METHOD AND SYSTEM FOR DETERMINATION OF 3D POSITIONS AND ORIENTATIONS OF SURGICAL OBJECTS FROM 2D X-RAY IMAGES
First Claim
1. A method for three-dimensional presentation of at least two separate surgical objects in an image-assisted medical procedure, comprising:
- with an imaging apparatus, acquiring a two-dimensional x-ray image in which at least two surgical objects are both shown;
from a computerized processor, accessing a three-dimensional model in electronic form respectively for each of said at least two surgical objects;
in said computerized processor, for each three-dimensional model, determining a plurality of two-dimensional projections of the three-dimensional model and selecting the two-dimensional projection, from among said plurality of two-dimensional projections, that is best adapted to the showing of the respective surgical object in the two-dimensional x-ray image;
in said computerized processor, calculating, for each of said at least two surgical objects, a three-dimensional position thereof for the selected best-adapted two-dimensional projection thereof; and
from said computerized processor, displaying the respective calculated three-dimensional positions of each of said at least two surgical objects in at least one of a virtual three-dimensional space and a modified x-ray image.
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Accused Products
Abstract
In a method, a system and a computer readable storage medium encoded with programming instructions, as well as a calculation module for three-dimensional presentation of at least two separate surgical objects within a medical procedure, access to three-dimensional models for the surgical objects takes place based on an acquired two-dimensional x-ray image with the surgical objects. The accessed three-dimensional models are integrated into the acquired two-dimensional x-ray image in order to be shown as a modified x-ray image. The modified x-ray image includes position information, relative positions and orientations of the surgical objects.
178 Citations
21 Claims
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1. A method for three-dimensional presentation of at least two separate surgical objects in an image-assisted medical procedure, comprising:
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with an imaging apparatus, acquiring a two-dimensional x-ray image in which at least two surgical objects are both shown; from a computerized processor, accessing a three-dimensional model in electronic form respectively for each of said at least two surgical objects; in said computerized processor, for each three-dimensional model, determining a plurality of two-dimensional projections of the three-dimensional model and selecting the two-dimensional projection, from among said plurality of two-dimensional projections, that is best adapted to the showing of the respective surgical object in the two-dimensional x-ray image; in said computerized processor, calculating, for each of said at least two surgical objects, a three-dimensional position thereof for the selected best-adapted two-dimensional projection thereof; and from said computerized processor, displaying the respective calculated three-dimensional positions of each of said at least two surgical objects in at least one of a virtual three-dimensional space and a modified x-ray image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method for three-dimensional presentation of at least two separate surgical objects in an image-assisted medical procedure, comprising:
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attaching a plurality of x-ray-opaque markers with a known geometry to each of at least two surgical objects; with an imaging apparatus, acquiring a two-dimensional x-ray image in which at least two surgical objects are both shown; from a computerized processor, accessing a three-dimensional model in electronic form respectively for each of said at least two surgical objects; in said computerized processor, for each three-dimensional model, determining a plurality of two-dimensional projections of the three-dimensional model and selecting the two-dimensional projection, from among said plurality of two-dimensional projections, that is best adapted to the showing of the respective surgical object in the two-dimensional x-ray image; in said computerized processor, calculating, for each of said at least two surgical objects, a three-dimensional position thereof for the selected best-adapted two-dimensional projection thereof; and from said computerized processor, displaying the respective calculated three-dimensional positions of each of said at least two surgical objects in at least one of a virtual three-dimensional space and a modified x-ray image.
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15. A method for three-dimensional presentation of at least two separate surgical objects in an image-assisted medical procedure, comprising:
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attaching a plurality of x-ray-opaque markers with a known geometry to each of at least two surgical objects; with an imaging apparatus, acquiring a two-dimensional x-ray image in which said at least two surgical objects, with said markers respectively attached thereto, are both shown; in a computerized processor, calculating, from said markers for each of said at least two surgical objects shown in said two-dimensional x-ray image, three-dimensional positions in space between the at least two surgical objects; and from said computerized processor, displaying the respective calculated three-dimensional positions of each of said at least two surgical objects in at least one of a virtual three-dimensional space and a modified x-ray image.
