Patent ID: 8712177

Claim:
A method for generating a motion compensated overlay, comprising: receiving a 3D model of an aortic root shape; segmenting the received 3D model of the aortic root shape using intensity thresholding; determining gradients for the segmented 3D model; assigning a maximum gradient value to border pixels using the determined gradients; detecting edge pixels from the segmented 3D model using the determined gradients and the assigned maximum gradient values; producing a silhouette model of the aortic root shape by removing connected components having a small number of detected edge pixels from the segmented 3D model; capturing an image depicting an aortic root and an instrument; determining whether the aortic root shape is visible in the image; registering the produced silhouette to the captured image upon determining that the aortic root shape is visible in the captured image; and combining the produced silhouette with the captured image according to a registration to produce an overlay image.