Vision-based 6dof camera pose estimation in bronchoscopy
AssigneeAuris Health, Inc.
InventorsMali SHEN, Menglong YE
Life of this patent
Estimating the term…
Abstract
Methods and systems provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data and CT data, are used to model the tubular networks, and the model information is used to generate a camera pose representing a specific site location within the tubular network and/or to determine navigation information including position and orientation for the medical instrument.
Claims20
A method, comprising:
- transforming video image data of an anatomical structure into a first depth map;
- receiving a plurality of second depth maps based at least in part on transformed computed tomography (CT) image data, each of the second depth maps representing a virtual model of the anatomical structure;
- and
- generating a camera pose representative of a spatial location within the anatomical structure, including:
- finding a minimum of a scalar similarity function relative to a comparison of each of the plurality of second depth maps to the first depth map;
- and
- generating the camera pose as a function of a second depth map associated with the minimum of the scalar similarity function.
A method, comprising:
- transforming video image data of a bronchial airway into a first depth map;
- receiving a plurality of second depth maps based at least in part on transformed computed tomography (CT) image data, each of the second depth maps representing a virtual model of the bronchial airway;
- and
- generating a camera pose representative of a spatial location within the bronchial airway, including:
- finding a minimum of a scalar similarity function relative to a comparison of each of the plurality of second depth maps to the first depth map;
- and
- generating the camera pose as a function of a second depth map associated with the minimum of the scalar similarity function.
A medical system, comprising:
- a means for transforming video image data of an anatomical structure into a first depth map;
- a means for receiving a plurality of second depth maps based at least in part on transformed computed tomography (CT) image data, each of the second depth maps representing a virtual model of the anatomical structure;
- a means for generating a camera pose representative of a spatial location within the anatomical structure, including:
- a means for finding a minimum of a scalar similarity function relative to a comparison of each of the plurality of second depth maps to the first depth map;
- and
- a means for generating the camera pose as a function of a second depth map associated with the minimum of the scalar similarity function.
Dependencies are inferred from the claim text.