Hybrid registration method

• US 10,478,092 B2
• Filed: 04/02/2019
• Issued: 11/19/2019
• Est. Priority Date: 06/06/2008
• Status: Active Grant

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Covidien LP (Medtronic Plc)
• Inventors: Averbuch, Dorian, Zur, Oded, Weingarten, Oren P.
• Primary Examiner(s): Nguyen, Tu T
• Application Number:
  US16/372,776
• Publication Number:
  US 20190223760A1
• Time in Patent Office: 231 Days
• Field of Search: 382131
• CPC Class Codes: A61B 1/2676 Bronchoscopes
• CPC Class Codes: A61B 2017/00699 correcting for movement caused by respiration, e.g. by triggering
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/3762 using computed tomography systems [CT]
• CPC Class Codes: A61B 2576/00 Medical imaging apparatus involving image processing or analysis A61B1/00009, A61B6/52 and A61B8/52 take precedence; image processing per se G06T; details of algorithms for analysing medical images G06T7/0012
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 5/066 Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
• CPC Class Codes: A61B 5/7246 using correlation, e.g. template matching or determination of similarity
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: G06T 2207/10068 Endoscopic image
• CPC Class Codes: G06T 2207/10081 Computed x-ray tomography [CT]
• CPC Class Codes: G06T 2207/30061 Lung
• CPC Class Codes: G06T 7/0016 involving temporal comparison
• CPC Class Codes: G06T 7/33 using feature-based methods

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.

Claims

1. A system for registering sensor location data to images of at least one body part, comprising:

an endoscope including;

a sensor configured to generate data corresponding to a location of the sensor relative to at least one body part in a patient, and

an image sensor configured to generate image data; and

a computing device having a memory configured to store a plurality of previously acquired images of the at least one body part, and including thereon a software application that, when executed by the computing device,

displays a three-dimensional (3D) model derived from the plurality of previously acquired images,

detects a location of the sensor,

receives image data from the image sensor, and

registers the location of the sensor to a subgroup of images selected from the plurality of previously acquired images, wherein registration is achieved by parsing the plurality of previously acquired images based on the location data to generate the subgroup of the plurality of previously acquired images, and comparing images in the subgroup to images received from the image sensor to identify an image that substantially matches an image generated by the image sensor.

2. The system of claim 1, wherein the software application, when executed by the computing device, displays the previously acquired image after the comparison confirms a substantial match.

3. The system of claim 1, wherein the software application, when executed by the computing device, updates an initial registration of the location of the sensor based on comparisons to the images in the subgroup with images from the image sensor.

4. The system of claim 3, wherein the updating of the initial registration commences on detecting a change in location of the sensor.

5. The system of claim 1, wherein detecting the location of the sensor requires recording a segment of an airway and shape-matching the segment to a segment in the 3D model.

6. The system of claim 1, wherein the sensor is an electromagnetic sensor and generating location data includes sensing electromagnetic fields.

7. The system of claim 1, wherein the previously acquired images are virtual images generated from computer tomography (CT) images stored in memory, and a matching virtual image defines a subgroup of the virtual images corresponding to the detected location of the sensor.

8. The system of claim 7, wherein the software application, when executed by the computing device, selects a virtual image from the subgroup of the virtual images that most accurately corresponds to the detected location of the sensor to update an initial registration using an image-based registration technique when the endoscope and the sensor are moved.

9. The system of claim 7, wherein the virtual images and the subgroup are stored in a database.

10. The system of claim 1, wherein the subgroup is a single image.

11. The system of claim 10, wherein the single image is displayed.

12. The system of claim 1, wherein generating data corresponding to a location of the sensor relative to at least one body part in a patient includes recording a segment of an airway and shape-matching the segment to a segment in the 3D model.