Method and apparatus for determination of a trajectory and imaging device

A method for determining a trajectory of a living tissue, the method comprising:

• providing a first imaging apparatus having a field of view of at least 1° in X plane and Y plane;
• acquiring a first frame representing images of the living tissue at a frame acquisition rate of at least 500 FPS and a frame size of at least 1000 pixels;
• acquiring subsequent frames representing images of the living tissue with the first imaging apparatus;
• and
• determining at least a first segment of the trajectory of the living tissue using relative displacements of at least a first subset of subsequent frames and recalculation thereof to coordinates corresponding to time of frame acquisition to form a vector Tm of elements tm wherein element tm is at least one coordinate of the living tissue and wherein element tm of vector Tm is determined with a use of relative displacements pm,a, pm,b of at least two preceding frames and relative displacements pm,a, pm,b are determined using predetermined criterion.

A device for determining a trajectory of a movement of a living tissue, comprising:

• a first imaging apparatus
• having a field of view of at least 1° in X plane and Y plane
• having a frame acquisition rate of at least 500 FPS and frame size of at least 1000 pixels;
• and
• configured to acquire subsequent frames representing images of the living tissue with the first imaging apparatus;
• and
• a processing unit, configured to determine at least a first segment of the trajectory of the living tissue using relative displacements of at least a first subset of subsequent frames and recalculation thereof to coordinates corresponding to time of frame acquisition to form a vector Tm of elements tm wherein element tm is at least one coordinate of the living tissue and wherein element tm of vector Tm is determined with a use of relative displacements pm,a, pm,b of at least two preceding frames and relative displacements pm,a, pm,b are determined using predetermined criterion.

An article comprising a non-transitory computer readable medium having instructions stored thereon which, when executed by a processor coupled to at least one memory device, are operable to:

• provide a first imaging apparatus having a field of view of at least 1° in X plane and Y plane;
• acquire a first frame representing images of a living tissue at a frame acquisition rate of at least 500 FPS and a frame size of at least 1000 pixels;
• acquire subsequent frames representing images of the living tissue with the first imaging apparatus;
• and
• determine at least a first segment of the trajectory of the living tissue using relative displacements of at least a first subset of subsequent frames and recalculation thereof to coordinates corresponding to time of frame acquisition to form a vector Tm of elements tm wherein element tm is at least one coordinate of the living tissue and wherein element tm of vector Tm is determined with a use of relative displacements pm,a, pm,b of at least two preceding frames and relative displacements pm,a, pm,b are determined using predetermined criterion.