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Feature-based registration method

  • US 9,659,374 B2
  • Filed: 07/24/2015
  • Issued: 05/23/2017
  • Est. Priority Date: 06/03/2008
  • Status: Active Grant
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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