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US 2020/0046436 A1Published application
Methods and systems for multi view pose estimation using digital computational tomography
AssigneeBody Vision Medical Ltd.
InventorsTal Tzeisler, Eran Harpaz, Dorian Averbuch
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Abstract
The present invention discloses several methods related to intra-body navigation of a radiopaque instrument through natural body cavities. One of the methods discloses the pose estimation of the imaging device using multiple images of radiopaque instrument acquired in the different poses of imaging device and previously acquired imaging. The other method resolves the radiopaque instrument localization ambiguity using several approaches, such as radiopaque markers and instrument trajectory tracking.
Claims18
A method, comprising:
- obtaining a first image from a first imaging modality,
- extracting at least one element from the first image from the first imaging modality, wherein the at least one element comprises an airway, a blood vessel, a body cavity, or any combination thereof;
- obtaining, from a second imaging modality, at least (i) a first image of a radiopaque instrument in a first pose and (ii) a second image of the radiopaque instrument in a second pose,
- wherein the radiopaque instrument is in a body cavity of a patient;
- generating at least two augmented bronchograms,
- wherein a first augmented bronchogram corresponds to the first image of the radiopaque instrument in the first pose, and
- wherein a second augmented bronchogram corresponds to the second image of the radiopaque instrument in the second pose,
- determining mutual geometric constraints between:
- (i) the first pose of the radiopaque instrument, and
- (ii) the second pose of the radiopaque instrument,
- estimating the first pose of the radiopaque instrument and the second pose of the radiopaque instrument by comparing the first pose of the radiopaque instrument and the second pose of the radiopaque instrument to the first image of the first imaging modality,
- wherein the comparing is performed using:
- (i) the first augmented bronchogram,
- (ii) the second augmented bronchogram, and
- (iii) the at least one element, and
- wherein the estimated first pose of the radiopaque instrument and the estimated second pose of the radiopaque instrument meets the determined mutual geometric constraints,
- generating a third image;
- wherein the third image is an augmented image derived from the second imaging modality which highlights an area of interest,
- wherein the area of interest is determined from data from the first imaging modality.
16 more elements
A method, comprising:
- generating a map of at least one body cavity of the patient,
- wherein the map is generated using a first image from a first imaging modality, obtaining, from a second imaging modality, an image of a radiopaque instrument comprising at least two attached markers,
- wherein the at least two attached markers are separated by a known distance,
- identifying a pose of the radiopaque instrument from the second imaging modality relative to a map of at least one body cavity of a patient,
- identifying a first location of the first marker attached to the radiopaque instrument on the second image from the second imaging modality,
- identifying a second location of the second marker attached to the radiopaque instrument on the second image from the second imaging modality, and
- measuring a distance between the first location of the first marker and the second location of the second marker,
- projecting the known distance between the first marker and the second marker,
- comparing the measured distance with the projected known distance between the first marker and the second marker to identify a specific location of the radiopaque instrument inside the at least one body cavity of the patient.
6 more elements
A method, comprising:
- obtaining a first image from a first imaging modality,
- extracting at least one element from the first image from the first imaging modality, wherein the at least one element comprises an airway, a blood vessel, a body cavity or any combination thereof;
- obtaining, from a second imaging modality, at least (i) a one image of a radiopaque instrument and (ii) another image of the radiopaque instrument in two different poses of second imaging modality
- wherein the first image of the radiopaque instrument is captured at a first pose of second imaging modality,
- wherein the second image of the radiopaque instrument is captured at a second pose of second imaging modality, and
- wherein the radiopaque instrument is in a body cavity of a patient;
- generating at least two augmented bronchograms correspondent to each of two poses of the imaging device, wherein a first augmented bronchogram derived from the first image of the radiopaque instrument and the second augmented bronchogram derived from the second image of the radiopaque instrument,
- determining mutual geometric constraints between:
- (i) the first pose of the second imaging modality, and
- (ii) the second pose of the second imaging modality,
- estimating the two poses of the second imaging modality relatively to the first image of the first imaging modality, using the correspondent augmented bronchogram images and at least one element extracted from the first image of the first imaging modality;
- wherein the two estimated poses satisfy the mutual geometric constrains.
- generating a third image;
- wherein the third image is an augmented image derived from the second imaging modality highlighting the area of interest, based on data sourced from the first imaging modality.
11 more elements
A method to identify the true instrument location inside the patient, comprising:
- using a map of at least one body cavity of a patient generated from a first image of a first imaging modality,
- obtaining, from a second imaging modality, an image of the radiopaque instrument with at least two markers attached to it and having the defined distance between them, that may be perceived from the image as located in at least two different body cavities inside the patient,
- obtaining the pose of the second imaging modality relative to the map
- identifying a first location of the first marker attached to the radiopaque instrument on the second image from the second imaging modality,
- identifying a second location of the second marker attached to the radiopaque instrument on the second image from the second imaging modality, and
- measuring a distance between the first location of the first marker and the second location of the second marker.
- projecting the known distance between markers on each of the perceived location of the radiopaque instrument using the pose of the second imaging modality
- comparing the measured distance to each of projected distances between the two markers to identify the true instrument location inside the body.
5 more elements
Dependencies are inferred from the claim text.