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Systems for localization of targets inside a body

  • US 10,617,401 B2
  • Filed: 11/12/2015
  • Issued: 04/14/2020
  • Est. Priority Date: 11/14/2014
  • Status: Active Grant
First Claim
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1. An image formation and navigation apparatus, comprising:

  • a housing assembly comprising a preferred axis physically identifiable by an operator;

    an ionizing radiation sensor at least partially enclosed within the housing assembly and disposed towards a distal end of the housing assembly;

    an optical tracking camera at least partially enclosed within the housing assembly, the camera having a field of view that overlaps partially with the field of view of the sensor;

    a visualization device operably linked to at least one processor and configured to show instantaneous renderings of images, the at least one processor operatively coupled with a memory, the sensor, and the camera, the memory having instructions for execution by the at least one processor configured to;

    determine a pose of the camera with respect to an object using an image captured by the camera and, using transformations derived from the camera being rigidly connected with the sensor, determine a spatial position and orientation of the sensor with respect to the object;

    associate scanning data from the sensor with the determined spatial position and orientation of the sensor with respect to the object to create registered scans;

    create a 3-D map of sources generating signatures measured by the sensor by using at least two registered scans; and

    create an image for visualization on the visualization device which is a combination of a rendered image of the 3-D map and an image processed from an image captured by the camera.

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