US 11,910,995 B2
Instrument navigation in endoscopic surgery during obscured vision
Bernardus Hendrikus Wilhelmus Hendriks, Eindhoven (NL); Caifeng Shan, Veldhoven (NL); Marco Lai, Eindhoven (NL); Robert Johannes Frederik Homan, Batenburg (NL); and Drazenko Babic, Best (NL)
Assigned to KONINKLIJKE PHILIPS N.V., Eindhoven (NL)
Appl. No. 17/629,260
Filed by KONINKLIJKE PHILIPS N.V., Eindhoven (NL)
PCT Filed Jul. 10, 2020, PCT No. PCT/EP2020/069510
§ 371(c)(1), (2) Date Jan. 21, 2022,
PCT Pub. No. WO2021/013579, PCT Pub. Date Jan. 28, 2021.
Claims priority of application No. 19187857 (EP), filed on Jul. 23, 2019.
Prior Publication US 2022/0240759 A1, Aug. 4, 2022
Int. Cl. A61B 1/00 (2006.01); G06T 7/73 (2017.01); G06T 7/90 (2017.01); G06T 3/00 (2006.01); G06T 7/00 (2017.01); G06T 11/00 (2006.01)
CPC A61B 1/000096 (2022.02) [A61B 1/000095 (2022.02); G06T 3/00 (2013.01); G06T 7/0016 (2013.01); G06T 7/73 (2017.01); G06T 7/90 (2017.01); G06T 11/00 (2013.01); G06T 2207/10016 (2013.01); G06T 2207/10068 (2013.01); G06T 2207/20212 (2013.01); G06T 2207/30204 (2013.01); G06T 2207/30244 (2013.01); G06T 2210/41 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A computer-implemented method for an image-assisted medical application, the method comprising:
acquiring, by an endoscope, a first image of at least one body part of a patient, the first image associated with sensor data indicative of a first position of the endoscope and a first orientation of the endoscope;
detecting if the first image includes obscuring matter that obscures at least a portion of the at least one body part in the first image, the obscuring matter comprising at least one of a leaking body fluid, debris, or smoke from ablation;
determining, in response to detecting that the first image includes obscuring matter, a second image based on a sequence of historic images with image capturing times earlier than the first image, wherein the second image is determined from the sequence of historic images based on a difference between (a) the first position of the endoscope and the first orientation of the endoscope and (b) an image capturing position and orientation of the second image; and
generating a virtual image of the at least one body part based on the determined second image.