Patent Document ID: 9220467
Application ID: 13622426
Patent Status: 1

Claim One:
1. A method for tracking of a catheter in a fluoroscopic image sequence comprising: receiving a fluoroscopic image sequence; initializing a catheter electrode model for a catheter in a first frame of the fluoroscopic image sequence wherein the catheter electrode model in the first frame comprises a plurality of template points corresponding to locations of a plurality of electrodes of the catheter in the first frame; detecting, by a graphics processing unit (GPU), catheter landmark candidates in each remaining frame of the fluoroscopic image sequence wherein the catheter landmark candidates include catheter electrode candidates; and tracking, by a Central Processing Unit (CPU), the catheter electrode model based on the detected catheter landmark candidates in each remaining frame of the fluoroscopic image sequence by: generating a plurality of catheter model candidates in each remaining frame based on the detected catheter landmark candidates and the catheter electrode model initialized in the first frame by translating a number of electrodes model candidates, each corresponding to a respective one of the plurality of temple points in the catheter electrodes model initialized in the first frame, to each unique pair of detected catheter electrode candidates in each remaining frame, and selecting a catheter electrode model in each remaining frame based on the plurality of catheter electrode model candidates, wherein the catheter electrode model selected in each remaining frame provides locations of the plurality of electrodes of the catheter that frame.