Systems, Methods and Devices for Correlating Reference Locations Using Image Data

A system comprising:

• a first circuit module to, for a virtual probe at a virtual location within a model of the anatomical structure, generate virtual image data captured by the virtual probe;
• a second circuit module to, a first circuit module assess the virtual image data through a probabilistic comparison of the virtual image data to actual image data captured by the actual probe at an actual location;
• a third circuit module to, based upon the assessment, update a correlation between the actual location of the actual probe and a sensed location of the actual probe to provide synchronicity between the sensed location and actual location;
• and
• a fourth circuit module to, for maintaining the synchronicity between a subsequently sensed location and subsequent actual location, use the assessment to select a new virtual location for the virtual probe.

A circuit-implemented method for correlating an actual reference point to a virtual reference point corresponding to a surface mesh model of an anatomical structure, the method comprising:

• for a probe with a known position relative to the actual reference point, selecting a set of virtual poses relative to the virtual reference point as a function of virtual pose weights;
• creating, for the virtual poses, virtual image data by applying the virtual poses to the model;
• generating correlation scores to the virtual poses as a function of correlation between the captured image data and the virtual image data;
• and
• updating the virtual pose weights as a function of the correlation scores.

A computer-readable medium programmed with instructions that when executed by a processor perform the steps of

• for a virtual probe at a virtual location within a model of the anatomical structure, generating virtual image data captured by the virtual probe;
• assessing the virtual image data through a probabilistic comparison of the virtual image data to actual image data captured by the actual probe at an actual location;
• based upon the assessment, updating a correlation between the actual location of the actual probe and a sensed location of the actual probe to provide synchronicity between the sensed location and actual location;
• and
• for maintaining the synchronicity between a subsequently sensed location and subsequent actual location, using the assessment to select a new virtual location for the virtual probe.