Imaging control to facilitate tracking objects and/or perform real-time intervention

US10026015B2 · kind B2 · utility

Assignees

• CASE WESTERN RESERVE UNIVERSITY · US
• The Cleveland Clinic Foundation · US

Inventors

• Murat Cenk Cavusoglu · Cleveland, US
• Mark Renfrew · Pittsburgh, US
• Zhuofu Bai · Cleveland, US
• Taoming Liu · Cleveland, US
• Nathaniel Lombard Poirot · Cleveland, US
• Jeffrey Ustin · Cleveland, US

Key dates

• Filing date: Apr 1, 2015
• Grant date: Jul 17, 2018
• Expiry date: Oct 28, 2035

Classification

• Technology area (CPC G): Physics
• CPC primary: G06V2201/03
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A method includes acquiring image data from for a given time step. The image data represents at least one of an instrument and a target within an image space that includes patient anatomy. A given belief of system state is estimated to include an estimate of instrument state and target state determined from corresponding measurement and motion models computed based on the acquired image data and control input parameters for the given time step. An expected belief of system state is estimated for a subsequent time step based on the estimated given belief of system state and based on the measurement models and the motion models computed over a plurality of different control inputs parameters. An information metric is computed for each of the expected beliefs of system state and control input parameters are selected for the subsequent time step based on the computed information metrics.