System and method for pose estimation of an imaging device and for determining the location of a medical device with respect to a target
AssigneeCovidien LP
InventorsRON BARAK, ARIEL BIRENBAUM, GUY ALEXANDRONI, OREN P. WEINGARTEN
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Abstract
A system and method for constructing fluoroscopic-based three-dimensional volumetric data of a target area within a patient from two-dimensional fluoroscopic images acquired via a fluoroscopic imaging device.
Claims20
A system for constructing fluoroscopic-based three-dimensional volumetric data of a target area within a patient from two-dimensional fluoroscopic images acquired via a fluoroscopic imaging device, comprising:
- a structure of markers, wherein a sequence of images of the target area and of the structure of markers is acquired via the fluoroscopic imaging device;
- and
- a computing device configured to:
- estimate a pose of the fluoroscopic imaging device for a plurality of images of the sequence of images based on detection of a possible and most probable projection of the structure of markers as a whole on each image of the plurality of images;
- and
- construct fluoroscopic-based three-dimensional volumetric data of the target area based on the estimated poses of the fluoroscopic imaging device.
A method for constructing fluoroscopic-based three dimensional volumetric data of a target area within a patient from a sequence of two-dimensional (2D) fluoroscopic images of a target area and of a structure of markers acquired via a fluoroscopic imaging device, wherein the structure of markers is positioned between the patient and the fluoroscopic imaging device, the method comprising using at least one hardware processor for:
- estimating a pose of the fluoroscopic imaging device for at least a plurality of images of the sequence of 2D fluoroscopic images based on detection of a possible and most probable projection of the structure of markers as a whole on each image of the plurality of images;
- and
- constructing fluoroscopic-based three-dimensional volumetric data of the target area based on the estimated poses of the fluoroscopic imaging device.
A system for constructing fluoroscopic-based three-dimensional volumetric data of a target area within a patient from two-dimensional fluoroscopic images acquired via a fluoroscopic imaging device, comprising:
- a computing device configured to:
- estimate a pose of the fluoroscopic imaging device for a plurality of images of a sequence of images based on detection of a possible and most probable projection of a structure of markers as a whole on each image of the plurality of images;
- and
- construct fluoroscopic-based three-dimensional volumetric data of the target area based on the estimated poses of the fluoroscopic imaging device.
Dependencies are inferred from the claim text.