Feature-based registration method
First Claim
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1. A method for registering a three-dimensional model to an image of a sensor, the method comprising:
- inserting a sensor into a body lumen to acquire location data of the sensor;
assigning a density value to each voxel of a plurality of voxels of a three-dimensional model based on the acquired location data;
determining a voxel of the plurality of voxels, which is closest to the sensor, based on a plurality of parameters, each of which has a predefined threshold; and
registering the closest voxel to the acquired location data.
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Abstract
Methods for registering a three-dimensional model of a body volume to a real-time indication of a sensor position that involve analyzing scanned and sensed voxels and using parameters or thresholds to identify said voxels as being either tissue or intraluminal fluid. Those voxels identified as fluid are then used to construct a real-time sensed three-dimensional model of the lumen which is then compared to a similarly constructed, but previously scanned model to establish and update registration.
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Citations
24 Claims
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1. A method for registering a three-dimensional model to an image of a sensor, the method comprising:
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inserting a sensor into a body lumen to acquire location data of the sensor; assigning a density value to each voxel of a plurality of voxels of a three-dimensional model based on the acquired location data; determining a voxel of the plurality of voxels, which is closest to the sensor, based on a plurality of parameters, each of which has a predefined threshold; and registering the closest voxel to the acquired location data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A method for registering a three-dimensional model to a sensing volume of a sensor, the method comprising:
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segmenting a plurality of voxels of the three-dimensional model; inserting a sensor into a body lumen to acquire sensing volume voxels from the sensor; assigning a density value for each voxel of the sensing volume voxels; and segmenting the sensing volume voxels based on a threshold; and registering a first portion of the plurality of voxels of the three-dimensional model to the segmented sensing volume voxels. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24)
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Specification