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System and method for using three dimensional infrared imaging to provide detailed anatomical structure maps

  • US 8,463,006 B2
  • Filed: 04/15/2008
  • Issued: 06/11/2013
  • Est. Priority Date: 04/17/2007
  • Status: Expired due to Fees
First Claim
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1. A computer implemented method for generating an accurate model in three dimensions (3D) of internal and external and external anatomical features, comprising:

  • collecting simultaneous images of a body segment using a plurality of imaging devices;

    calibrating the model by using a computer processor to process the simultaneous images from the plurality of imaging devices,wherein the plurality of imaging devices comprises an infrared imager, a range imager, and a visual imager, and the calibration step further comprises;

    performing intrinsic calibration of each imager to compute its intrinsic correction transform for lens aberrations, radial distortion, detector array nonregularities, and other biases in its output image;

    performing extrinsic calibrations of a selected two of the imagers, the selected imagers each having a lower (x,y,) sample density than any non-selected imager, said extrinsic calibration obtaining an extrinsic overlay transform for each respective selected imager;

    combining corrected and overlaid images of the infrared camera and the range imager to produce a 3D infrared model with a body-centric coordinate system;

    processing the range image to extract a curvilinear feature map of external anatomy;

    processing the infrared image to extract a curvilinear feature map of internal anatomy;

    skeletonizing the respective curvilinear feature maps;

    producing skeleton node maps containing intersection and branch locations of said curvilinear features;

    labeling each node according to a standard directory description of intersecting or branching anatomical features;

    forming a layered composite image of the infrared, range, and visual images, plus their feature maps, plus their skeletonized feature maps, plus their node maps;

    selecting nodes corresponding to three reference points designated for said body segment;

    rotating the composite image in three-dimensional space such that the three reference points define a two dimensional (2D) image plane, said 2D image plane being a standard pose for said body segment;

    storing said rotated standardized composite image as a labeled facet of a total 3D body map;

    repeating said further calibration steps for additional body segments.

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