Covidien LP

Guy Alexandroni

Ariel Birenbaum

Oren P Weingarten

Ron Barak

Evgeni Kopel

Nicolas J Merlet

Dafna Mardix

Irina Shevlev

Eyal Klein

Benjamin Greenburg

Efrat Kedmi-Shahar

Ofer Barasofsky

Alexander Y Nepomniashchy

Scott E Frushour

Daniel Ovadia

Shaked Pessah

Mark Zbarjevsky

Object detection including receiving a fluoroscopic video including a plurality of fluoroscopic images captured by a fluoroscope rotated about a patient, generating a three-dimensional (3D) volumetric reconstruction from the fluoroscopic images, deleting values in the 3D volumetric reconstruction beyond a region of interest about an object, generating 2D images from a remaining 3D volumetric reconstruction following the deleting of values: detecting the object in the 2D images to determine an initial position of the object, and refining the detected initial position of the object.

Volumetric filter of fluoroscopic sweep video

Imaging systems and methods estimate poses of a fluoroscopic imaging device, which may be used to reconstruct 3D volumetric data of a target area, based on a sequence of fluoroscopic images of a medical device or points, e.g., radiopaque markers, on the medical device captured by performing a fluoroscopic sweep. The systems and methods may identify and track the points along a length of the medical device appearing in the captured fluoroscopic images. The 3D coordinates of the points may be obtained, for example, from electromagnetic sensors or by performing a structure from motion method on the captured fluoroscopic images. In other aspects, a 3D shape of the catheter is determined, then the angle at which the 3D catheter projects onto the 2D catheter in each captured fluoroscopic image is found.

Systems and methods for pose estimation of a fluoroscopic imaging device and for three-dimensional imaging of body structures

A system and method for registration of a pre-procedural image data set (e.g. CT data) or a 3D model derived therefrom with a patient's luminal structure (e.g., airways in the lungs) using intraprocedural fluoroscopic imaging techniques.

Systems and methods of fluoro-CT imaging for initial registration

A system and method of image processing including a processor in communication with a display and a computer readable recording medium having instructions executed by the processor to read an image data set from the memory, segment the image data set, and skeletonize the segmented image data set. The instructions cause the processor to graph the skeletonized image data set, assign a branch identification (ID) for each branch in the graph, and associate each voxel of the segmented image data set with a branch ID. The instructions cause the processor to generate a three-dimensional (3D) mesh model from the graphed skeletonized image data set, associate each vertex of the 3D mesh model with a branch ID; and display in a user interface the 3D mesh model, and an image of the image data set.

System and method for linking a segmentation graph to volumetric data

Systems and methods of estimating movement of anatomical structures of a new patient include learning one or more deformation models from preoperative and intraoperative imaging data of a set of other patients and estimating movement of anatomical structures of the new patient based on the one or more deformation models and preoperative imaging data of the new patient. Estimating movement of the anatomical structures may include applying deformation models to map data derived from preoperative imaging data of a new patient to obtain deformed map data for each deformation model, and determining the deformation model that best fits the intraoperative imaging data of the new patient. Applying a deformation model to map data may include applying a transformation to the deformation model and interpolating to obtain a deformed map data. Registration is computed between locations of a medical device sampled during navigation of the medical device through the new patient and the original and deformed map data. The map data which fits the 3D locations the best is applied to the targets of the new patient.

Systems and methods for estimating the movement of a target using a universal deformation model for anatomic tissue

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.

System and method for local three dimensional volume reconstruction using a standard fluoroscope

The disclosure is directed to a method for generating a three dimensional (3D) volume including a treatment target including receiving a plurality of two dimensional (2D) input images of a patient, determining a metal artifact in each of the plurality of 2D input images, removing the metal artifacts from the plurality of 2D input images based on the determination of the metal artifact, and replacing metal artifacts with alternative pixel data to generate a plurality of filtered 2D images. A 3D volume is generated from the plurality of filtered 2D images. The plurality of 2D input images including a treatment target.

Imaging reconstruction system and method

Imaging systems and methods compensate for wigwag movement of a C-arm fluoroscope to refine camera pose estimates. The methods involve computing a primary movement axis from samples of markers in fluoroscopic images of a fluoroscopic sweep of a structure of markers and processing the primary movement axis to obtain a secondary movement axis. The methods further involve aligning two-dimensional samples of each marker with the primary and secondary movement axes to obtain an aligned signal and determining a difference signal for a secondary component of the aligned signal. The difference signal is then converted to a rotation axis translation signal. The method further involves estimating a 3D position of the rotation axis. The estimated pose of the C-arm fluoroscope is then refined to compensate for the wigwag movement using the rotation axis translation signal and the estimated 3D position of the rotation axis.

Systems and methods for C-arm fluoroscope camera pose refinement with secondary movement compensation

Systems and methods for visualizing navigation of a medical device with respect to a target using a live fluoroscopic view. The methods include determining a level of zoom of a fluoroscope when acquiring a reference frame. The methods further include determining whether the live fluoroscopic images evidence movement of the fluoroscope relative to its position when capturing a reference frame.

Zoom detection and fluoroscope movement detection for target overlay

A system and method for constructing fluoroscopic-based three-dimensional volumetric data of a target area within a patient from two-dimensional fluoroscopic images acquired via a fluoroscopic imaging device.

System and method for pose estimation of an imaging device and for determining the location of a medical device with respect to a target

Systems and methods of automatic orientation detection in fluoroscopic images using deep learning enable local registration for correction of initial CT-to-body registration in Electromagnetic Navigation Bronchoscopy (ENB) systems.

Orientation detection in fluoroscopic images

A system and method for estimating a pose of an imaging device for one or more images is provided.

Systems and methods for image-guided medical procedures use fluoroscopic 3D reconstructions to plan and navigate a percutaneously-inserted device such as a biopsy tool from an entry point to a target.

Systems and methods for image-guided navigation of percutaneously-inserted devices

Systems and methods for visualizing navigation of a medical device with respect to a target using a live fluoroscopic view. The methods include displaying, in a screen, a three-dimensional (3D) view of a 3D model of a target from the perspective of a medical device tip. The methods also include displaying, in the screen, a live two-dimensional (2D) fluoroscopic view showing a medical device, and displaying a target mark, which corresponds to the 3D model of the target, overlaid on the live 2D fluoroscopic view. The methods may include determining whether the medical device tip is aligned with the target, displaying the target mark in a first color if the medical device tip is aligned with the target, and displaying the target mark in second color different from the first color if the medical device tip is not aligned with the target.

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Ramat Hasharon, Israel

Guy Alexandroni