Centerline Biomedical, Inc.

Matthew Holladay

Vikash Ravi Goel

Robert Craig Hudson

An example method may include acquiring images from cameras, each having a known position and orientation with respect to a spatial coordinate system of an augmented reality (AR) device. The acquired images may include portions of a multi-modal marker device that includes at least one tracking sensor having a three-dimensional position that is detectable in a coordinate system of a tracking system. A three-dimensional position is estimated for the portions of the multi-modal marker device with respect to the spatial coordinate system of the AR device based on each of the respective acquired images and the known position and orientation of the cameras with respect to the spatial coordinate system of the AR device. The method also includes computing an affine transform configured to register the coordinate system of the tracking system with a visual space of a display that is in the spatial coordinate system of the AR device.

Registration of spatial tracking system with augmented reality display

An example method includes acquiring a first image using a medical imaging modality that includes a two-dimensional field of view to include a patient and a multi-modal marker. A second image is acquired using the medical image modality. The second image includes the patient and the multimodal marker and is along a non-coincident angle with respect to the first image. Predetermined portions of the multi-modal marker are visible in the first and second images and have a known location and orientation with respect to at least one sensor detectable by a tracking system. The method also includes estimating a three-dimensional position for predetermined portions of the multi-modal marker. The method also includes determining an affine transformation for registering a three-dimensional coordinate system of the tracking system with a three-dimensional coordinate system of the medical imaging modality.

Spatial registration of tracking system with an image using two-dimensional image projections

In an example, a method can include segmented image volume data for at least one anatomic structure, wherein the segmented image volume data includes a 3-D image volume that includes the at least one anatomic structure. The method can include searching outward from a computed centerline for the at least one anatomic structure to detect a surface of one or more regions of interest of the at least one anatomic structure by evaluating values associated with voxels representing the 3-D image volume that includes the at least one anatomic structure relative to a threshold. The method can further include isolating the one or more regions of interest of the at least one anatomic structure in response to the searching and generating a region of interest model based on the one or more isolated regions of interest.

Growing community of inventors

Cleveland, OH, United States of America

Matthew Holladay