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Method for automatically merging a 2D fluoroscopic C-arm image with a preoperative 3D image with one-time use of navigation markers

  • US 20050027193A1
  • Filed: 05/21/2004
  • Published: 02/03/2005
  • Est. Priority Date: 05/21/2003
  • Status: Abandoned Application
First Claim
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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:

  • 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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