Patent ID: 11918424
Assignee: BEYEONICS SURGICAL LTD.
Field: Medical technology (Instruments)
Classification: CPC A  G | IPC A  G

Claim 6:
7. A method for filtering a set of feature pairs between two images, the two images are of a patient, the method comprising:
receiving, by a computing device, a set of feature pairs wherein each feature pair comprises one feature location from a first image and a matching feature location from a second image; and
filtering, by the computing device, the set of feature pairs based on at least one of a scale invariant and a rotational invariant geometrical relationship between feature locations from the set of feature pairs,
wherein the filtering further comprises:
determining, by the computing device, a set of couples of feature pairs,
determining, by the computing device, for each couple of the set of couples a first angle of a line connecting the two locations of the two features in the couple that are from the first image,
determining, by the computing device, for each couple of the set of couples a second angle of a line connecting the two locations of the two features in the couple that are from the second image,
determining, by the computing device, for each couple of the set of couples a difference of angles between the first angle and the second angle, yielding a set of respective differences of angles, and
discarding feature pairs based on said set of respective differences of angles,

wherein the two images are selected from at least one of: a preoperative image and an intraoperative image of the patient.