Endoluminal object characterization using 3D-reconstruction
AssigneeAuris Health, Inc.
InventorsSaif Iftekar Sayed, Austin Jun Shin, Elif Ayvali
Life of this patent
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Abstract
The present disclosure provides for determination of object characteristics/properties based at least in part on images captured from within a subject. The object characteristics/properties can include, without limitations, size, weight, and/or shape of the object. An object depicted in the images may be identified and may be reconstructed in three-dimensional (3D) space as a volumetric representation (e.g., a 3D reconstruction of the object). The object characteristics/properties may be estimated based at least in part on the volumetric representation. In some embodiments, a scale associated with the volumetric representation may be determined and applied to the volumetric representation.
Claims19
A system for determining a property of an object, the system comprising:
- at least one non-transitory computer-readable memory having stored thereon executable instructions;
- and
- one or more processors in communication with the at least one non-transitory computer-readable memory and configured to execute the instructions to cause the system to:
- access a three-dimensional (3D) representation of the object;
- determine a first trajectory of an imaging device over a time period using photometric tracking;
- determine a second trajectory of a position sensor over the time period;
- determine a scale to be applied to the 3D representation based at least in part on the first trajectory and the second trajectory;
- and
- estimate the property of the object based at least in part on the scale and the 3D representation.
A system for generating a three-dimensional (3D) reconstruction of an object, the system comprising:
- an imaging device proximate a distal end of an elongate body, the imaging device configured to capture images of the object;
- a robotic system configured to control the elongate body;
- and
- control circuitry configured to:
- access image data of the images;
- generate depth maps from the image data;
- estimate a trajectory of the imaging device over time based at least in part on photometric tracking on the depth maps;
- and
- generate the 3D reconstruction of the object based at least in part on the image data and the trajectory.
A system for determining a property of an object, the system comprising:
- at least one non-transitory computer-readable memory having stored thereon executable instructions;
- and
- one or more processors in communication with the at least one non-transitory computer-readable memory and configured to execute the instructions to cause the system to:
- access image data of images of the object captured by an imaging device proximate a distal end of an elongate body;
- estimatE a trajectory of the imaging device over time based at least in part on identification of one or more features in a first image frame of the image data and corresponding features in a second frame of the image data subsequent to the first image frame;
- generate a three-dimensional (3D) reconstruction of the object based at least in part on the image data and the estimating trajectory of the imaging device;
- determine a scale to be applied to the 3D reconstruction;
- and
- based at least in part on the scale and the 3D reconstruction, estimate the property ofthe object.
Dependencies are inferred from the claim text.