Apparatus and methods are described including acquiring a first set of extraluminal images of a lumen, using an extraluminal imaging device. At least one of the first set of images is designated as a roadmap image. While an endoluminal device is being moved through the lumen, a second set of extraluminal images is acquired. A plurality of features that are visible within images belonging to the second set of extraluminal images are identified. In response to the identified features in the images belonging to the second set of extraluminal images, a plurality of local calibration factors associated with respective portions of the roadmap image are determined. Other applications are also described.

Claims

30 · 2 independent · depth 5

30 granted claims

›1.independentAn apparatus comprising:nan endoluminal device adapted to be moved through a lumen of a subject's body;one or more extraluminal imaging devices config…+14

›2.↳ 1The apparatus according to claim 1, wherein the processor is configured to determine the plurality of local calibration factors associated with respec…d2

›3.↳ 1The apparatus according to claim 1, wherein the processor is configured to determine the plurality of local calibration factors associated with respec…d2

›4.↳ 1The apparatus according to claim 1, wherein the processor is configured to determine the plurality of local calibration factors associated with respec…d2

›5.↳ 1The apparatus according to claim 1,nwherein the endoluminal device comprises a first endoluminal data-acquisition device adapted to acquire a pluralit…d2+1

›7.↳ 1The apparatus according to claim 1, wherein the at least one processor is configured, based upon the local calibration factors, to determine locations…d2+7

›8.↳ 7The apparatus according to claim 7, wherein the at least one processor is configured, in near real-time with respect to acquisitions of the extralumin…d3

›9.↳ 7The apparatus according to claim 7,nwherein the endoluminal device comprises a first endoluminal data-acquisition device adapted to acquire a pluralit…d3+5

›10.↳ 9The apparatus according to claim 9,nfurther comprising a second endoluminal data-acquisition device adapted to acquire an additional plurality of endo…d4

›11.↳ 9The apparatus according to claim 9, wherein the endoluminal data-acquisition device comprises an endoluminal imaging device that is adapted to acquire…d4

›12.↳ 9The apparatus according to claim 9, wherein the endoluminal data-acquisition device comprises an endoluminal data-acquisition device that is adapted t…d4

›13.↳ 9The apparatus according to claim 9, wherein the at least one processor is further configured, based upon the co-registration, to generate a stack of e…d4+1

›15.↳ 1The apparatus according to claim 1, wherein the processor is configured to designate the at least one of the first set of one or more extraluminal 2D …d2

›16.independentA method for use with an endoluminal device configured to be moved through a lumen of a subject's body, an extraluminal imaging device configured to a…+14

›17.↳ 16The method according to claim 16, wherein determining the plurality of local calibration factors associated with respective portions of the roadmap im…d2

›18.↳ 16The method according to claim 16, wherein determining the plurality of local calibration factors associated with respective portions of the roadmap im…d2

›19.↳ 16The method according to claim 16, wherein determining the plurality of local calibration factors associated with respective portions of the roadmap im…d2

›20.↳ 16The method according to claim 16,nwherein the endoluminal device includes a first endoluminal data-acquisition device configured to acquire a pluralit…d2+1

›22.↳ 16The method according to claim 16, further comprising, based upon the local calibration factors, determining locations of the endoluminal device in res…d2+7

›23.↳ 22The method according to claim 22, wherein determining locations of the endoluminal device in respective extraluminal 2D projection images of the secon…d3

›24.↳ 22The method according to claim 22,nwherein the endoluminal device includes a first endoluminal data-acquisition device configured to acquire a pluralit…d3+5

›25.↳ 24The method according to claim 24,nthe method being for use with a second endoluminal data-acquisition device configured to acquire an additional plura…d4

›26.↳ 24The method according to claim 24, wherein the endoluminal data-acquisition device includes an endoluminal imaging device that is configured to acquire…d4

›27.↳ 24The method according to claim 24, wherein the endoluminal data-acquisition device includes an endoluminal data-acquisition device that is configured t…d4

›28.↳ 24The method according to claim 24, wherein generating the output based upon the co-registration comprises generating a stack of endoluminal data points…d4+1

›30.↳ 16The method according to claim 16, wherein designating at least one of the first set of images as a roadmap image comprises using the at least one proc…d2

Classifications

7 codes

IPC · International Patent Classification

Section A — Human necessities

A61B19/00
A61B8/12
A61B6/00
A61B5/06
A61B5/00

Section G — Physics

G06T7/00

USPC · US Patent Classification

600/424

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Pendency

1.4 y

517 days filing → grant

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non-final + final

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no RCE

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Long V Le

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Priority chain

2 priority documents

Priority

7 Feb 2013

earliest claimed

›Priority documents — 2

Type	Document	Date
provisional	US 61761709	7 Feb 2013
related publication	US 20140094689 A1	3 Apr 2014

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