Multi-rigid registration of magnetic navigation to a computed tomography volume
First Claim
1. A method of registering an electromagnetic registration of a luminal network to a 3D model of the luminal network, the method comprising:
- accessing a 3D model of a luminal network, the 3D model based on computed tomographic (CT) images of the luminal network;
selecting a plurality of reference points within the 3D model of the luminal network;
obtaining a plurality of survey points within the luminal network;
dividing the 3D model of the luminal network into different regions of a lung;
assigning a plurality of weights to the different regions of the lung;
determining an alignment of the plurality of reference points with the plurality of survey points based on the plurality of weights; and
generating a registration based on the alignment, the registration enabling conversion of locations within the luminal network to locations within the 3D model of the luminal network.
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Abstract
Devices, systems, methods, and computer-readable media for registering an electromagnetic registration of a luminal network to a 3D model of the luminal network include accessing a 3D model of a luminal network based on computed tomographic (CT) images of the luminal network, selecting a plurality of reference points within the 3D model of the luminal network, obtaining a plurality of survey points within the luminal network, dividing the 3D model of the luminal network and the luminal network into a plurality of regions, assigning a plurality of weights to the plurality of regions, determining an alignment of the plurality of reference points with the plurality of survey points based on the plurality of weights, and generating a registration based on the alignment, the registration enabling conversion of the plurality of survey points within the luminal network to points within the 3D model of the luminal network.
34 Citations
15 Claims
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1. A method of registering an electromagnetic registration of a luminal network to a 3D model of the luminal network, the method comprising:
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accessing a 3D model of a luminal network, the 3D model based on computed tomographic (CT) images of the luminal network; selecting a plurality of reference points within the 3D model of the luminal network; obtaining a plurality of survey points within the luminal network; dividing the 3D model of the luminal network into different regions of a lung; assigning a plurality of weights to the different regions of the lung; determining an alignment of the plurality of reference points with the plurality of survey points based on the plurality of weights; and generating a registration based on the alignment, the registration enabling conversion of locations within the luminal network to locations within the 3D model of the luminal network. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for updating a 3D model of a luminal network, the system comprising:
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a location sensor capable of being navigated within a luminal network inside a patient'"'"'s body; an electromagnetic field generator configured to detect a location of the location sensor as it is navigated within the luminal network; and a computing device including a processor and a memory storing instructions which, when executed by the processor, cause the computing device to; access a 3D model of the luminal network based on computed tomographic (CT) images of the luminal network; select a plurality of reference points within the 3D model of the luminal network; obtain a plurality of survey points within the luminal network, the plurality of survey points being generated by the location sensor and the electromagnetic field generator; divide the 3D model of the luminal network into different regions of the lung; assign a plurality of weights to the different regions of the lung; determine an alignment of the plurality of reference points with the plurality of survey points based on the plurality of weights; and generate a registration based on the alignment, the registration enabling conversion of the plurality of survey points within the luminal network to points within the 3D model of the luminal network. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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Specification