Method for automatically merging a 2D fluoroscopic C-arm image with a preoperative 3D image with one-time use of navigation markers
First Claim
1. A method for automatically merging a 2D fluoroscopic image, obtained with a C-arm apparatus having a movable C-arm and having a tool plate fixed on the C-arm, with a preoperative 3D image, comprising the steps of:
- before undertaking a medical interventional procedure on a patient involving interaction of a medical instrument with the patient, making a marker-containing preoperative 3D image, obtained prior to the medical intervention, available to a computer and, in the computer, automatically registering the markers in the preoperative 3D image relative to a navigation system;
registering the tool plate on the C-arm in a reference position relative to the navigation system;
without using markers, obtaining a 2D fluoroscopic image of a region of the patient in which said medical instrument is disposed with said C-arm in an arbitrary position;
in said computer, determining a projection matrix for merging said 2D fluoroscopic image and said preoperative 3D image dependent on said reference position and said projection matrix relative to the navigation system; and
merging said 2D fluoroscopic image with said preoperative 3D image using said projection matrix.
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Abstract
In a method and apparatus for the automatic merging of 2D fluoroscopic C-arm images with preoperative 3D images with a one-time use of navigation markers, markers in a marker-containing preoperative 3D image are registered relative to a navigation system, a tool plate fixed on the C-arm system is registered in a reference position relative to the navigation system, a 2D C-arm image (2D fluoroscopic image) that contains the image of at least a medical instrument is obtained in an arbitrary C-arm position, a projection matrix for a 2D-3D merge is determined on the basis of the tool plate and the reference position relative to the navigation system, and the 2D fluoroscopic image is superimposed with the 3D image on the basis of the projection matrix.
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Citations
10 Claims
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1. A method for automatically merging a 2D fluoroscopic image, obtained with a C-arm apparatus having a movable C-arm and having a tool plate fixed on the C-arm, with a preoperative 3D image, comprising the steps of:
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before undertaking a medical interventional procedure on a patient involving interaction of a medical instrument with the patient, making a marker-containing preoperative 3D image, obtained prior to the medical intervention, available to a computer and, in the computer, automatically registering the markers in the preoperative 3D image relative to a navigation system;
registering the tool plate on the C-arm in a reference position relative to the navigation system;
without using markers, obtaining a 2D fluoroscopic image of a region of the patient in which said medical instrument is disposed with said C-arm in an arbitrary position;
in said computer, determining a projection matrix for merging said 2D fluoroscopic image and said preoperative 3D image dependent on said reference position and said projection matrix relative to the navigation system; and
merging said 2D fluoroscopic image with said preoperative 3D image using said projection matrix. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. EDIT An apparatus for automatically merging a 2D fluoroscopic image, obtained with a C-arm apparatus having a movable C-arm and having a tool plate fixed on the C-arm, with a preoperative 3D image, comprising the steps of:
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before undertaking a medical interventional procedure on a patient involving interaction of a medical instrument with the patient, making a marker-containing preoperative 3D image, obtained prior to the medical intervention, available to a computer and, in the computer, automatically registering the markers in the preoperative 3D image relative to a navigation system;
registering the tool plate on the C-arm in a reference position relative to the navigation system;
without using markers, obtaining a 2D fluoroscopic image of a region of the patient in which said medical instrument is disposed with said C-arm in an arbitrary position;
in said computer, determining a projection matrix for merging said 2D fluoroscopic image and said preoperative 3D image dependent on said reference position and said projection matrix relative to the navigation system; and
merging said 2D fluoroscopic image with said preoperative 3D image using said projection matrix.
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Specification