Registration system for registering an imaging device with a tracking device

A registration method for registering an imaging device that generates an image of an object with a tracking device that tracks a tracked location of the object in a field of view of the imaging device by at least determining position and shape of the object, the registration method comprising:

• displaying the image on a graphical user interface which accepts markers from the user as interactive input;
• detecting the object in the image by an object detection unit, wherein the object detection unit a) allows a user to add the markers to the image via the graphical user interface for indicating arbitrary positions in the image, at which the object is located, and b) determines a representation of the object in the image based on the added markers;
• registering the tracking device with the imaging device by determining registration parameters defining a registration of the tracking device with the imaging device by a registration unit, wherein the registration unit determines the registration parameters based on the tracked location of the object in the field of view of the imaging device and on the location of the representation of the object in the image;
• and
• providing, to the user, assistance comprising at least one of (1) defining a region of interest (ROI) that is smaller than the image, (2) choosing a segment of the object from results of an algorithm, or (3) positioning the object in an algorithm-requested position;
• determining, by the object detection unit, location information indicative of the location of the object in the image based on image values of the image;
• providing, by the imaging device, at least two two-dimensional projection images, which correspond to different projection directions;
• and
• providing, by the object detection unit, the representation of the object in the at least two two-dimensional images based on the added markers and based on the location information by correcting positions of the added markers depending on the location information and by providing the representation of the object in the at least two two-dimensional images based on the corrected positions of the markers, wherein the object detection unit is adapted to a) allow the user to add markers to a first image of the two-dimensional projection images for indicating respective arbitrary positions of the object in the first image and b) provide a first representation of the object in the first image based on the added markers and a second representation of the object in a second image of the at least two two-dimensional projection images based on image values of the second image, and wherein the registration unit is adapted to register the tracking device with the imaging device by determining the registration parameters based on the tracked location of the object in the field of view and on the locations of the first representation of the object in the first image and the second representation of the object in the second image.

A registration system for registering an imaging device that generates an image of an object with a tracking device that tracks a tracked location of the object within a field of view of the imaging device by at least determining position and shape of the object, the registration system comprising:

• a graphical user interface that displays the image and which accepts markers from the user as interactive input;
• an object detection unit that detects the object in the image, wherein the object detection unit is adapted to:
• allow a user to add the markers to the image via the graphical user interface for indicating arbitrary positions in the image at which the object is located;
• determine a representation of the object in the image based on the added markers;
• determine location information indicative of the location of the object in the image based on image values of the image;
• provide the representation of the object in the image based on the added markers and based on the location information;
• and provide the representation of the object in the image by correcting positions of the added markers depending on the location information and by providing the representation of the object in the image based on the corrected positions of the markers;
• and
• a registration unit that registers the tracking device with the imaging device by determining registration parameters defining a registration of the tracking device with the imaging device based on the tracked location of the object in the field of view of the imaging device and on a location of the representation of the object in the image, wherein the registration system is configured to provide assistance to the user, the assistance comprising at least one of (1) defining a region of interest (ROI) that is smaller than the image, (2) choosing a segment of the object from results of an algorithm, or (3) positioning the object in an algorithm-requested position.

A non-transitory computer readable medium that stores computer code, executable by a processor, for registering an imaging device that generates an image of an object with a tracking device that tracks a tracked location of the object in a field of view of the imaging device, when executed by the processor, the computer code causing the processor to:

• display the image on a graphical user interface which accepts markers from the user as interactive input;
• detect the object in the image by an object detection unit, wherein the object detection unit a) allows a user to add the markers to the image via the graphical user interface for indicating arbitrary positions in the image, at which the object is located, and b) determines a representation of the object in the image based on the added markers;
• and
• register the tracking device with the imaging device by determining registration parameters defining a registration of the tracking device with the imaging device by a registration unit, wherein the registration unit determines the registration parameters based on the tracked location of the object in the field of view of the imaging device and on the location of the representation of the object in the image;
• and
• provide, to the user, assistance comprising at least one of (1) defining a region of interest (ROI) that is smaller than the image, (2) choosing a segment of the object from results of an algorithm, or (3) positioning the object in an algorithm-requested position;
• determine, by the object detection unit, location information indicative of the location of the object in the image based on image values of the image;
• provide, by the imaging device, at least two two-dimensional projection images, which correspond to different projection directions;
• and
• provide, by the object detection unit, the representation of the object in the at least two two-dimensional images based on the added markers and based on the location information by correcting positions of the added markers depending on the location information and by providing the representation of the object in the at least two two-dimensional images based on the corrected positions of the markers, wherein the object detection unit is adapted to a) allow the user to add markers to a first image of the two-dimensional projection images for indicating respective arbitrary positions of the object in the first image and b) provide a first representation of the object in the first image based on the added markers and a second representation of the object in a second image of the at least two two-dimensional projection images based on image values of the second image, and wherein the registration unit is adapted to register the tracking device with the imaging device by determining the registration parameters based on the tracked location of the object in the field of view and on the locations of the first representation of the object in the first image and the second representation of the object in the second image.