Patent ID: 9183354
Filing Date: 2015-11-10
Classification: A61B,G06T

Abstract:
1. A method for guiding an instrument during a medical procedure, comprising: receiving a plurality of 2D projection images of an object at a plurality of projection angles, the plurality of 2D projection images being recorded during a first period of time; receiving a position of the instrument relative to a tracking coordinate system during the first period of time; registering the plurality of 2D projection images relative to the tracking coordinate system to obtain a transformation function that defines a relationship between a coordinate system of the plurality of 2D projection images and the tracking coordinate system; receiving an adjusted position of the instrument relative to the tracking coordinate system during a second period of time that is subsequent to the first period of time; and estimating an adjusted position of the instrument relative to the plurality of 2D projection images using the transformation function.