US 10,762,647 B2Granted

Motion compensation in hybrid X-ray/camera interventions

AssigneeKoninklijke Philips N.V.

InventorsChristian Buerger, Michael Grass, Drazenko Babic

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Abstract

A system and method of assisting a treatment procedure is provided, the method comprising the steps of determining a 3-D intervention vector in relation to an inner body structure of a body of interest based on a 3-D x-ray image, determining a 3-D position of an entry point on an outer surface of the body of interest based on the intervention vector, comparing the position and/or orientation of the inner body structure in the 3-D x-ray image with the position and/or orientation of the inner body structure in an additional 2-D x-ray image being generated transverse to the intervention vector, correcting the 3-D position of the entry point on the outer surface of the body of interest based on a deviation detected in the comparing step.

Claims15

Dependent claims

A device for assisting a treatment procedure, comprising:

an x-ray device with an x-ray source and an x-ray detector, wherein the x-ray device is configured to generate 2-D projection images of a body of interest from different angles relative to the body of interest,
a camera, wherein the camera is configured to generate an image with an imaging direction of an outer surface of the body of interest, and wherein the camera is arranged in a predetermined relation to the x-ray device,
a processing unit for processing the image data from the x-ray device and the image data from the camera, wherein the processing unit is configured
to reconstruct a 3-D image of the body of interest based on a plurality of 2-D projection images generated from different angles relative to the body of interest,
to determine a direction of an intervention to be performed on an inner body structure,
to receive a single 2-D projection image with a projection direction being transverse to the direction of the intervention,
to register the single 2-D projection image with the 3-D image,
to detect a deviation of a position and/or orientation of an inner body structure as visualized in the virtual projection image from the position and/or orientation of the inner body structure as visualized in the single 2-D projection image, and
to indicate in the camera image a position on the outer surface for the intervention to be performed on the inner body structure.

6 more elements

Dependencies are inferred from the claim text.

Facts

Application: 16/099,484Filed 19 May 2017
Priority: EP 1617045119 May 2016
Published: US 2019/0206069 A14 Jul 2019
Granted: 1 Sep 2020
Term ends: Not estimatedThe source records don’t support an estimate.

Classification17 codes

G06T 7/32
Determination of transform parameters for the alignment of images, i.e. image registration: using correlation-based methods
A61B 34/20
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical navigation systems; Devices for tracking or guiding…
A61B 90/37
Image-producing devices or illumination devices not otherwise provided for: surgical systems with images on a monitor during operation
G06T 3/14
Geometric image transformations in the plane of the image: transformations for image registration, e.g. adjusting or mapping for alignment of images