Computerized tomography (CT) image correction using position and direction (P andD) tracking assisted optical visualization

US11457981B2 · kind B2 · utility

Assignees

• Acclarent, Inc. · US
• Biosense Webster (Israel) Ltd. · IL

Inventors

• Assaf Govari · Haifa, IL
• Vadim Gliner · Haifa, IL
• Babak Ebrahimi · Irvine, US
• Ehsan Shameli · Irvine, US
• Fatemeh Akbarian · Rancho Palos Verdes, US
• Jetmir Palushi · Irvine, US
• Yehuda Algawi · Binyamina - Givat Ada, IL

Key dates

• Filing date: Sep 30, 2019
• Grant date: Oct 4, 2022
• Expiry date: Jun 9, 2040

Classification

• Technology area (CPC G): Physics
• CPC primary: G06T2219/2012
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A system (11) includes a medical probe (36) for insertion into a cavity of an organ, which includes a position and direction sensor (60) and a camera (45), both operating in a sensor coordinate system (62). The system further includes a processor (44) configured to: receive, from an imaging system (21) operating in an image coordinate system (28), a three-dimensional image of the cavity including open space and tissue; receive, from the medical probe, signals indicating positions and respective directions of the medical probe inside the cavity; receive, from the camera, respective visualized locations inside the cavity; register the image coordinate system with the sensor coordinate system so as to identify one or more voxels in the image at the visualized locations, and when the identified voxels have density values in the received image that do not correspond to the open space, to update the density values of the identified voxels to correspond to the open space.