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    Dynamic 3D lung map view for tool navigation inside the lung
    2.
    发明授权
    Dynamic 3D lung map view for tool navigation inside the lung 有权

    公开(公告)号：US11607276B2

    公开(公告)日：2023-03-21

    申请号：US17531670

    申请日：2021-11-19

    Applicant: Covidien LP

    Inventor： Oren P. Weingarten ,  Ron Barak

    IPC: A61B34/10 ,  G06T19/20 ,  G06T19/00 ,  A61B90/00 ,  G06T7/00 ,  A61B17/00 ,  A61B34/00 ,  A61B34/20

    Abstract: A method for implementing a dynamic three-dimensional lung map view for navigating a probe inside a patient's lungs includes loading a navigation plan into a navigation system, the navigation plan including a planned pathway shown in a 3D model generated from a plurality of CT images, inserting the probe into a patient's airways, registering a sensed location of the probe with the planned pathway, selecting a target in the navigation plan, presenting a view of the 3D model showing the planned pathway and indicating the sensed location of the probe, navigating the probe through the airways of the patient's lungs toward the target, iteratively adjusting the presented view of the 3D model showing the planned pathway based on the sensed location of the probe, and updating the presented view by removing at least a part of an object forming part of the 3D model.

    System and method for local three dimensional volume reconstruction using a standard fluoroscope
    3.
    发明授权
    System and method for local three dimensional volume reconstruction using a standard fluoroscope 有权

    公开(公告)号：US11559266B2

    公开(公告)日：2023-01-24

    申请号：US16886573

    申请日：2020-05-28

    Applicant: Covidien LP

    Inventor： Ron Barak ,  Oren P. Weingarten ,  Ariel Birenbaum ,  Guy Alexandroni

    IPC: A61B5/05 ,  A61B6/12 ,  A61B6/00 ,  A61B34/20 ,  A61B6/02 ,  A61B90/00

    Abstract: A system for constructing fluoroscopic-based three-dimensional volumetric data of a target area within a patient from two-dimensional fluoroscopic images including a structure of markers, a fluoroscopic imaging device configured to acquire a sequence of images of the target area and of the structure of markers, and a computing device. The computing device is configured to estimate a pose of the fluoroscopic imaging device for at least a plurality of images of the sequence of images based on detection of a possible and most probable projection of the structure of markers as a whole on each image of the plurality of images. The computing device is further configured to construct fluoroscopic-based three-dimensional volumetric data of the target area based on the estimated poses of the fluoroscopic imaging device.

    DYNAMIC 3D LUNG MAP VIEW FOR TOOL NAVIGATION INSIDE THE LUNG
    7.
    发明申请
    DYNAMIC 3D LUNG MAP VIEW FOR TOOL NAVIGATION INSIDE THE LUNG 审中-公开

    公开(公告)号：US20200237443A1

    公开(公告)日：2020-07-30

    申请号：US16828947

    申请日：2020-03-24

    Applicant: Covidien LP

    Inventor： Oren P. Weingarten ,  Ron Barak

    IPC: A61B34/10 ,  G06T7/00 ,  A61B90/00 ,  G06T19/00 ,  G06T19/20

    Abstract: A method for implementing a dynamic three-dimensional lung map view for navigating a probe inside a patient's lungs includes loading a navigation plan into a navigation system, the navigation plan including a planned pathway shown in a 3D model generated from a plurality of CT images, inserting the probe into a patient's airways, registering a sensed location of the probe with the planned pathway, selecting a target in the navigation plan, presenting a view of the 3D model showing the planned pathway and indicating the sensed location of the probe, navigating the probe through the airways of the patient's lungs toward the target, iteratively adjusting the presented view of the 3D model showing the planned pathway based on the sensed location of the probe, and updating the presented view by removing at least a part of an object forming part of the 3D model.

    System and method of intraluminal navigation using a 3D model
    9.
    发明授权
    System and method of intraluminal navigation using a 3D model 有权

    公开(公告)号：US10653485B2

    公开(公告)日：2020-05-19

    申请号：US16418481

    申请日：2019-05-21

    Applicant: Covidien LP

    Inventor： Oren P. Weingarten ,  Ron Barak

    IPC: A61B34/10 ,  G06T19/20 ,  G06T19/00 ,  A61B90/00 ,  G06T7/00 ,  A61B17/00 ,  A61B34/00 ,  A61B34/20

    Abstract: A method for implementing a dynamic three-dimensional lung map view for navigating a probe inside a patient's lungs includes loading a navigation plan into a navigation system, the navigation plan including a planned pathway shown in a 3D model generated from a plurality of CT images, inserting the probe into a patient's airways, registering a sensed location of the probe with the planned pathway, selecting a target in the navigation plan, presenting a view of the 3D model showing the planned pathway and indicating the sensed location of the probe, navigating the probe through the airways of the patient's lungs toward the target, iteratively adjusting the presented view of the 3D model showing the planned pathway based on the sensed location of the probe, and updating the presented view by removing at least a part of an object forming part of the 3D model.

    SYSTEMS, METHODS, AND COMPUTER-READABLE MEDIA FOR AUTOMATIC COMPUTED TOMOGRAPHY TO COMPUTED TOMOGRAPHY REGISTRATION
    10.
    发明申请
    SYSTEMS, METHODS, AND COMPUTER-READABLE MEDIA FOR AUTOMATIC COMPUTED TOMOGRAPHY TO COMPUTED TOMOGRAPHY REGISTRATION 审中-公开

    公开(公告)号：US20190180500A1

    公开(公告)日：2019-06-13

    申请号：US16217413

    申请日：2018-12-12

    Applicant: Covidien LP

    Inventor： JIGUANG SHEN ,  LEV A. KOYRAKH ,  Oren P. Weingarten ,  Ron Barak

    IPC: G06T17/00 ,  G06T5/20 ,  G06T7/00

    Abstract: Systems, methods, and computer-readable media for registering initial computed tomography (CT) images of a luminal network with subsequent CT images of the luminal network include obtaining initial CT images of the luminal network and subsequent CT images of the luminal network, generating an initial three-dimensional (3D) model of the luminal network based on the initial CT images of the luminal network, generating a subsequent 3D model of the luminal network based on the subsequent CT images of the luminal network, matching the initial 3D model with the subsequent 3D model based on a registration, and performing geometric filtering and/or topological filtering on the matching of the initial 3D model and the subsequent 3D model. In various embodiments, a thin plate splines transformation from the initial 3D model to the subsequent 3D model is derived based on portions of the initial 3D model and the subsequent 3D model that were matched by the matching and that remain matched after the geometric filtering or the topological filtering.

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