Systems and methods for registration between patient space and image space using registration frame apertures

A method of performing, registration between a patient space and an image space, comprising:

• imaging the patient space to generate image data of the image space, the image data comprising an image of a registration frame that is located in the patient space, the registration frame comprising a plurality of apertures;
• identifying a plurality of registration frame aperture locations within the image data, each of the plurality of aperture locations within the image data respectively corresponding to one of the plurality of a res of the registration frame;
• identifying a pose of the registration frame within the patient space using a tracking system for the patient space;
• determining a pose of the registration frame within the image space using the plurality of registration frame aperture locations within the image data;
• computing a transform between the patient space and the image space based on the pose of the registration frame within the patient space and the pose of the registration frame within the image space;
• and
• optimizing the transform by checking the symmetry of a representation of an aperture of the plurality of the apertures of the registration frame according to an adjustment of the transform.

A method of performing registration between a patient space and an image space, comprising:

• imaging the patient space to generate data of the image space, the image data comprising an image of a registration frame that is located in the patient space, the registration frame comprising a plurality of apertures;
• identifying a plurality of registration frame aperture locations within the image data, each of the plurality of aperture locations within the image data respectively corresponding to one of the plurality of apertures of the registration frame;
• identifying a pose of the registration frame within the patient space using a tracking system for the patient space;
• determining a pose of the registration frame within the image space using the plurality of registration frame aperture locations within the image data;
• computing a transform between the patient space and the image space based on the pose of the registration frame within the patient space and the pose of the registration frame within the image space;
• and
• optimizing the transform by checking an alignment between a pair of plates of material of the registration frame taken according to an adjustment of the transform.

A method of performing registration between a patient space and an image space, comprising:

• imaging the patient space to generate image data of the image space, the image data comprising an image of a registration frame that is located in the patient space, the registration frame comprising a plurality of apertures;
• identifying a plurality of registration frame aperture locations within the image data, each of the plurality of aperture locations within the image data respectively corresponding to one of the plurality of apertures of the registration frame;
• identifying a pose of the registration frame within the patient space using a tracking system for the patient space;
• determining a pose of the registration frame within the image space using the plurality of registration frame aperture locations within the image data;
• computing a transform between the patient space and the image space based on se of the registration frame within the patient space and the pose of the registration frame within the image space;
• generating a cropped image of the registration frame by applying the transform to the image data;
• generating an optimized parameter set using a plurality of initial parameter sets and the cropped image of the registration frame;
• and
• generating an optimized transform by applying the optimized parameter set to the transform.

A computing apparatus comprising:

• a processor;
• and
• a memory storing instructions that, when executed by the processor, configure the apparatus to:
• identify a pose of a registration frame within a patient space using a tracking system for the patient space, the registration frame comprising a plurality of apertures;
• receive image data corresponding to an image space, the image data comprising an image of the registration frame;
• identify a plurality of registration frame aperture locations within the image data, each of the plurality of aperture locations within the image data respectively corresponding to one of the plurality of apertures of the registration frame;
• determine a pose of the registration frame within the image space using the plurality of registration frame aperture locations within the image data;
• compute a transform between the patient space and the image space based on the pose of the registration frame within the patient space and the pose of the registration frame within the image space;
• and
• optimize transform by checking the symmetry of a representation of an aperture of the plurality of the apertures of the registration frame according to an adjustment of the transform.

A non-transitory computer-readable storage medium, the computer-readable storage medium including instructions that when executed by a computer, cause the computer to:

• identify a pose of a registration frame within a patient space using a tracking system for the patient space, the registration frame comprising a plurality of apertures;
• receive image data corresponding to an image space, the image data comprising an image of the registration frame;
• identify a plurality of registration frame aperture locations within the image data using the image of the registration frame, each of the plurality of aperture locations within the image data respectively corresponding to one of the plurality of apertures of the registration frame;
• determine a pose of the registration frame within the image space using the plurality of registration frame aperture locations within the image data;
• compute a transform between the patient space and the image space based on the pose of the registration frame within the patient space and the pose of the registration frame within the image space;
• generating a cropped image of the registration frame by applying the transform to the image data;
• generating an optimize parameter set using a plurality of initial parameter sets and the cropped image of the registration frame;
• and
• generating an optimized transform by applying the optimized parameter set to the transform.