Patent ID: 11950951
Assignee: COVIDIEN LP
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 0:
1. A method of compensating for secondary movement of a C-arm fluoroscope, the method comprising:
receiving fluoroscopic images obtained from a fluoroscopic sweep by the C-arm fluoroscope;
detecting markers of a structure of two-dimensional (2D) markers in the fluoroscopic images to obtain detected markers;
determining movement of the markers based on the detected markers;
estimating a primary movement axis based on the movement of the markers;
determining a secondary movement axis based on the primary movement axis;
estimating a translation of the markers in a direction of the secondary movement axis;
estimating a rotation axis translation based the translation of the markers;
estimating a three-dimensional (3D) position of a rotation axis;
estimating poses for the fluoroscopic images; and
refining the poses for the fluoroscopic images based on the rotation axis translation and the 3D position of the rotation axis.