Hybrid registration method
First Claim
Patent Images
1. A method of registering sensor location data to images of at least one body lumen, comprising:
- generating location data corresponding to a location of a sensor;
registering the location of the sensor relative to a previously acquired image selected from a memory of a computing device storing a plurality of previously acquired images of at least one body lumen in a patient based on the location data;
parsing the plurality of previously acquired images based on the location data corresponding to the location of the sensor to generate a subgroup of the plurality of previously acquired images based on the location data; and
updating the registered location of the sensor based on an image selected from the subgroup.
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Abstract
A registration method whereby a sensor-based approach is used to establish initial registration and whereby upon the commencement of navigating an endoscope, image-based registration methods are used in order to more accurately maintain the registration between the endoscope location and previously-acquired images. A six-degree-of-freedom location sensor is placed on the probe in order to reduce the number of previously-acquired images that must be compared to a real-time image obtained from the endoscope.
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Citations
16 Claims
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1. A method of registering sensor location data to images of at least one body lumen, comprising:
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generating location data corresponding to a location of a sensor; registering the location of the sensor relative to a previously acquired image selected from a memory of a computing device storing a plurality of previously acquired images of at least one body lumen in a patient based on the location data; parsing the plurality of previously acquired images based on the location data corresponding to the location of the sensor to generate a subgroup of the plurality of previously acquired images based on the location data; and updating the registered location of the sensor based on an image selected from the subgroup. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for registering sensor location data to images of at least one body lumen, comprising:
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at least one sensor configured to generate location data corresponding to a location of the sensor relative to at least one body lumen in a patient; and a computing device having a memory configured to store a plurality of previously acquired images of the at least one body lumen, the location of the sensor configured to be initially registered to an image selected from the plurality of previously acquired images and to parse the plurality of previously acquired images based on the location data corresponding to the location of the sensor to generate a subgroup of the plurality of previously acquired images based on an approximate location of the sensor, wherein an image of the subgroup is selected based on a comparison between the location of the sensor and the images of the subgroup to update the initial registration of the location of the sensor to the image selected from the plurality of previously acquired images. - View Dependent Claims (12, 13, 14, 15, 16)
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Specification