US 12,390,175 B2
Systems and methods for pose estimation of a fluoroscopic imaging device and for three-dimensional imaging of body structures
Oren P. Weingarten, Hod-Hasharon (IL); Guy Alexandroni, Yehud-Monosson (IL); and Evgeni Kopel, Barkan (IL)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by Covidien LP, Mansfield, MA (US)
Filed on Jan. 8, 2024, as Appl. No. 18/407,421.
Application 18/407,421 is a continuation of application No. 16/924,776, filed on Jul. 9, 2020, granted, now 11,864,935.
Claims priority of provisional application 62/897,760, filed on Sep. 9, 2019.
Prior Publication US 2024/0138783 A1, May 2, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 6/12 (2006.01); A61B 6/00 (2024.01); A61B 6/03 (2006.01); A61B 6/46 (2024.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01)
CPC A61B 6/12 (2013.01) [A61B 6/032 (2013.01); A61B 6/466 (2013.01); A61B 6/487 (2013.01); A61B 6/547 (2013.01); A61B 34/20 (2016.02); A61B 90/39 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2090/3966 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A method comprising:
receiving radiographic images of movement of a catheter captured by a radiographic imaging system;
tracking movement of radiopaque coils disposed along a length of the catheter in the received radiographic images;
determining a shape of the catheter based on the tracked movement of the radiopaque coils;
determining, by an electromagnetic (EM) locating system, three dimensional (3D) coordinates of the catheter based on signals from the radiopaque coils;
displaying the determined location of the catheter on a display during navigation of the catheter to a target area; and
estimating a pose of the radiographic imaging system relative to the target area based on the 3D coordinates of the catheter relative to the target area and the shape of the catheter.
 
4. A method comprising:
receiving images of a catheter advancing through a patient's body from an imaging system;
tracking movement of radiopaque markers located along a length of the catheter in the received images;
estimating a first shape of the catheter based on the tracked movement of the radiopaque markers;
determining a shape of a body structure in which the catheter is disposed;
estimating a second shape of the catheter based on the first shape of the catheter and the shape of the body structure; and
estimating poses of the imaging system based on the second shape of the catheter.