Feature-based registration method
AssigneeCovidien LP
InventorDorian Averbuch
Life of this patent
Estimating the term…
Abstract
Methods for registering a three-dimensional model of a body volume to a real-time indication of a sensor position that involve analyzing scanned and sensed voxels and using parameters or thresholds to identify said voxels as being either tissue or intraluminal fluid. Those voxels identified as fluid are then used to construct a real-time sensed three-dimensional model of the lumen which is then compared to a similarly constructed, but previously scanned model to establish and update registration.
Claims20
A method for registering a three-dimensional model of a body volume to a real-time image of a sensor, the method comprising:
- inserting the sensor into the body lumen to acquire location data;
- processing the location data to form a three-dimensional shape including a plurality of cavity voxels;
- defining a plurality of parameters having predefined thresholds;
- selecting cavity voxels of the plurality of cavity voxels satisfying the predefined thresholds of the plurality of parameters;
- and
- comparing the three-dimensional shape including the cavity voxels satisfying the predefined thresholds of the plurality of parameters to a three-dimensional model to establish a feature-based registration.
A method for providing feature-based registration for a three-dimensional model, the method comprising:
- forming a computed tomography (CT) volume from image data, the CT volume corresponding to space within a tortuous channel, the CT volume defined as a plurality of cavity voxels representing values of a three-dimensional shape;
- defining a plurality of parameters having predefined thresholds that cavity voxels of the plurality of cavity voxels of the CT volume are required to meet to be designated as candidate cavity voxels to be utilized in the three-dimensional shape;
- selecting cavity voxels of the plurality of cavity voxels that satisfy the predefined thresholds of the plurality of parameters;
- and
- comparing the three-dimensional shape including the cavity voxels satisfying the predefined thresholds of the plurality of parameters to the three-dimensional model to establish the feature-based registration.
Dependencies are inferred from the claim text.