System and method for improved electronic assisted medical procedures
AssigneeBeyeonics Surgical Ltd.
InventorRani BEN-YISHAI
Life of this patent
Estimating the term…
Abstract
Methods and systems for displaying an image of a medical procedure (e.g., an intraoperative image) with additional information (e.g., data) that can augment the image of the medical procedure are provided. Augmenting the image can include overlaying data from a first image to a second image. Overlaying the data can involve determining, for a point or multiple points in the first image, a matching location or multiple matching locations in a second image. The first image and the second image can be of a patient. Determining the matching location can involve using a rotation and scale invariant geometrical relationship. The matching locations can be used as the basis for the overlay.
Claims13
A method for determining, for a point in a first image, a matching location in a second image, the first image and the second image are of a patient, the method comprising:
- (a) receiving, via a computing device, the point having a location in the first image;
- (b) receiving, via the computing device, two feature pairs wherein each feature pair comprises one feature location from the first image and a matching feature location from the second image;
- (c) determining, via the computing device, a first triangle with respect to the first image, such that the vertexes of the first triangle are the locations of the two features of the two feature pairs that are from the first image and the location of the point in the first image;
- (d) determining, via the computing device, a second triangle with respect to the second image, such that two of the vertexes of the second triangle are the locations of each of the respective matching features of the two feature pairs that are from the second image, and such that the second triangle has triangle similarity with the first triangle, yielding a location of a third vertex;
- and
- (e) determining, via the computing device, the matching location in the second image of the point in the first image based on the location of the third vertex,
- wherein the first image and the second image are selected from at least one of:
- a preoperative image and an intraoperative image of the patient.
The method of claim I further comprising:
- repeating steps (b) through (d) for each of a plurality of feature pairs to determine a plurality of corresponding third vertex locations;
- calculating an averaged third vertex location;
- and
- determining the matching location in the second image of the point in the first image based on the averaged third vertex location.
A method for determining, for a point in a first image, a matching location in a second image, the first image and the second image are of a patient, the method comprising:
- receiving, via a computing device, the point having a location in the first image;
- receiving, via the computing device, at least two feature pairs wherein each feature pair comprises one feature location from the first image and a matching feature location from the second image, wherein each of the features in each feature pair has a corresponding location in its respective image;
- determining, via the computing device, a geometrical relationship with respect to the first image, based on the locations of the at least two features pairs and the location of the point in the first image, wherein the geometrical relationship is scale and rotation invariant;
- and
- determining, via the computing device, the matching location in the second image based on the geometrical relationship and the locations of the respective matching features of the at least two feature pairs that are from the second image,
- wherein the first image and the second image are selected from at least one of:
- a preoperative image and an intraoperative image of the patient.
Dependencies are inferred from the claim text.