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Hybrid registration method

  • US 10,674,936 B2
  • Filed: 09/04/2019
  • Issued: 06/09/2020
  • Est. Priority Date: 06/06/2008
  • Status: Active Grant
First Claim
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1. A method of registering an airway to a three-dimensional 3D model of the airway:

  • acquiring a plurality of computed tomography (CT) images of the airways of a patient;

    generating a 3D model of the airways derived from the plurality of CT images;

    generating a plurality of virtual endoscopic images derived from the 3D model;

    acquiring an endoscopic image;

    comparing the endoscopic image to the plurality of virtual endoscopic images to identify a match between the endoscopic image and a virtual endoscopic image of the plurality of virtual endoscopic images, wherein a viewpoint of the matching virtual endoscopic image substantially corresponds to a viewpoint of the endoscopic image;

    determining a position associated with an endoscope in an airway of a patient to form a determined position;

    comparing the determined position with a location in the 3D model corresponding to the matching virtual endoscopic image; and

    when the determined position and the location in the 3D model substantially correspond, depicting a location of the endoscope in the 3D model.

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