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

Claim 3:
4. A method comprising:
receiving a sequence of a plurality of fluoroscopic images of a patient's body captured by a fluoroscopic imaging device;
identifying a plurality of radiopaque markers along a length of a catheter in the sequence of the plurality of fluoroscopic images of the catheter advancing through a patient's body, yielding an identified plurality of radiopaque markers;
tracking the identified plurality of radiopaque markers, yielding tracked movement of the plurality of radiopaque markers;
performing a 3D structure from motion method on the tracked movement of the plurality of radiopaque markers to estimate a first three-dimensional (3D) shape of the catheter;
determining a 3D shape of a body structure in which the catheter is disposed;
estimating a second 3D shape of the catheter based on the 3D shape of the body structure in which the catheter is disposed;
estimating a third 3D shape of the catheter based on the first 3D shape and the second 3D shape; and
estimating poses of the fluoroscopic imaging device based on the third 3D shape of the catheter.