Registering regions of interest of a body part to a coordinate system

A method implemented in a computing device, the method comprising:

• (a) receiving at least two medical images, each medical image of the at least two medical images includes a respective region of interest of a mammalian body part;
• (b) receiving at least two reference images, each reference image of the at least two reference images includes a respective landmark subsurface feature of a cavity or lumen of the mammalian body part, each landmark subsurface feature of the cavity or lumen having a respective spatial relationship to a respective region of interest included in a medical image of the at least two medical images, wherein the landmark subsurface feature of the cavity or lumen includes a subsurface vessel, blood vessel, vascular structure, or a pattern presented by one or more blood vessel of the cavity or lumen of the mammalian body part;
• (c) determining a common frame of reference at least partially based on a landmark subsurface feature of the cavity or lumen included in a reference image of the at least two reference images;
• (d) registering the respective regions of interest included in the at least two medical images, the registration at least partially based on the common frame of reference;
• and
• (e) maintaining in a computer-readable media informational data corresponding to the registration of the respective regions of interest included in the at least two medical images.

A method comprising:

• determining a common frame of reference at least partially based on a landmark subsurface feature of a cavity or lumen of a mammalian body part having at least two landmark subsurface features of the cavity or lumen and at least two regions of interest, each landmark subsurface feature of the at least two landmark subsurface features of the cavity or lumen having a respective spatial relationship to a respective region of interest of the at least two regions of interest, wherein the landmark subsurface feature of the cavity or lumen includes a subsurface vessel, blood vessel, vascular structure, or a pattern presented by one or more blood vessel of the cavity or lumen of the mammalian body part;
• registering the respective regions of interest of the mammalian body part, the registration at least partially based on the common frame of reference;
• and
• maintaining in a computer-readable media informational data corresponding to the respective registered regions of interest.

A computer program product comprising:

• (a) a non-transitory computer-readable medium including program instructions stored thereon which, when executed by a processor of a computing device, cause the computing device to perform a process including:
• (i) determining a common frame of reference at least partially based on a landmark subsurface feature of a cavity or lumen of a mammalian body part having at least two landmark subsurface features of the cavity or lumen and at least two regions of interest, each landmark subsurface feature of the at least two landmark subsurface features of the cavity or lumen having a respective spatial relationship to a respective region of interest of the at least two regions of interest, wherein the landmark subsurface feature of the cavity or lumen includes a subsurface vessel, blood vessel, vascular structure, or a pattern presented by one or more blood vessel of the cavity or lumen of the mammalian body part;
• (ii) registering the respective regions of interest of the mammalian body part, the registration at least partially based on the determined common frame of reference;
• and
• (iii) storing in another computer-readable media operably coupled with processor informational data corresponding to the respective registered regions of interest.

A system comprising;

• means for determining a common frame of reference at least partially based on a landmark subsurface feature of a cavity or lumen of a mammalian body part, the mammalian body part having at least two landmark subsurface feature of the cavity or lumen and at least two regions of interest, each landmark subsurface feature of at least two landmark subsurface features of the cavity or lumen having a respective spatial relationship to a respective region of interest of the at least two regions of interest, wherein the landmark subsurface feature of the cavity or lumen includes a subsurface vessel, blood vessel, vascular structure, or a pattern presented by one or more blood vessel of the cavity or lumen of the mammalian body part;
• means for registering the respective regions of interest of the mammalian body part, the registration at least partially based on the common frame of reference;
• and
• means for persistently maintaining computer-readable informational data corresponding to the respective registered regions of interest.