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16. A system for three-dimensional presentation of at least two separate surgical objects in an image-assisted medical procedure, comprising:
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an imaging apparatus that acquires a two-dimensional x-ray image in which at least two surgical objects are both shown; a computerized processor configured to access a three-dimensional model in electronic form respectively for each of said at least two surgical objects; said computerized processor being configured to determine, for each three-dimensional model, a plurality of two-dimensional projections of the three-dimensional model and to select the two-dimensional projection, from among said plurality of two-dimensional projections, that is best adapted to the showing of the respective surgical object in the two-dimensional x-ray image; said computerized processor being configured to calculate, for each of said at least two surgical objects, a three-dimensional position thereof for the selected best-adapted two-dimensional projection thereof; and said computerized processor being configured to display the respective calculated three-dimensional positions of each of said at least two surgical objects in at least one of a virtual three-dimensional space and a modified x-ray image.
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17. A system for three-dimensional presentation of at least two separate surgical objects in an image-assisted medical procedure, comprising:
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a plurality of x-ray-opaque markers with a known geometry to each of at least two surgical objects; an imaging apparatus that acquires a two-dimensional x-ray image in which said at least two surgical objects, with said markers respectively attached thereto, are both shown; a computerized processor configured to calculate, from said markers for each of said at least two surgical objects shown in said two-dimensional x-ray image, three-dimensional positions in space between the at least two surgical objects; and said computerized processor being configured to display the respective calculated three-dimensional positions of each of said at least two surgical objects in at least one of a virtual three-dimensional space and a modified x-ray image.
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18. A computerized processor for three-dimensional presentation of at least two separate surgical objects in an image-assisted medical procedure, comprising:
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a processor input supplied with a two-dimensional x-ray image in which at least two surgical objects are both shown; a calculation module configured to access a three-dimensional model in electronic form respectively for each of said at least two surgical objects; said calculation module being configured to determine, for each three-dimensional model, a plurality of two-dimensional projections of the three-dimensional model and to select the two-dimensional projection, from among said plurality of two-dimensional projections, that is best adapted to the showing of the respective surgical object in the two-dimensional x-ray image; said calculation module being configured to calculate, for each of said at least two surgical objects, a three-dimensional position thereof for the selected best-adapted two-dimensional projection thereof; a processor output; and said computation module being configured to produce and emit a data file, at said processor output, in a form that allows displaying the respective calculated three-dimensional positions of each of said at least two surgical objects in at least one of a virtual three-dimensional space and a modified x-ray image.
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19. A computerized processor for three-dimensional presentation of at least two separate surgical objects in an image-assisted medical procedure, comprising:
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a processor input supplied with a two-dimensional x-ray image in which at least two surgical objects are both shown with a plurality of x-ray-opaque markers with a known geometry attached to each of at least two surgical objects; a computation module configured to calculate, from said markers for each of said at least two surgical objects shown in said two-dimensional x-ray image, three-dimensional positions in space between the at least two surgical objects; and said computation module being configured to produce and emit a data file, at said processor output, in a form that allows displaying the respective calculated three-dimensional positions of each of said at least two surgical objects in at least one of a virtual three-dimensional space and a modified x-ray image.
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20. A non-transitory computer-readable storage medium encoded with programming instructions, said storage medium being loadable into a computerized processor and causing said computerized processor to:
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receive a two-dimensional x-ray image in which at least two surgical objects are both shown; access a three-dimensional model in electronic form respectively for each of said at least two surgical objects; for each three-dimensional model, determine a plurality of two-dimensional projections of the three-dimensional model and select the two-dimensional projection, from among said plurality of two-dimensional projections, that is best adapted to the showing of the respective surgical object in the two-dimensional x-ray image; calculate, for each of said at least two surgical objects, a three-dimensional position thereof for the selected best-adapted two-dimensional projection thereof; and cause the respective calculated three-dimensional positions of each of said at least two surgical objects to be displayed in at least one of a virtual three-dimensional space and a modified x-ray image.
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21. A non-transitory computer-readable storage medium encoded with programming instructions, said storage medium being loadable into a computerized processor and causing said computerized processor to:
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receive a two-dimensional x-ray image in which at least two surgical objects are both shown with a plurality of x-ray-opaque markers with a known geometry attached to each of at least two surgical objects; calculate, from said markers for each of said at least two surgical objects shown in said two-dimensional x-ray image, three-dimensional positions in space between the at least two surgical objects; and cause the respective calculated three-dimensional positions of each of said at least two surgical objects to be displayed in at least one of a virtual three-dimensional space and a modified x-ray image.
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Specification