Fluoroscopic pose estimation
AssigneeCovidien LP
InventorNicolas J. Merlet
Life of this patent
Estimating the term…
Abstract
Methods and systems for registering three-dimensional (3D) CT image data with two-dimensional (2D) fluoroscopic image data using a plurality of markers are disclosed. In the methods and systems, a lateral angle and a cranial angle are searched for and a roll angle is computed. 3D translation coordinates are also computed. The calculated roll angle and 3D translation coordinates are computed for a predetermined number of times successively. After performing the calculations, the 3D CT image data is overlaid on the 2D fluoroscopic image data based on the lateral angle, the cranial angle, the roll angle, and the 3D translation coordinates.
Claims20
A system for registering three-dimensional (3D) image data with two-dimensional (2D) image data, the system comprising:
- one or more processors;
- and
- at least one memory coupled to the one or more processors and storing instructions which, when executed by the one or more processors, cause the system to:
- receive 3D image data of a patient, the 3D image data including image data corresponding to a plurality of first markers;
- receive 2D image data of the patient, the 2D image data including image data corresponding to a plurality of second markers;
- search for a lateral angle and a cranial angle between the plurality of first markers and the plurality of second markers;
- determine a 3D mass center of the plurality of first markers;
- determine a 2D mass center of the plurality of second markers;
- move the 3D mass center to a half segment between a source location and the 2D mass center;
- compute potential roll angles between the plurality of first markers and the plurality of second markers and potential 3D translation coordinates between the plurality of first markers and the plurality of second markers, for a predetermined number of times successively;
- select a roll angle among the potential roll angles;
- select 3D translation coordinates among the potential 3D translation coordinates;
- and
- display a composite image of the patient showing an image of the 3D image data overlaid on an image of the 2D image data based on the lateral angle, the cranial angle, the roll angle, and the 3D translation coordinates.
A system for registering three-dimensional (3D) image data with two-dimensional (2D) image data, the system comprising:
- one or more processors;
- and
- at least one memory coupled to the one or more processors and storing instructions which, when executed by the one or more processors, cause the system to:
- obtain three-dimensional (3D) image data of a patient, the 3D image data including image data corresponding to a plurality of first markers;
- obtain two-dimensional (2D) image data of the patient, the 2D image data including image data corresponding to a plurality of second markers;
- search for a lateral angle and a cranial angle between the plurality of first markers and the plurality of second markers;
- obtain a parallel translation coordinate between the plurality of first markers and the plurality of second markers;
- obtain a perpendicular translation coordinate between the plurality of first markers and the plurality of second markers;
- determine a first mass center of the plurality of first markers;
- determine a second mass center of the plurality of second markers;
- determine a plurality of second points that are farthest from the second mass center and a projected first point that is farthest from the plurality of first markers;
- determine a plurality of possible matchings for a roll angle based on the plurality of second points;
- select a matching among the plurality of possible matchings;
- determine a number of seeds based on the selected matching;
- calculate a 3D transformation for each seed of the number of seeds based on the lateral angle, the cranial angle, the parallel translation, and the perpendicular translation;
- determine a local minima based on the 3D transformation of each seed;
- determine a local minimum from the local minima using a steepest descent method;
- determine rotation angles and translation coordinates corresponding to the local minimum;
- and
- display a composite image of the patient showing an image of the 3D image data overlaid on an image of the 2D image data based on the determined rotation angles and translation coordinates.
A system for registering three-dimensional (3D) image data with two-dimensional (2D) image data using a plurality of markers, the system comprising:
- one or more processors;
- and
- at least one memory coupled to the one or more processors and storing instructions which, when executed by the one or more processors, cause the system to:
- search for a lateral angle and a cranial angle;
- move a 3D mass center of a marker to a half segment between a source and a 2D mass center of the marker;
- compute a roll angle and 3D translation coordinates for a predetermined number of times successively;
- and
- overlay the 3D image data on the 2D image data based on the lateral angle, the cranial angle, the roll angle, and the 3D translation coordinates.
Dependencies are inferred from the claim text.