US 12,456,237 B2
Skeletonization of medical images from incomplete and noisy voxel data
Leonid Zaides, Atlit (IL); Fady Massarwa, Baka al Gharbiyya (IL); and Lior Zar, Poria Illit (IL)
Assigned to BIOSENSE WEBSTER (ISRAEL) LTD., Yokneam (IL)
Filed by BIOSENSE WEBSTER (ISRAEL) LTD., Yokneam (IL)
Filed on Mar. 7, 2022, as Appl. No. 17/687,802.
Prior Publication US 2023/0281891 A1, Sep. 7, 2023
Int. Cl. G06T 7/11 (2017.01); G06T 7/00 (2017.01); G06T 7/143 (2017.01); G06T 11/00 (2006.01); G06V 10/25 (2022.01); G06V 10/44 (2022.01); G06V 10/46 (2022.01); G06V 10/77 (2022.01); G06V 10/771 (2022.01)
CPC G06T 11/008 (2013.01) [G06V 10/25 (2022.01); G06V 10/457 (2022.01); G06V 10/476 (2022.01); G06V 10/771 (2022.01); G06V 10/7715 (2022.01); G06T 2211/424 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A method for generating a skeleton in an image of a cavity of an organ of a body, the method comprising:
receiving a map of the cavity, the map comprising surface voxels and interior voxels;
generating a subset of the interior voxels that are candidate locations to be on the skeleton;
pruning the subset by removing outlier candidate locations based on at least one of an angular dispersion of generative surface voxels or a variance in location of the candidate locations;
using a geometrical model comprising a statistical model, spatially compressing the candidate locations remaining in the pruned subset;
connecting the compressed candidate locations to produce one or more centerlines of the skeleton; and
displaying at least the skeleton to user.