Automatic Registration Technique
First Claim
1. A method of registering a real-time position indicator of a sensor on a probe within a branched structure to a three-dimensional model formed from previously-acquired images of said branched structure, comprising:
- moving a probe containing a location sensor within a branched structure;
recording data pertaining to locations of said sensor while said sensor is moving through said branched structure;
comparing a shape resulting from said data to an interior geometry of passages of said three-dimensional model of said branched structure;
determining a location correlation between said shape and said three-dimensional model based on said comparison.
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Accused Products
Abstract
Registration between a digital image of a branched structure and a real-time indicator representing a location of a sensor inside the branched structure is achieved by using the sensor to “paint” a digital picture of the inside of the structure. Once enough location data has been collected, registration is achieved. The registration is “automatic” in the sense that navigation through the branched structure necessarily results in the collection of additional location data and, as a result, registration is continually refined.
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Citations
26 Claims
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1. A method of registering a real-time position indicator of a sensor on a probe within a branched structure to a three-dimensional model formed from previously-acquired images of said branched structure, comprising:
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moving a probe containing a location sensor within a branched structure; recording data pertaining to locations of said sensor while said sensor is moving through said branched structure; comparing a shape resulting from said data to an interior geometry of passages of said three-dimensional model of said branched structure; determining a location correlation between said shape and said three-dimensional model based on said comparison. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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14. A method of registering a real-time position indicator of a sensor on a probe within a branched structure to a three-dimensional model formed from previously-acquired images of said branched structure, comprising:
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identifying non-tissue space in said three-dimensional model; moving a locatable probe through at least one lumen of said branched structure while recording position data of a location sensor in said probe; aligning an image representing a location of said probe with an image of said three-dimensional model based on said recorded position data and an assumption that said probe remains located in non-tissue space in said branched structure.
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Specification