US 12,462,513 B2
Systems, devices, and methods for three-dimensional image registration
Andrew Brian Graveley, Shoreview, MN (US); Daniel J. Foster, Lino Lakes, MN (US); and Sebastian Ordas Carboni, Vadnais Heights, MN (US)
Assigned to Boston Scientific Scimed, Inc., Maple Grove, MN (US)
Filed by Boston Scientific Scimed Inc., Maple Grove, MN (US)
Filed on Aug. 24, 2023, as Appl. No. 18/455,082.
Claims priority of provisional application 63/374,021, filed on Aug. 31, 2022.
Prior Publication US 2024/0071022 A1, Feb. 29, 2024
Int. Cl. G06T 19/20 (2011.01); A61B 5/06 (2006.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01); G06T 7/20 (2017.01); G06T 7/33 (2017.01); G06T 17/00 (2006.01); G06T 19/00 (2011.01)
CPC G06T 19/20 (2013.01) [A61B 5/061 (2013.01); A61B 34/10 (2016.02); A61B 34/20 (2016.02); A61B 90/37 (2016.02); G06T 7/20 (2013.01); G06T 7/344 (2017.01); G06T 17/00 (2013.01); G06T 19/006 (2013.01); A61B 2034/105 (2016.02); A61B 2034/2051 (2016.02); A61B 2090/365 (2016.02); A61B 2090/367 (2016.02); G06T 2200/04 (2013.01); G06T 2200/24 (2013.01); G06T 2207/10068 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/30092 (2013.01); G06T 2207/30241 (2013.01); G06T 2210/41 (2013.01); G06T 2219/2004 (2013.01); G06T 2219/2021 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for three-dimensional (3D) image registration to facilitate a medical procedure, the system comprising:
a medical device having a distal portion configured to be inserted into a body lumen of a patient during a medical procedure, the medical device including:
an imaging device located at a distal tip of the distal portion and configured to capture a plurality of images of the body lumen as the medical device is inserted into and navigated through the body lumen to a target site, at least one of the plurality of images including a current image of the target site; and
a transmitter device or a receiver device of a position sensing system located at the distal tip, wherein the position sensing system is configured to determine a position or an orientation of the distal tip; and
a non-transitory computer-readable medium storing instructions that, when executed by a processor of a computing device, causes the processor to execute the instructions to perform operations, including:
receiving a 3D image of anatomy of the patient captured by an imaging system prior to the medical procedure;
processing the 3D image to extract a 3D model that identifies a plurality of anatomical structures in the anatomy, including one or more anatomical structures of interest for the medical procedure;
determining one or more of the plurality of anatomical structures identified in the 3D model are incomplete;
estimating an incomplete portion of the one or more of the plurality of anatomical structures for inclusion in the 3D model;
receiving the plurality of images of the body lumen captured by the imaging device during the medical procedure;
receiving the position or the orientation of the distal tip of the medical device from the position sensing system;
processing the plurality of images of the body lumen and the position or the orientation of the distal tip to generate a 3D surface map of at least a portion of the body lumen, the 3D surface map including a portion of the plurality of anatomical structures without the one or more anatomical structures of interest;
registering the 3D model to the patient using the 3D surface map and the position or the orientation of the distal tip;
based on the registering, generating a graphical user interface (GUI) that overlays a representation of a position or a trajectory of the one or more anatomical structures of interest on the current image of the target site; and
causing display of the GUI on a display device.