	US 12,440,283 B2
	Multi-rigid registration of magnetic navigation to a computed tomography volume
Oren P. Weingarten, Hod-Hasharon (IL); and Alexander Nepomniashchy, Herzlia (IL)
Assigned to Covidien KP, Mansfield, MA (US)
Filed by Covidien LP, Mansfield, MA (US)
Filed on Apr. 1, 2024, as Appl. No. 18/623,130.
Application 18/623,130 is a division of application No. 17/539,280, filed on Dec. 1, 2021, granted, now 11,950,855, issued on Apr. 9, 2024.
Application 17/539,280 is a continuation of application No. 16/868,731, filed on May 7, 2020, granted, now 11,213,358, issued on Jan. 4, 2022.
Application 16/868,731 is a continuation of application No. 16/196,032, filed on Nov. 20, 2018, granted, now 10,646,284, issued on May 12, 2020.
Claims priority of provisional application 62/594,623, filed on Dec. 5, 2017.
Prior Publication US 2024/0238052 A1, Jul. 18, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G06K 9/00 (2022.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01); G16H 50/50 (2018.01); A61B 6/00 (2006.01); A61B 6/03 (2006.01); A61B 17/00 (2006.01)

CPC A61B 34/20 (2016.02) [A61B 34/10 (2016.02); A61B 90/37 (2016.02); G16H 50/50 (2018.01); A61B 6/032 (2013.01); A61B 6/5235 (2013.01); A61B 2017/00809 (2013.01); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2068 (2016.02); A61B 2034/2072 (2016.02); A61B 2090/367 (2016.02); A61B 2090/3762 (2016.02); A61B 2090/3925 (2016.02)]

17 Claims

1. A system, comprising:

one or more processors; and

one or more processor-readable storage media storing instructions which, when executed by the one or more processors:

generates a plurality of survey points within airways of a patient;

performs a registration of the airways with a 3D model, the 3D model including a plurality of reference points;

divides the 3D model into different regions;

performs a registration for each region; and

merges each regional registration into a single registration between the airways and the 3D model of the airways.