System and method registered video endoscopy and virtual endoscopy
First Claim
1. A computer-implemented method for associating an image with an area of interest in a three-dimensional volume comprising:
- modeling a volume as the three-dimensional volume;
tracking an image capturing device within the volume, storing position and orientation information of the image capturing device at a time when at least one image is captured;
determining a longitudinal distance traveled by the image capturing device at the time when the at least one image is captured;
registering the position, orientation and longitudinal distance of the image capturing device to a corresponding position within the three-dimensional volume;
determining an area of interest within the three-dimensional volume; and
determining the at least one image registered to correspond to the area of interest, wherein the at least one image is displayed and the area of interest is characterized.
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Accused Products
Abstract
An endo-robot can be tracked and a reconstructed 3D volume of data can be created for virtual endoscopy. The 3D position and orientation of each image captured by the endo-robot is determined. The longitudinal distance traveled inside the structure of interest is determined. The position, orientation and longitudinal distance are used to register the position of the endo-robot to a corresponding position inside the 3D volume of data. Virtual endoscopy can be used to locate areas of interest and correlate clinical findings with the images of the areas of interest.
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Citations
11 Claims
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1. A computer-implemented method for associating an image with an area of interest in a three-dimensional volume comprising:
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modeling a volume as the three-dimensional volume;
tracking an image capturing device within the volume, storing position and orientation information of the image capturing device at a time when at least one image is captured;
determining a longitudinal distance traveled by the image capturing device at the time when the at least one image is captured;
registering the position, orientation and longitudinal distance of the image capturing device to a corresponding position within the three-dimensional volume;
determining an area of interest within the three-dimensional volume; and
determining the at least one image registered to correspond to the area of interest, wherein the at least one image is displayed and the area of interest is characterized. - View Dependent Claims (2, 3, 4, 5)
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6. A program storage device readable by machine, tangibly embodying a program of instructions executable by the machine to perform method steps for associating an image with an area of interest in a three-dimensional volume, the method steps comprising:
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modeling a volume as the three-dimensional volume;
tracking an image capturing device within the volume, storing position and orientation information of the image capturing device at a time when at least one image is captured;
determining a longitudinal distance traveled by the image capturing device at the time when the at least one image is captured;
registering the position, orientation and longitudinal distance of the image capturing device to a corresponding position within the three-dimensional volume;
determining an area of interest within the three-dimensional volume; and
determining the at least one image registered to correspond to the area of interest, wherein the at least one image is displayed and the area of interest is characterized. - View Dependent Claims (7, 8, 9, 10)
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11. A method for viewing a virtual volume of a real space comprising:
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displaying a portion of the virtual volume of the real space;
displaying, automatically and simultaneously, a registered image of the real space corresponding to the portion of the virtual volume in a second window; and
characterizing the portion of the virtual volume based on the combination of the virtual volume and the registered image.
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Specification