Feature-based registration method
First Claim
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1. A method for registering a body volume with a real-time location of a sensor, the method comprising:
- acquiring a plurality of CT scans;
assembling the plurality of CT scans into a three-dimensional model;
inserting the sensor into a body lumen to acquire location data;
establishing a data stream between the sensor and a system processor;
processing the location data to form a three-dimensional shape to generate a cloud of voxels, wherein a density of a voxel generated from the location data is weighted as a function of a speed of the sensor through the body lumen; and
comparing the three-dimensional shape to the three-dimensional model to register the three-dimensional shape to the three-dimensional model such that the three-dimensional shape is within boundaries of the three-dimensional model.
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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
18 Claims
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1. A method for registering a body volume with a real-time location of a sensor, the method comprising:
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acquiring a plurality of CT scans; assembling the plurality of CT scans into a three-dimensional model; inserting the sensor into a body lumen to acquire location data; establishing a data stream between the sensor and a system processor; processing the location data to form a three-dimensional shape to generate a cloud of voxels, wherein a density of a voxel generated from the location data is weighted as a function of a speed of the sensor through the body lumen; and comparing the three-dimensional shape to the three-dimensional model to register the three-dimensional shape to the three-dimensional model such that the three-dimensional shape is within boundaries of the three-dimensional model. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification