Feature-based registration method
First Claim
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1. A method for registering a three-dimensional model of a body volume to a real-time indication of a sensor position, the method comprising:
- collecting reference data on the body volume;
creating the three-dimensional model of said body volume from the reference data;
inserting a sensor into a body lumen and recording location data from said sensor including a real-time sensor position;
processing said location data recorded by the inserted sensor to form a three-dimensional shape corresponding to space within said lumen, the three-dimensional shape including a plurality of cavity voxels;
assigning a value to each cavity voxel of the plurality of cavity voxels encountered by the sensor, the value of each cavity voxel corresponding to a frequency with which each cavity voxel encounters the sensor;
adjusting a density of the plurality of cavity voxels in accordance with the value of each cavity voxel;
creating clouds of cavity voxels having varying densities that match interior anatomical cavity features;
defining a plurality of parameters having predefined thresholds;
determining which of the cavity voxels of the plurality of cavity voxels identified by the location data satisfy the predefined thresholds of the plurality of parameters;
selecting the cavity voxels satisfying the predefined thresholds of the plurality of parameters; and
comparing said three-dimensional shape including only cavity voxels satisfying the predefined thresholds of the plurality of parameters to said three dimensional model to establish a feature-based registration.
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Abstract
Methods for registering a three-dimensional model of a body volume to a real-time indication of a sensor position that involve analyzing scanned and sensed voxels and using parameters or thresholds to identify said voxels as being either tissue or intraluminal fluid. Those voxels identified as fluid are then used to construct a real-time sensed three-dimensional model of the lumen which is then compared to a similarly constructed, but previously scanned model to establish and update registration.
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Citations
33 Claims
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1. A method for registering a three-dimensional model of a body volume to a real-time indication of a sensor position, the method comprising:
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collecting reference data on the body volume; creating the three-dimensional model of said body volume from the reference data; inserting a sensor into a body lumen and recording location data from said sensor including a real-time sensor position; processing said location data recorded by the inserted sensor to form a three-dimensional shape corresponding to space within said lumen, the three-dimensional shape including a plurality of cavity voxels; assigning a value to each cavity voxel of the plurality of cavity voxels encountered by the sensor, the value of each cavity voxel corresponding to a frequency with which each cavity voxel encounters the sensor; adjusting a density of the plurality of cavity voxels in accordance with the value of each cavity voxel; creating clouds of cavity voxels having varying densities that match interior anatomical cavity features; defining a plurality of parameters having predefined thresholds; determining which of the cavity voxels of the plurality of cavity voxels identified by the location data satisfy the predefined thresholds of the plurality of parameters; selecting the cavity voxels satisfying the predefined thresholds of the plurality of parameters; and comparing said three-dimensional shape including only cavity voxels satisfying the predefined thresholds of the plurality of parameters to said three dimensional model to establish a feature-based registration. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A method for registering a three-dimensional model of a lung volume to a real-time indication of a sensor position, the method comprising:
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collecting reference data on the lung volume; creating the three-dimensional model of said lung volume; inserting a sensor into an airway and recording location data from said sensor including a real-time sensor location; processing said location data; setting a threshold value for sensing volume voxels of the location data; forming a three-dimensional shape corresponding to space within said airway, the three-dimensional shape including a plurality of cavity voxels; assigning a value to each cavity voxel of the plurality of cavity voxels encountered by the sensor, the value of each cavity voxel corresponding to a frequency with which each cavity voxel encounters the sensor; adjusting a density of the plurality of cavity voxels in accordance with the value of each cavity voxel; creating clouds of cavity voxels having varying densities that match interior anatomical cavity features; defining a plurality of parameters having predefined thresholds; determining which of the cavity voxels of the plurality of cavity voxels identified by the location data satisfy the predefined thresholds of the plurality of parameters; selecting the cavity voxels satisfying the predefined thresholds of the plurality of parameters; and comparing said three-dimensional shape including only cavity voxels satisfying the predefined thresholds of the plurality of parameters to said three dimensional model to establish a feature-based registration. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
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Specification