US 12,217,449 B2
Systems and methods for video-based positioning and navigation in gastroenterological procedures
Ehud Benyamin Rivlin, Tel Aviv (IL); and Yossi Matias, Tel Aviv (IL)
Assigned to Verily Life Sciences LLC, Dallas, TX (US)
Appl. No. 17/614,227
Filed by Verily Life Sciences LLC, South San Francisco, CA (US)
PCT Filed May 22, 2020, PCT No. PCT/US2020/034245
§ 371(c)(1), (2) Date Nov. 24, 2021,
PCT Pub. No. WO2020/242949, PCT Pub. Date Dec. 3, 2020.
Claims priority of provisional application 62/853,535, filed on May 28, 2019.
Prior Publication US 2022/0254017 A1, Aug. 11, 2022
Int. Cl. A61B 34/10 (2016.01); A61B 1/00 (2006.01); A61B 5/00 (2006.01); A61B 34/20 (2016.01); G06T 7/00 (2017.01); G06T 7/70 (2017.01); G06T 17/00 (2006.01)
CPC G06T 7/70 (2017.01) [A61B 1/000094 (2022.02); A61B 1/000096 (2022.02); A61B 5/4255 (2013.01); A61B 5/7267 (2013.01); A61B 34/10 (2016.02); A61B 34/20 (2016.02); G06T 7/0012 (2013.01); G06T 17/00 (2013.01); A61B 2034/105 (2016.02); G06T 2207/10016 (2013.01); G06T 2207/10068 (2013.01); G06T 2207/30032 (2013.01); G06T 2207/30092 (2013.01); G06T 2207/30096 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A computer-implemented method, the method comprising:
receiving, by one or more computing devices, a video data stream generated by an endoscopic device during a gastroenterological procedure for a patient;
generating, by the one or more computing devices, a three-dimensional model of at least a portion of an anatomical structure viewed by the endoscopic device;
updating, by the one or more computing devices, the three-dimensional model based on simultaneous localization and mapping performed on local regions of the anatomical structure based at least in part on the video data stream;
obtaining, by the one or more computing devices, location data associated with one or more detected abnormalities based on the three-dimensional model updated based on the simultaneous localization and mapping performed on the local regions of the anatomical structure;
generating, by the one or more computing devices, a visual presentation of the three-dimensional model updated based on the simultaneous location and mapping and the location data associated with the one or more detected abnormalities; and
providing, by the one or more computing devices, the visual presentation of the three-dimensional model updated based on the simultaneous localization and mapping and the location data associated with the one or more detected abnormalities for use in diagnosis of the patient.