公开(公告)号：US20240325092A1

公开(公告)日：2024-10-03

申请号：US18738282

申请日：2024-06-10

Applicant: Noah Medical Corporation

Inventor： Tao Zhao ,  Changjiang Yang ,  Jason Joseph Hsu ,  Zenan Zhang ,  Frank Grillo ,  Zhongming Shen

IPC: A61B34/20 ,  A61B1/00 ,  A61B6/02 ,  A61B6/12 ,  A61B34/10 ,  A61B34/30 ,  A61B90/00 ,  G06T7/73 ,  G06T15/00

CPC classification number: A61B34/20 ,  A61B1/00103 ,  A61B6/025 ,  A61B6/12 ,  G06T7/73 ,  G06T15/00 ,  A61B2034/107 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2090/3966 ,  G06T2207/10068 ,  G06T2207/10121 ,  G06T2207/30008 ,  G06T2207/30061 ,  G06T2207/30096 ,  G06T2207/30204 ,  G06T2210/41

Abstract: A method is provided for method for navigating a robotic endoscopic apparatus comprising: (a) providing a three-dimensional (3D) fiducial marker to a surgical field; (b) acquiring fluoroscopic image using a fluoroscopic imager wherein the fluoroscopic image contains the 3D fiducial marker, a body part and a portion of the robotic endoscopic apparatus placed inside of the body part; and (c) estimating a pose of the fluoroscopic imager based on the fluoroscopic image.