US 12,190,526 B2
Computed tomography to fluoroscopy registration using segmented inputs
Dany Junio, Tel Aviv-Jaffa (IL)
Assigned to Mazor Robotics Ltd., Caesarea (IL)
Filed by Mazor Robotics Ltd., Caesarea (IL)
Filed on Feb. 1, 2022, as Appl. No. 17/590,010.
Claims priority of provisional application 63/152,656, filed on Feb. 23, 2021.
Prior Publication US 2022/0270263 A1, Aug. 25, 2022
Int. Cl. G06T 7/174 (2017.01); G06T 7/38 (2017.01)
CPC G06T 7/174 (2017.01) [G06T 7/38 (2017.01); G06T 2207/10081 (2013.01); G06T 2207/10088 (2013.01); G06T 2207/10121 (2013.01); G06T 2207/10136 (2013.01); G06T 2207/30012 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A method, comprising:
receiving a computed tomography (CT) image of a patient;
segmenting a first set of anatomical elements from the CT image;
receiving a plurality of fluoroscopy images of the patient;
segmenting a second set of anatomical elements from the plurality of fluoroscopy images, the segmenting comprising determining that a first anatomical element overlaps a second anatomical element by at least detecting a gradient line within a boundary of the second anatomical element in at least one of the plurality of fluoroscopy images; and
creating a registration between the CT image and the plurality of fluoroscopy images based on the segmented first set of anatomical elements and the segmented second set of anatomical elements.