| CPC G06T 7/33 (2017.01) [A61B 18/1492 (2013.01); A61B 2018/00577 (2013.01); G06T 2207/20101 (2013.01); G06T 2207/20212 (2013.01); G06T 2207/30048 (2013.01)] | 15 Claims |
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1. A method for automatic registration of an anatomical map to a previous anatomical map, the method comprising:
calculating a first medial-axis tree graph of a volume of an organ of a patient in a first computerized anatomical map of the volume, acquired at a first time;
calculating a second medial-axis tree graph of a volume of the organ of the patient in a second computerized anatomical map of the volume, acquired at a second time that is different from the first time;
detecting and estimating a deviation between the first and second tree-graphs;
using the estimated deviation, registering the first and second medial-axis tree graphs with one another; and
using the registered first and second tree graphs, combining the first and second computerized anatomical maps, wherein combining the first and second computerized anatomical maps comprises generating a continuous anatomical map of the volume.
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