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 |
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.
|