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

Claim 0:
1. A method comprising:
receiving a plurality of fluoroscopic images of movement of a catheter captured by a fluoroscopic imaging device;
identifying a plurality of radiopaque tracking sensors along a length of the catheter in the plurality of fluoroscopic images of the movement of the catheter, yielding an identified plurality of radiopaque tracking sensors;
tracking, in the plurality of fluoroscopic images, movement of the identified plurality of radiopaque tracking sensors, yielding a tracked movement of the plurality of radiopaque tracking sensors;
determining three-dimensional (3D) coordinates of the catheter by performing a 3D structure from motion method on the tracked movement of the plurality of radiopaque tracking sensors;
determining a 3D shape of a body structure in which the catheter is disposed;
estimating poses of the fluoroscopic imaging device based on the 3D coordinates of the catheter and the 3D shape of the body structure;
determining, by an electromagnetic (EM) locating system, a location of the catheter based on signals from the plurality of radiopaque tracking sensors, yielding a determined location of the catheter; and
facilitating navigation of the catheter to a target area by indicating the determined location of the catheter in a display.