Feature-based registration method
First Claim
Patent Images
1. A method for registering a three-dimensional model of a body volume to a real-time image of a sensor, the method comprising:
- inserting the sensor into a body lumen to acquire location data;
processing the location data to form a three-dimensional shape having clouds of voxels;
defining a plurality of parameters having predefined thresholds; and
comparing the three-dimensional shape having the clouds of voxels that meet the predefined thresholds of the plurality of parameters to a 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
20 Claims
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1. A method for registering a three-dimensional model of a body volume to a real-time image of a sensor, the method comprising:
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inserting the sensor into a body lumen to acquire location data; processing the location data to form a three-dimensional shape having clouds of voxels; defining a plurality of parameters having predefined thresholds; and comparing the three-dimensional shape having the clouds of voxels that meet the predefined thresholds of the plurality of parameters to a three-dimensional model to establish a feature-based registration. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for registering a three-dimensional model of a body volume to a real-time image of a sensor, the method comprising:
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forming a computed tomography (CT) volume from image data, the CT volume corresponding to space within a tortuous channel, the CT volume defined as clouds of voxels representing values of a three-dimensional shape; defining a plurality of parameters having predefined thresholds that the clouds of voxels are required to meet to be designated as candidate cavity voxels to be utilized in the three-dimensional shape; and comparing the three-dimensional shape having the clouds of voxels that meet the predefined thresholds of the plurality of parameters to a three-dimensional model to establish a feature-based registration. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification