ρi) is a total cost associated with pose ρi, PercentOverlap(ρi) is a relative overlap of an area imaged by the baseline image volume and the current image volume, α(ρi) is a rotation angle between the baseline image volume and the current image volume, in degrees, and w is a weighting factor to balance relative contributions of the overlap and the rotation metric;
• and
• determining when the success parameters satisfy a threshold criteria, and if so, acquiring a new image at the pose of the current view.