Hybrid registration method

摘要

A registration method whereby a sensor-based approach is used to establish initial registration and whereby upon the commencement of navigating an endoscope, image-based registration methods are used in order to more accurately maintain the registration between the endoscope location and previously-acquired images. A six-degree-of-freedom location sensor is placed on the probe in order to reduce the number of previously-acquired images that must be compared to a real-time image obtained from the endoscope.

主权项

1. A method of registering sensor location data to images of at least one body lumen, comprising:
placing a probe including a sensor disposed thereon relative to at least one body lumen in a patient; sensing an electromagnetic field generated by an electromagnetic field generator; generating location data corresponding to a location of the sensor in the electromagnetic field; registering the location of the sensor relative to a previously acquired image selected from a memory of a computing device storing a plurality of previously acquired images of the at least one body lumen based on the location data; generating a subgroup of the plurality of previously acquired images based on the location data; and updating the registered location of the sensor based on an image selected from the subgroup.