Patent ID: 11864935
Assignee: COVIDIEN LP
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 8:
9. A method for constructing fluoroscopic-based three-dimensional volumetric data of a target area within a patient's body, comprising:
acquiring a sequence of fluoroscopic images of the target area and movement of a plurality of radiopaque locating sensors of a medical device;
identifying the plurality of radiopaque locating sensors along a length of the medical device in the sequence of fluoroscopic images of the medical device advancing through a patient's body, yielding an identified plurality of radiopaque locating sensors;
tracking, in the sequence of fluoroscopic images, movement of the identified plurality of radiopaque locating sensors, yielding a tracked movement of the plurality of radiopaque locating sensors;
determining three-dimensional (3D) coordinates of the medical device by performing a 3D structure from motion method on the tracked movement of the plurality of radiopaque locating sensors;
determining a 3D shape of a body structure in which the medical device is disposed;
estimating angles of a fluoroscopic imaging device based on the 3D coordinates of the medical device and the 3D shape of the body structure;
constructing fluoroscopic-based 3D volumetric data of the target area based on the angles of the fluoroscopic imaging device;
determining, by an electromagnetic (EM) locating system, a location of the medical device based on signals from the plurality of radiopaque locating sensors, yielding a determined location of the medical device; and
indicating the determined location of the medical device in a display.