US 11,712,213 B2
System and method for pose estimation of an imaging device and for determining the location of a medical device with respect to a target
Ron Barak, Tel Aviv (IL); Ariel Birenbaum, Raanana (IL); Guy Alexandroni, Haifa (IL); and Oren P. Weingarten, Hod-Hasharon (IL)
Assigned to COVIDIEN LP, Mansfield, MA (US)
Filed by Covidien LP, Mansfield, MA (US)
Filed on Jan. 6, 2021, as Appl. No. 17/142,642.
Application 17/142,642 is a continuation of application No. 16/270,246, filed on Feb. 7, 2019, granted, now 10,893,842.
Claims priority of provisional application 62/641,777, filed on Mar. 12, 2018.
Claims priority of provisional application 62/628,017, filed on Feb. 8, 2018.
Prior Publication US 2021/0145387 A1, May 20, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/73 (2017.01); G06T 7/77 (2017.01); G06T 7/70 (2017.01); A61B 6/00 (2006.01); A61B 5/055 (2006.01); A61B 34/20 (2016.01); A61B 1/04 (2006.01); A61B 1/00 (2006.01); A61B 90/00 (2016.01); A61B 5/06 (2006.01); A61B 6/03 (2006.01)
CPC A61B 6/487 (2013.01) [A61B 1/00158 (2013.01); A61B 1/043 (2013.01); A61B 5/055 (2013.01); A61B 5/064 (2013.01); A61B 34/20 (2016.02); A61B 90/36 (2016.02); A61B 90/39 (2016.02); G06T 7/70 (2017.01); G06T 7/73 (2017.01); G06T 7/75 (2017.01); G06T 7/77 (2017.01); A61B 1/0005 (2013.01); A61B 1/042 (2013.01); A61B 6/032 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2090/364 (2016.02); A61B 2090/3983 (2016.02); G06T 2207/10016 (2013.01); G06T 2207/10068 (2013.01); G06T 2207/10081 (2013.01); G06T 2207/10088 (2013.01); G06T 2207/10121 (2013.01); G06T 2207/30021 (2013.01); G06T 2207/30208 (2013.01); G06T 2207/30244 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for estimating a pose of an imaging device, the method comprising:
generating a probability map based on a captured image of a structure of markers captured by the imaging device;
generating candidates for a possible image of the structure of markers captured by the imaging device corresponding to possible poses of the imaging device, yielding generated candidates;
identifying a candidate from the generated candidates having the highest probability of being the captured image of the structure of markers based on the probability map, yielding an identified candidate; and
estimating the pose of the imaging device for the captured image based on a possible pose of the imaging device corresponding to the identified candidate, yielding an estimated pose.