Two-dimensional image registration methods and systems for three-dimensional object transformation
AssigneeArthrex, Inc.
InventorMichael W. Mullaney
Life of this patent
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Abstract
Methods, systems and computer program products of constructing a transform that registers a two-dimensional (2D) image and a three-dimensional (3D) device depicted in the image. The methods include determining a best pitch, spin and x-y-z positions of a 3D mathematical device model as compared to the device depicted in a first obtained 2D image, determining a best x-y-z position of a focal point as compared to the device depicted in the first image, and, based thereon, constructing a transform that registers the first image and the device.
Claims20
A method of constructing a transform that registers a two-dimensional (2D) image and a three-dimensional (3D) device depicted in the first image, comprising:
- obtaining a digital 2D first image depicting a 3D device that has at least four non-coplanar identifiable fiducial artifacts;
- rotating the first image about an axis normal to the plane of the first image such that a reference artifact of the device depicted in the first image is oriented horizontal in an image plane;
- obtaining physical parameters of the device;
- creating a 3D mathematical device model of at least the fiducial artifacts of the device based on the physical parameters of the device;
- defining a bounded area of interest on the first image that contains the fiducial artifacts;
- identifying artifact depictions of the fiducial artifacts within the bounded area of interest in the first image, and assigning a reference label to each of the artifact depictions;
- determining a plurality of metrics characterizing a position and a trajectory of the artifact depictions within the bounded area of interest in the first image;
- generating the 3D mathematical device model of the device in image space between the first image and a selected focal point in the first image space;
- determining a best fit of a pitch, a spin and x-y-z positions of the 3D mathematical device model as compared to the device depicted in the first image;
- and
- determining a best x-y-z position of the focal point as compared to the device depicted in the first image, and, based thereon, constructing a transform that registers the first image and the device.
-19. (canceled)
A system comprising:
- a memory;
- at least one processor in communication with the memory;
- and
- program instructions executable by one or more processors via the memory, wherein the process is configured to:
- access a digital 2D first image depicting a 3D device that has at least four non-coplanar identifiable fiducial artifacts;
- rotate the first image about an axis normal to the plane of the first image such that a reference artifact of the device depicted in the first image is oriented horizontal in an image plane of the first image;
- access physical parameters of the 3D device;
- create a 3D mathematical device model in response to the physical parameters of at least the fiducial artifacts of the device;
- define a bounded area of interest on the first image that contains the fiducial artifacts;
- identify artifact depictions of the fiducial artifacts within the bounded area of interest in the first image, and assign a reference label to each of the artifact depictions;
- determine a plurality of metrics characterizing a position and a trajectory of the depicted fiducial artifacts within the bounded area of interest in the first image;
- simulate the 3D mathematical device model in image space between the first image and a selected focal point in image space;
- and
- determining a best fit of a pitch, a spin and x-y-z positions of the 3D mathematical device model as compared to the device depicted in the first image.
Dependencies are inferred from the claim text.