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US 11,596,369 B2Granted
Navigation system for vascular intervention and method for generating virtual x-ray image
AssigneeDaegu Gyeongbuk Institute of Science and Technology
InventorsJae-Sung Hong, Sang-Seo Jeon, Seong-Pung Lee
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Abstract
Provided is a method of generating a virtual x-ray image, the method including: obtaining a 3-dimensional (3D) image of a patient; determining a projection direction of the 3D image in consideration of a position relationship between an x-ray source of an x-ray device and the patient; and generating a virtual x-ray image by projecting the 3D image on a 2D plane in the determined projection direction.
Claims11
A method of generating a virtual x-ray image, the method comprising:
- obtaining a 3-dimensional (3D) image which comprising voxels of a patient;
- determining a projection direction of the 3D image based on a position relationship between an x-ray source of an x-ray device and the patient;
- and
- generating a virtual x-ray image of the patient by projecting the voxels of the 3D image of the patient on a 2D plane using a transformation of coordinates of each voxel of the voxels of the 3D image in the determined projection direction,
- wherein the virtual x-ray image is a 2D x-ray image generated from the 3D image, without irradiating x-ray,
- wherein the projection direction corresponds to the x-ray source's pointing direction to the patient, and
- wherein the generating of the virtual X-ray image comprises generating the virtual X-ray image by multiplying a coordinate of each voxel of the 3D image to relationship T in Equation below:
- T=I·X−1·A−1·C·R
- wherein I denotes a transformation relationship between a coordinate system of the X-ray source and a coordinate system of a detector, X denotes a transformation relationship between a coordinate system of an X-ray source sensor and the coordinate system of the X-ray source, A denotes position information of the X-ray source sensor in a coordinate system of a position tracker, C denotes position information of a patient sensor in the coordinate system of the position tracker, and R denotes a transformation relationship between a coordinate system of the patient sensor and a coordinate system of the 3D image.
6 more elements
A navigation system configured to:
- obtain a 3-dimensional (3D) image, which comprising voxels, of a patient;
- determine a projection direction of the 3D image in consideration of a position relationship between an x-ray source of an x-ray device and the patient;
- generate a virtual x-ray image of the patient by projecting the voxels of the 3D image of the patient on a 2D plane using a transformation of coordinates of each voxel of the voxels of the 3D image of the patient in the determined projection direction,
- wherein the virtual X-ray image is a 2D X-ray image generated from the 3D image, without irradiating X-ray, and
- wherein the generating of the virtual X-ray image comprises generating the virtual X-ray image by multiplying a coordinate of each voxel of the 3D image to relationship T in Equation below:
- T=I·X−1·A−1·C·R
- wherein I denotes a transformation relationship between a coordinate system of the X-ray source and a coordinate system of a detector, X denotes a transformation relationship between a coordinate system of an X-ray source sensor and the coordinate system of the X-ray source, A denotes a position information of the X-ray source sensor in a coordinate system of a position tracker, C denotes a position information of a patient sensor in the coordinate system of the position tracker, and R denotes a transformation relationship between a coordinate system of the patient sensor and a coordinate system of the 3D image.
4 more elements
A navigation method performed by a navigation system, the navigation method comprising:
- obtaining a 3-dimensional (3D) image of a patient;
- determining a projection direction of the 3D image in consideration of a position relationship between an x-ray source of an x-ray device and the patient;
- extracting a local model from the 3D image in consideration of the projection direction of the 3D image;
- and
- matching the extracted local model and a position of a surgical instrument to a virtual x-ray image, which is a 2D x-ray image, which is of the patient, generated without irradiating x-ray from the 3D image of the patient based on the projection direction during a surgery performed on the patient, and
- wherein the generating of the virtual X-ray image comprises generating the virtual X-ray image by multiplying a coordinate of each voxel of the 3D image to relationship T in Equation below:
- T=I·X−1·A−1·C·R
- wherein I denotes a transformation relationship between a coordinate system of the X-ray source and a coordinate system of a detector, X denotes a transformation relationship between a coordinate system of an X-ray source sensor and the coordinate system of the X-ray source, A denotes a position information of the X-ray source sensor in a coordinate system of a position tracker, C denotes a position information of a patient sensor in the coordinate system of the position tracker, and R denotes a transformation relationship between a coordinate system of the patient sensor and a coordinate system of the 3D image.
5 more elements
Dependencies are inferred from the claim text.