US 12,008,760 B2
Systems and methods for estimating the movement of a target using a universal deformation model for anatomic tissue
Nicolas J. Merlet, Jerusalem (IL); Oren P. Weingarten, Hod-Hasharon (IL); Ariel Birenbaum, Raanana (IL); Alexander Nepomniashchy, Herzliya (IL); Evgeni Kopel, Barkan (IL); and Guy Alexandroni, Yehud-Monosson (IL)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by Covidien LP, Mansfield, MA (US)
Filed on Jul. 12, 2021, as Appl. No. 17/373,400.
Claims priority of provisional application 63/056,549, filed on Jul. 24, 2020.
Prior Publication US 2022/0028081 A1, Jan. 27, 2022
Int. Cl. G06T 7/00 (2017.01); G06T 3/20 (2006.01); G06T 3/4007 (2024.01); G06T 3/60 (2006.01); G06T 7/149 (2017.01); G06T 7/33 (2017.01); G06T 7/37 (2017.01); G06T 17/20 (2006.01)
CPC G06T 7/0016 (2013.01) [G06T 3/20 (2013.01); G06T 3/4007 (2013.01); G06T 3/60 (2013.01); G06T 7/149 (2017.01); G06T 7/344 (2017.01); G06T 7/37 (2017.01); G06T 17/20 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/10081 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/30061 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, for each patient of a set of patients, preoperative imaging data of a first imaging modality and intraoperative imaging data of a second imaging modality;
registering, for each patient of the set of patients, the preoperative imaging data of the first imaging modality to the intraoperative imaging data of the second imaging modality;
registering preoperative imaging data of each patient to preoperative imaging data of other patients;
registering different deformations of the set of patients into a common deformation space, yielding different possible deformations;
generating a set of deformation models representing the different possible deformations;
applying each deformation model of the deformation models to preoperative imaging data of a new patient to obtain deformed imaging data for each deformation model;
comparing, for each deformation model, the deformed imaging data to intraoperative data of the new patient; and
determining the deformation model that best fits the intraoperative imaging data of the new patient based on the comparing.