US 11,883,149 B2
Apparatus and methods for mapping a sequence of images to a roadmap image
Alexander Steinberg, Ra'Anana (IL); Eldad Klaiman, Herzlia (IL); Zohar Barzelay, Zichron Yaakov (IL); Ran Cohen, Petah Tikva (IL); and David Tolkowsky, Tel Aviv (IL)
Assigned to SYNC-RX LTD., Netanya (IL)
Filed by SYNC-RX, LTD, Netanya (IL)
Filed on Jul. 15, 2021, as Appl. No. 17/377,180.
Application 17/377,180 is a continuation of application No. 14/097,922, filed on Dec. 5, 2013, granted, now 11,064,903.
Application 14/097,922 is a continuation of application No. PCT/IL2013/050438, filed on May 21, 2013.
Application 14/097,922 is a continuation in part of application No. 12/666,879, filed on Mar. 29, 2012, granted, now 8,781,193, issued on Jul. 15, 2014.
Application 12/666,879 is a continuation in part of application No. 13/228,229, filed on Sep. 8, 2011, granted, now 9,629,571, issued on Apr. 25, 2017.
Application 13/228,229 is a continuation of application No. PCT/IL2011/000612, filed on Jul. 28, 2011.
Claims priority of provisional application 61/761,709, filed on Feb. 7, 2013.
Claims priority of provisional application 61/688,730, filed on May 21, 2012.
Claims priority of provisional application 61/457,951, filed on Jul. 15, 2011.
Claims priority of provisional application 61/457,780, filed on Jun. 2, 2011.
Claims priority of provisional application 61/457,339, filed on Mar. 3, 2011.
Claims priority of provisional application 61/344,875, filed on Nov. 1, 2010.
Claims priority of provisional application 61/344,464, filed on Jul. 29, 2010.
Claims priority of provisional application 61/272,356, filed on Sep. 16, 2009.
Claims priority of provisional application 61/272,210, filed on Sep. 1, 2009.
Claims priority of provisional application 61/213,534, filed on Jun. 17, 2009.
Claims priority of provisional application 61/202,451, filed on Mar. 2, 2009.
Claims priority of provisional application 61/202,181, filed on Feb. 4, 2009.
Claims priority of provisional application 61/193,329, filed on Nov. 18, 2008.
Prior Publication US 2021/0338097 A1, Nov. 4, 2021
Int. Cl. A61B 5/05 (2021.01); A61B 5/00 (2006.01); A61B 6/00 (2006.01); G06T 7/00 (2017.01); A61B 5/06 (2006.01); A61B 8/12 (2006.01); G06T 7/33 (2017.01); A61B 90/00 (2016.01)
CPC A61B 5/061 (2013.01) [A61B 5/0084 (2013.01); A61B 5/064 (2013.01); A61B 5/7425 (2013.01); A61B 8/12 (2013.01); G06T 7/33 (2017.01); A61B 5/0066 (2013.01); A61B 5/0073 (2013.01); A61B 5/0075 (2013.01); A61B 5/0086 (2013.01); A61B 5/066 (2013.01); A61B 2090/3966 (2016.02); G06T 2207/10016 (2013.01); G06T 2207/10072 (2013.01); G06T 2207/10121 (2013.01); G06T 2207/10132 (2013.01); G06T 2207/20101 (2013.01); G06T 2207/20221 (2013.01); G06T 2207/30101 (2013.01); G06T 2207/30172 (2013.01); G06T 2207/30204 (2013.01)] 24 Claims
OG exemplary drawing
 
1. An apparatus, comprising:
a processor configured for communication with one or more extraluminal imaging devices, wherein the processor is configured to:
receive, from the one or more extraluminal imaging devices, an angiographic image of a vessel while contrast agent is present in the vessel;
designate the angiographic image as a roadmap image;
generate a pathway in the roadmap image, wherein the pathway is representative of a shape of the vessel;
receive, from the one or more extraluminal imaging devices, a fluoroscopic image of the vessel;
identify three or more features in the fluoroscopic image, wherein the three or more features represent radiopaque portions of an endoluminal device positioned within the vessel;
determine an arrangement of the three or more features, wherein the arrangement of the three or more features is defined by a first vector corresponding to a first pair of the three or more features and a second vector corresponding to a different, second pair of the three or more features;
transform the fluoroscopic image based on a comparison of the pathway and the arrangement of the three or more features, wherein transformation includes mapping the three or more features to corresponding locations on the pathway such that the arrangement of the three or more features is fit to the shape of the vessel; and
output, to a display in communication with the processor, a mapped image based on the mapping.