System and method for local three dimensional volume reconstruction using a standard fluoroscope

A system, comprising:

• a robotically driven medical device;
• and
• a computing device including a processor and a display configured to display a graphical user interface, and a computer readable storage medium storing thereon instructions that when executed by the processor cause the processor to:
• construct a 3D volume of a target area based on a plurality of intra-procedural images, the 3D volume including a portion of the medical device and a soft tissue target for biopsy or treatment;
• determine a position of the soft tissue target for biopsy or treatment in the 3D volume;
• determine a position of a distal portion of the medical device in the intra-procedural images;
• and
• determine tracking system coordinates of the distal portion of the medical device from the determined position of the soft tissue target and the distal portion of the medical device in the 3D volume.

A system, comprising:

• a computing device including a processor and a display configured to display a graphical user interface, and a computer readable storage medium storing thereon instructions that, when executed by the processor cause the processor to:
• construct a three-dimensional (3D) volume based on a plurality of intra-procedural images, the 3D volume including a portion of a medical device and a soft tissue target for biopsy or treatment;
• determine a position of soft tissue target for biopsy or treatment in the 3D volume;
• determine a position of a distal portion of the medical device in the 3D volume;
• and
• determine tracking system coordinates of distal portion of the medical device from the determined position of the soft tissue target and the distal portion of the medical device in the 3D volume.