System and method for improved electronic assisted medical procedures
AssigneeBeyeonics Surgical Ltd.
InventorRani Ben-Yishai
Life of this patent
Estimating the term…
Abstract
Methods and systems for displaying an image of a medical procedure (e.g., an intraoperative image) with additional information (e.g., data) that can augment the image of the medical procedure are provided. Augmenting the image can include overlaying data from a first image to a second image. Overlaying the data can involve determining, for a point or multiple points in the first image, a matching location or multiple matching locations in a second image. The first image and the second image can be of a patient. Determining the matching location can involve using a rotation and scale invariant geometrical relationship. The matching locations can be used as the basis for the overlay.
Claims12
A method for filtering a set of feature pairs between two images, the two images are of a patient, the method comprising:
- receiving, by a computing device, a set of feature pairs wherein each feature pair comprises one feature location from a first image and a matching feature location from a second image;
- and
- filtering, by the computing device, the set of feature pairs based on at least one of a scale invariant and a rotational invariant geometrical relationship between feature locations from the set of feature pairs, wherein the filtering further comprises:
- determining, by the computing device, a set of couples of feature pairs,
- determining, by the computing device, for each couple of the set of couples a first distance between the locations of the two features in the couple that are from the first image,
- determining, by the computing device, for each couple of the set of couples a second distance between features locations of the two features in the couple that are from the second image,
- determining, by the computing device, for each couple of the set of couples a ratio between the first distance and the second distance, yielding a set of respective ratios, and
- discarding feature pairs based on the set of respective ratios,
- wherein the two images are selected from at least one of:
- a preoperative image and an intraoperative image of the patient.
A method for filtering a set of feature pairs between two images, the two images are of a patient, the method comprising:
- receiving, by a computing device, a set of feature pairs wherein each feature pair comprises one feature location from a first image and a matching feature location from a second image;
- and
- filtering, by the computing device, the set of feature pairs based on at least one of a scale invariant and a rotational invariant geometrical relationship between feature locations from the set of feature pairs,
- wherein the filtering further comprises:
- determining, by the computing device, a set of couples of feature pairs,
- determining, by the computing device, for each couple of the set of couples a first angle of a line connecting the two locations of the two features in the couple that are from the first image,
- determining, by the computing device, for each couple of the set of couples a second angle of a line connecting the two locations of the two features in the couple that are from the second image,
- determining, by the computing device, for each couple of the set of couples a difference of angles between the first angle and the second angle, yielding a set of respective differences of angles, and
- discarding feature pairs based on said set of respective differences of angles,
- wherein the two images are selected from at least one of:
- a preoperative image and an intraoperative image of the patient.
A method for filtering a set of feature pairs between two images, the two images are of a patient, the method comprising:
- receiving, by a computing device, a set of feature pairs wherein each feature pair comprises one feature location from a first image and a matching feature location from a second image;
- and
- filtering, by the computing device, the set of feature pairs based on at least one of a scale invariant and a rotational invariant geometrical relationship between feature locations from the set of feature pairs,
- the filtering further comprises:
- selecting at least three feature pairs from the set of feature pairs,
- determining, via the computing device, a first polygon with respect to the first image, such that the vertexes of the first polygon are the feature locations of the at least three feature pairs that are from the first image,
- determining, via the computing device, a second polygon with respect to the second image, such that the vertexes of the second polygon are the feature locations of the at least three feature pairs that are from the second image,
- determining via the computing device, whether the first and second polygons are similar, and
- when the two polygons are not similar, discarding from the set of feature pairs at least one feature pair of the at least three feature pairs,
- wherein the two images are selected from at least one of:
- a preoperative image and an intraoperative image of the patient.
Dependencies are inferred from the claim text.