REGISTRATION OF AN ANATOMICAL IMAGE WITH A POSITION-TRACKING COORDINATE SYSTEM BASED ON VISUAL PROXIMITY TO BONE TISSUE
First Claim
1. A method, comprising:
- identifying, in a three-dimensional (3D) anatomical image of a patient organ, multiple anatomical points corresponding to respective predefined locations on a surface of the patient organ in a first coordinate system;
performing initial registration of the first coordinate system and a second coordinate system by correlating between positions in the first coordinate system and respective anatomical points in the second coordinate system;
viewing a position in the first coordinate system using a viewing device;
when the position does not match a predetermined location, marking the position and weighting the position; and
refining the initial registration of the first and second coordinate systems, by re-correlating between the positions, the marked and weighted positions and the respective anatomical points.
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Accused Products
Abstract
A system and method for improving registration of an anatomical image with a position-tracking coordinate system based on visual proximity to bone tissue is presented. The method can comprise identifying, in a three-dimensional (3d) anatomical image of a patient organ, multiple anatomical points corresponding to respective predefined locations on a skin of the patient organ in a first coordinate system, performing initial registration of the first coordinate system and a second coordinate system by correlating between positions in the first coordinate system and respective anatomical points in the second coordinate system, viewing a position in the first coordinate system using a viewing device, when the position does not match a predetermined location, marking the position and weighting the position, and refining the initial registration of the first and second coordinate systems, by re-correlating between the positions, the marked positions and the respective anatomical points.
5 Citations
11 Claims
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1. A method, comprising:
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identifying, in a three-dimensional (3D) anatomical image of a patient organ, multiple anatomical points corresponding to respective predefined locations on a surface of the patient organ in a first coordinate system; performing initial registration of the first coordinate system and a second coordinate system by correlating between positions in the first coordinate system and respective anatomical points in the second coordinate system; viewing a position in the first coordinate system using a viewing device; when the position does not match a predetermined location, marking the position and weighting the position; and refining the initial registration of the first and second coordinate systems, by re-correlating between the positions, the marked and weighted positions and the respective anatomical points. - View Dependent Claims (2, 3, 4)
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5. An apparatus, comprising:
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a medical device comprising a video display device; and a processor, which is configured to; identify, in a three-dimensional (3D) anatomical image of a patient organ, multiple anatomical points corresponding to respective predefined locations on a skin of the patient organ in a first coordinate system; perform initial registration of the first coordinate system and a second coordinate system by correlating between positions in the first coordinate system and respective anatomical points in the second coordinate system; view a position in the first coordinate system using a viewing device; when the position does not match a predetermined location, mark the position and weight the position; and refine the initial registration of the first and second coordinate systems, by re-correlating between the positions, the marked positions and the respective anatomical points. - View Dependent Claims (6, 7, 8, 9)
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10. A computer software product, including a non-transitory computer readable storage medium in which computer program instructions are stored, which instructions, when executed by a computer, cause the computer to perform steps of:
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identifying, in a three-dimensional (3D) anatomical image of a patient organ, multiple anatomical points corresponding to respective predefined locations on a skin of the patient organ in a first coordinate system; performing initial registration of the first coordinate system and a second coordinate system by correlating between positions in the first coordinate system and respective anatomical points in the second coordinate system; viewing a position in the first coordinate system using a viewing device; when the position does not match a predetermined location, marking the position and weighting the position; and refining the initial registration of the first and second coordinate systems, by re-correlating between the positions, the marked positions and the respective anatomical points. - View Dependent Claims (11)
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Specification