US 12,482,116 B2
Method of multiple image reconstruction and registration
Niraj Prasad Rauniyar, Plymouth, MN (US); Robert J. Riker, Sewickley, PA (US); Longquan Chen, Andover, MA (US); and Matthew J. Strong, Two Rivers, WI (US)
Assigned to BOSTON SCIENTIFIC SCIMED, INC., Maple Grove, MN (US)
Filed by BOSTON SCIENTIFIC SCIMED, INC., Maple Grove, MN (US)
Filed on Sep. 8, 2022, as Appl. No. 17/940,518.
Claims priority of provisional application 63/242,540, filed on Sep. 10, 2021.
Prior Publication US 2023/0081476 A1, Mar. 16, 2023
Int. Cl. G06T 7/33 (2017.01); A61B 1/00 (2006.01); A61B 1/04 (2006.01); G06T 7/593 (2017.01); G06T 7/73 (2017.01)
CPC G06T 7/337 (2017.01) [A61B 1/00009 (2013.01); A61B 1/04 (2013.01); G06T 7/593 (2017.01); G06T 7/73 (2017.01); G06T 2207/10012 (2013.01); G06T 2207/10068 (2013.01); G06T 2207/20221 (2013.01); G06T 2207/30244 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of combining multiple images of a body structure, the method comprising:
capturing a first input image with a digital camera disposed along an endoscope inserted in a body lumen of a patient, wherein the digital camera is positioned at a first location within the body lumen at a first time point;
representing the first image with a first plurality of pixels;
capturing a second input image with the digital camera positioned at a second location within the body lumen at a second time point;
representing the second image with a second plurality of pixels;
generating a first feature distance map of the first input image;
generating a second feature distance map of the second input image;
calculating the positional change of the digital camera between the first time point and the second time point; and
utilizing the first feature distance map, the second feature distance map and the positional change of the digital camera to generate a three-dimensional surface approximation of the body structure within the body lumen;
wherein generating the first feature distance map includes assigning a numerical value to the one or more pixels of the first plurality of pixels;
wherein generating the second feature distance map includes assigning a numerical value to the one or more pixels of the second plurality of pixels; and
wherein utilizing the first feature distance map, the second feature distance map and the positional change of the digital camera to generate a three-dimensional surface approximation of the body structure includes calculating a transformation between the first input image and the second input image using a chamfer matching registration process.