Augmented fluoroscopy with digital subtraction imaging

A method of x-ray fluoroscopy comprising:

• imaging a region of interest at a first imaging projection angle using digital subtraction x-ray fluoroscopic imaging with a fiducial marker board positioned in a first field of view containing the region of interest to produce a first set of images;
• wherein the region of interest is a lung;
• wherein imaging the region of interest at the first imaging projection angle using digital subtraction x-ray fluoroscopic imaging comprises performing bronchoscopy with air pressure inflation of the lung near the pulmonary nodule during the digital subtraction x-ray fluoroscopic imaging;
• imaging the region of interest at a second imaging projection angle using digital subtraction x-ray fluoroscopic imaging with the fiducial marker board positioned in a second field of view containing the region of interest to produce a second set of images;
• wherein imaging the region of interest at the second imaging projection angle using digital subtraction x-ray fluoroscopic imaging comprises performing bronchoscopy with air pressure inflation of the lung near the pulmonary nodule during the digital subtraction x-ray fluoroscopic imaging:
• determining image segmentation information to identify an anatomical feature in the region of interest imaged in the first set of images and the second set of images;
• wherein the anatomical feature is a pulmonary nodule;
• imaging the region of interest using x-ray fluoroscopic imaging with the fiducial marker board positioned in a third field of view containing the region of interest to produce a third set of images;
• projecting a virtual image of the anatomical feature onto the third set of images, where the virtual image is computed from the image segmentation information to identify the anatomical feature in the region of interest, from images of the fiducial marker board, and from a predetermined geometric relationship of markers within the fiducial marker board.