US 11,701,184 B2
System and method for catheter detection in fluoroscopic images and updating displayed position of catheter
Ariel Birenbaum, Raanana (IL); Ron Barak, Tel Aviv (IL); and Oren P. Weingarten, Hod-Hasharon (IL)
Assigned to COVIDIEN LP, Mansfield, MA (US)
Filed by Covidien LP, Mansfield, MA (US)
Filed on Jan. 25, 2022, as Appl. No. 17/584,039.
Application 17/584,039 is a continuation of application No. 17/115,589, filed on Dec. 8, 2020, granted, now 11,253,325.
Application 17/115,589 is a continuation of application No. 16/259,731, filed on Jan. 28, 2019, granted, now 10,905,498, issued on Feb. 2, 2021.
Claims priority of provisional application 62/627,911, filed on Feb. 8, 2018.
Prior Publication US 2022/0142719 A1, May 12, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 6/03 (2006.01); A61B 34/20 (2016.01); A61B 6/12 (2006.01); A61B 6/00 (2006.01); A61B 6/02 (2006.01); A61B 5/06 (2006.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 6/025 (2013.01); A61B 6/032 (2013.01); A61B 6/12 (2013.01); A61B 6/465 (2013.01); A61B 6/466 (2013.01); A61B 6/487 (2013.01); A61B 6/5205 (2013.01); A61B 5/061 (2013.01); A61B 6/5235 (2013.01); A61B 90/37 (2016.02); A61B 2034/2051 (2016.02); A61B 2090/376 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A system for performing an electromagnetic surgical navigation procedure, comprising:
a catheter including a sensor on a distal portion of the catheter;
a tracking system configured to determine the position and orientation of the distal portion of the catheter; and
a computing device operably coupled to the tracking system and the catheter, the computing device configured to:
acquire fluoroscopic data from a fluoroscopic sweep of a target area, the fluoroscopic data including 2D fluoroscopic frames of the target area captured from different perspectives;
perform an initial catheter detection for catheter tip candidates in a plurality of 2D frames of the fluoroscopic data;
perform a secondary catheter detection for catheter tip candidates in the plurality of 2D frames of the fluoroscopic data;
determine an intersection point of rays extending from the detected catheter tip candidates in each of the plurality of 2D frames of the secondary catheter detection; and
eliminate as false-positives the catheter tip candidates of the secondary catheter detections whose rays do not pass through the intersection point.