METHOD AND SYSTEM TO ASSIST 2D-3D IMAGE REGISTRATION
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Abstract
Embodiments of the invention provide a system and method that is able to automatically provide a starting point for 2D to 3D image registration, without relying on human recognition of features shown in the 2D image. This is achieved by pre-processing the 3D data to obtain synthetically generated 2D images of those parts of the 3D data volume which will be used for registration purposes. Many different synthetically generated 2D images of the or each part of the 3D volume are produced, each from a different possible viewing direction. Each of these synthetic images is then subject to a feature extraction process to extract characterising feature data of the registration feature shown in the images. Once the feature extraction has been undertaken for each image, when registration is to be performed the real-time 2D image is processed by applying each of the sets of extracted features thereto, to try and identify which set best matches the registration features in the 2D image. For example, where a generalised Hough transform was used in the feature extraction, the R tables would be applied to the 2D image to obtain respective accumulation images. The accumulation images may then be ranked to identify which registration feature is shown in the 2-D image, and from which view direction. This gives the required information of which registration feature is being shown in the 2D image, and also the in-plane location and orientation. This information can then be used as a starting point for the 2D to 3D registration procedure.
16 Citations
40 Claims
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1-20. -20. (canceled)
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21. A method of determining a start position for a 2D to 3D image registration, the method comprising:
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a) obtaining characteristic feature sets characterising one or more registration features imaged in a plurality of synthetic 2D images, the plurality of synthetic 2D images having been generated from a 3D image data set, the synthetic 2D images containing the one or more registration features having been imaged according to a plurality of respective viewing parameters b) obtaining a 2D image to be registered with the 3D image data set; c) applying the characteristic feature sets to the obtained 2D image to locate one or more registration features therein; and d) determining which of the one or more characteristic features sets locate the one or more registration features in the obtained 2D image; wherein at least the viewing parameters relating to the synthetic image corresponding to the determined characteristic features sets provide information relating to a start position for a subsequent registration of the obtained 2D image to the 3D image data set. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 38, 40)
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37. An image guided surgical system, comprising:
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a 2D imaging system arranged in use to obtain a 2D image to be registered with a 3D image data set; and a processor, arranged in use to; a) obtain characteristic feature sets characterising one or more registration features imaged in a plurality of synthetic 2D images, the plurality of synthetic 2D images having been generated from the 3D image data set, the synthetic 2D images containing the one or more registration features having been imaged according to a plurality of respective viewing parameters; b) apply the characteristic feature sets to the obtained 2D image to locate one or more registration features therein; and c) determine which of the one or more characteristic features sets locate the one or more registration features in the obtained 2D image; wherein the viewing parameters relating to the synthetic image corresponding to the determined characteristic feature sets provide information relating to a start position for registration of the obtained 2D image to the 3D image data set. - View Dependent Claims (39)
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Specification