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US 10,238,361 B2Granted
Combination of ultrasound and x-ray systems
AssigneeKoninklijke Philips N.V.
InventorsNicolas Pierre Bruno Gogin, Raoul Florent, Pascal Yves Francois Cathier
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Abstract
The invention proposes to detect and track an intervention device in a 2D fluoroscopy image and to steer an ultrasound probe beam towards this device. Therefore, a method and corresponding system is proposed, by which an ultrasound probe is registered in a fluoroscopy image, wherein the registering includes the estimation of the position and of the orientation of the probe relative to the fluoroscopy.
Claims17
An apparatus comprising:
- an x-ray acquisition system configured to produce an x-ray image of an anatomical region in an x-ray field of view;
- an ultrasound probe configured to image at least a portion of the anatomical region, wherein the ultrasound probe is at least partially positionable in the x-ray field of view to generate a target image of the ultrasound probe in the x-ray image;
- and
- a processing unit configured to:
- acquire x-ray image data including the target image of the ultrasound probe from the x-ray image;
- detect the ultrasound probe in the x-ray image data;
- register the ultrasound probe relative to a reference coordinate system by matching a digitally rendered projection of a three-dimensional model of the ultrasound probe with the target image to provide an estimated position and orientation of the ultrasound probe;
- combine the digitally rendered radiograph projection and the x-ray image data including the target image to form an aligned composite image;
- and
- display the aligned composite image.
7 more elements
A non-transitory computer readable medium comprising a computer program having a set of instructions for reading data from a processor in an apparatus which is in communication with an x-ray acquisition system, the instructions when executed on the processor configure the apparatus to:
- acquire x-ray image data including the target image of the ultrasound probe from the x-ray image;
- detect the ultrasound probe in the x-ray image data;
- register the ultrasound probe relative to a reference coordinate system by matching a digitally rendered projection of a three-dimensional model of the ultrasound probe with the target image to provide an estimated position and orientation of the ultrasound probe;
- generate a field of view volume of the ultrasound probe that is aligned with the estimated position and orientation;
- combine the field of view volume and the x-ray image data including the target image to form an aligned composite image;
- display the aligned composite image;
- and
- update the field of view volume for maintaining an interventional device within the field of view volume as the interventional device moves.
5 more elements
An apparatus comprising:
- an x-ray acquisition system configured to produce an x-ray image of an anatomical region in an x-ray field of view;
- an ultrasound probe configured to image at least a portion of the anatomical region, wherein the ultrasound probe is at least partially positionable in the x-ray field of view to generate a target image of the ultrasound probe in the x-ray image;
- and
- a processing unit having a data processor executing instruction in a computer program stored in a work memory of the data processor and configured to:
- acquire x-ray image data including the target image of the ultrasound probe from the x-ray image;
- detect the ultrasound probe in the x-ray image data;
- register the ultrasound probe relative to a reference coordinate system by matching a digitally rendered projection of a three-dimensional model of the ultrasound probe with the target image to provide an estimated position and orientation of the ultrasound probe;
- generate a field of view volume of the ultrasound probe that is aligned with the estimated position and orientation;
- and
- determine whether an interventional device is within the field of view volume based on registering the ultrasound probe and at least one parameter of the ultrasound probe.
7 more elements
An apparatus comprising:
- an x-ray acquisition system configured to produce an x-ray image of an anatomical region in an x-ray field of view;
- an ultrasound probe configured to image at least a portion of the anatomical region, wherein the ultrasound probe is at least partially positionable in the x-ray field of view to generate a target image of the ultrasound probe in the x-ray image;
- and
- a processing unit configured to:
- acquire x-ray image data including the target image of the ultrasound probe from the x-ray image;
- detect the ultrasound probe in the x-ray image data;
- register the ultrasound probe relative to a reference coordinate system by matching a digitally rendered projection of a three-dimensional model of the ultrasound probe with the target image to provide an estimated position and orientation of the ultrasound probe;
- generate a field of view volume of the ultrasound probe that is aligned with the estimated position and orientation;
- track an interventional device in the x-ray image data;
- and
- generate synthetically steered ultrasound beams with the ultrasound probe by comparing the tracked interventional device to the field of view volume for maintaining the interventional device within the field of view volume.
8 more elements
Dependencies are inferred from the claim text.