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|1. (WO2017153839) METHODS AND SYSTEMS FOR USING MULTI VIEW POSE ESTIMATION|
|Applicants:||BODY VISION MEDICAL LTD.
|Title:||METHODS AND SYSTEMS FOR USING MULTI VIEW POSE ESTIMATION|
The present invention is disclosing several methods related to intra-body navigation of radiopaque instrument through natural body cavities. One of the methods is disclosing the pose estimation of the imaging device using multiple images of radiopaque instrument acquired in the different poses of imaging device and previously acquired imaging. The other method allows to resolve the radiopaque instrument localization ambiguity using several approaches, such as radiopaque markers and instrument trajectory tracking.