Hybrid registration method
First Claim
Patent Images
1. A method of registering real-time sensor location data to previously acquired images of a branched network of body lumens comprising:
- placing a probe containing a sensor at a distal end thereof into a branched network of body lumens in a patient;
performing an initial registration between a real-time sensor location and a previously acquired image selected a plurality of previously acquired images of said branched network;
receiving data from said sensor to determine an approximate location of said sensor;
using said approximate location of said sensor to create a subgroup of said plurality of images, said subgroup containing one or more previously acquired images corresponding to said approximate location; and
,selecting an image from said subgroup that most accurately corresponds to said approximate location to update said initial registration using an image-based registration technique.
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Abstract
A registration method whereby a sensor-based approach is used to establish initial registration and whereby upon the commencement of navigating an endoscope, image-based registration methods are used in order to more accurately maintain the registration between the endoscope location and previously-acquired images. A six-degree-of-freedom location sensor is placed on the probe in order to reduce the number of previously-acquired images that must be compared to a real-time image obtained from the endoscope.
116 Citations
8 Claims
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1. A method of registering real-time sensor location data to previously acquired images of a branched network of body lumens comprising:
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placing a probe containing a sensor at a distal end thereof into a branched network of body lumens in a patient; performing an initial registration between a real-time sensor location and a previously acquired image selected a plurality of previously acquired images of said branched network; receiving data from said sensor to determine an approximate location of said sensor; using said approximate location of said sensor to create a subgroup of said plurality of images, said subgroup containing one or more previously acquired images corresponding to said approximate location; and
,selecting an image from said subgroup that most accurately corresponds to said approximate location to update said initial registration using an image-based registration technique. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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Specification