Method for surgical navigation utilizing scale-invariant registration between a navigation system and a localization system
US7555331B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Aug 26, 2004 |
| Grant date | Jun 30, 2009 |
| Priority date | — |
| Expiry date | Dec 24, 2026 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T7/30
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A system for navigating a medical device through the lumens and cavities in an operating region in a subject, comprising an imaging system for displaying an image of the operating region, including a representation of the distal end of the medical device in the operating region. The system also includes a localization system for determining the position of the medical device in a frame of reference translatable to the displayed image. Finally, the system includes an algorithm for evaluating one or more rotation matrix using a cost function to determine an optimum rotation matrix for performing transformation of a vector in the local frame of the localization system to that of the reference frame of the navigation system. The rotation matrix can then provide a scale invariant transformation or “registration” of the coordinate systems of the localization system and the navigation system. This allows navigation to be performed to a significant extent from the localization system display alone, which avoids the frequent x-ray irradiation that occurs during the use of fluoro imaging for navigation purposes.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.