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US 12,551,132 B2Granted
Hybrid registration method
AssigneeCovidien LP
InventorsDorian Averbuch, Oded Zur, Oren P. Weingarten
Life of this patent
Estimating the term…
Abstract
A registration method whereby a sensor-based approach is used to establish initial registration and whereby upon the commencement of navigating an endoscope, image-based registration methods are used in order to more accurately maintain the registration between the endoscope location and previously-acquired images. A six-degree-of-freedom location sensor is placed on the probe in order to reduce the number of previously-acquired images that must be compared to a real-time image obtained from the endoscope.
Claims16
A system comprising:
- an endoscope including a sensor;
- a camera;
- a monitor;
- a processor;
- and
- a memory having stored thereon instructions, which, when executed by the processor, cause the processor to:
- display, on the monitor, a live endoscopic image and a virtual endoscopic image, wherein the displayed virtual endoscopic image is selected from a portion of a plurality of virtual endoscopic images (i) identified based on data from the sensor and (ii) used to perform initial registration with the live endoscopic image, the selected virtual endoscopic image being representative of a location of a distal end of the endoscope in an airway;
- and
- update the initial registration by image-based registration of the live endoscopic image with other portions of the plurality of virtual endoscopic images as the endoscope is advanced.
6 more elements
A system comprising:
- an endoscope;
- a camera;
- a monitor;
- a processor;
- and
- a memory having stored thereon instructions, which, when executed by the processor, cause the processor to:
- display, on the monitor, a live endoscopic image and a virtual endoscopic image, wherein the displayed virtual endoscopic image is selected from a portion of a plurality of images (i) identified based on the live endoscopic image and (ii) used to perform initial registration with the live endoscopic image, the selected virtual endoscopic image being representative of a location of a distal end of the endoscope in an airway;
- and
- update the initial registration by image-based registration of the live endoscopic image with other portions of the plurality of virtual endoscopic images as the endoscope is advanced.
6 more elements
A method comprising:
- displaying, on a monitor, a live endoscopic image and a virtual endoscopic image, wherein the displayed virtual endoscopic image is selected from a portion of a plurality of images (i) identified based on data from a sensor and the live endoscopic image and (ii) used to perform initial registration with the live endoscopic image, the selected virtual endoscopic image being representative of a location of a distal end of an endoscope in an airway;
- and
- update the initial registration by image-based registration of the live endoscopic image with other portions of the plurality of virtual endoscopic images as the endoscope is advanced.
Dependencies are inferred from the claim text.