Apparatus for C-arm calibration for 3D reconstruction in an imaging system utilizing planar transformation

• US 5,963,612 A
• Filed: 12/31/1997
• Issued: 10/05/1999
• Est. Priority Date: 12/31/1997
• Status: Expired due to Term

• Current Assignee: Siemens Medical Solutions USA Incorporated (Siemens AG)
• Original Assignee: Siemens Corporate Research Incorporated (Siemens AG)
• Inventors: Navab, Nassir
• Primary Examiner(s): Bruce, David Vernon
• Application Number:
  US09/001,503
• Time in Patent Office: 643 Days
• Field of Search: 378/4, 378/15, 378/17, 378/901
• US Class Current: 378/4
• CPC Class Codes: A61B 2017/22034 for gripping the obstruction or the tissue part from inside
• CPC Class Codes: A61B 2090/367 creating a 3D dataset from 2D images using position information
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 6/583 using calibration phantoms
• CPC Class Codes: G06T 11/005 Specific pre-processing for tomographic reconstruction, e.g. calibration, source positioning, rebinning, scatter correction, retrospective gating
• CPC Class Codes: Y10S 378/901 Computer tomography program or processor

Abstract

Apparatus for C-arm calibration for 3D reconstruction in an imaging system comprising an imaging source and an imaging plane, and utilizing a planar transformation for relating voxels in a voxel space and pixels in the imaging plane, comprises data storage apparatus for storing a definition of a source coordinate system in reference to the imaging source; data storage apparatus for storing a definition of a normal plane in the voxel space, not including the origin of the source coordinate system and being substantially normal to an optical axis from the source to the imaging plane; data storage apparatus for storing a definition of a relationship between the source coordinate system and another coordinate system, herein referred to as a world coordinate system, by transformation parameters; apparatus for identifying pixel location coordinates for a respective pixel corresponding to each voxel in the normal plane by utilizing planar to planar transformation parameters; data storage apparatus for storing a value of a filtered image at the respective pixel location; and a data processor for accumulating contributions corresponding to a plurality of image projections so as to thereby reconstruct the each voxel.

Claims

1. Apparatus for C-arm calibration for 3D reconstruction in an imaging system comprising an imaging source and an imaging plane, and utilizing a planar transformation for relating voxels in a voxel space and pixels in said imaging plane, said apparatus comprising:

data storage means for storing a definition of a source coordinate system in reference to said imaging source;

data storage means for storing a definition of a normal plane in said voxel space, not including the origin of said source coordinate system and being substantially normal to an optical axis from said source to said imaging plane;

data storage means for storing a definition of a relationship between said source coordinate system and another coordinate system, herein referred to as a world coordinate system, by transformation parameters;

apparatus for identifying pixel location coordinates for a respective pixel corresponding to each voxel in said normal plane by utilizing planar to planar or 2D to 2D transformation parameters;

data storage means for storing a value of a filtered image at said respective pixel location; and

a data processor for accumulating contributions corresponding to a plurality of image projections so as to thereby reconstruct said each voxel.

2. Apparatus for C-arm calibration in accordance with claim 1, including apparatus for forming said plurality of image projections as a succession of images as by rotation of an imaging C-arm.

3. Apparatus for C-arm calibration in accordance with claim 2, including data processing means for relating said transformation parameters to any of a change of coordinate center on said imaging plane, a rotation parameter, and horizontal and vertical scaling factors.

4. Apparatus for C-arm calibration in accordance with claim 3, including data processing means for relating said transformation parameters to a change of coordinate center on said imaging plane.

5. Apparatus for C-arm calibration in accordance with claim 1, including apparatus for performing a calibration step for determining and storing values for said transformation parameters.

6. Apparatus for C-arm calibration for 3D reconstruction in an imaging system comprising an imaging source and an imaging plane, said apparatus utilizing a planar transformation for relating voxels in a voxel space and pixels in said imaging plane, and comprising:

storage means for storing a definition of a source coordinate system in reference to said imaging source;

storage means for storing a definition of a normal plane in said voxel space, not including the origin of said source coordinate system and being substantially normal to an optical axis from said source to said imaging plane;

storage means for storing a definition of a relationship between said source coordinate system and another coordinate system, herein referred to as a world coordinate system, by transformation parameters;

data processing means for identifying pixel location coordinates for a respective pixel corresponding to each voxel by utilizing planar to planar transformation parameters;

storage means for storing a value of a filtered image at said respective pixel location;

data processing and storage means for accumulating contributions corresponding to a plurality of image projections so as to thereby reconstruct said each voxel;

data processing means for dividing said voxel space into a plurality of planes parallel to said normal plane;

data processing means for back projecting an image of a plurality of pixels on said image plane onto a set of coplanar voxels defining one of said plurality of parallel planes; and

data processing means for defining a relationship in said source coordinate system between each of said plurality of pixels and corresponding ones of said coplanar voxels so as to obtain a 2-dimensional mapping between points on said one of said plurality of parallel planes and pixels on said image plane.

7. Apparatus for C-arm calibration in accordance with claim 6, wherein said plurality of pixels on said image plane comprises at least 4 pixels.

8. Apparatus for C-arm calibration in accordance with claim 7, including data processing means for imaging 2 further voxels outside of said one of said plurality of parallel planes, whereby coordinate information is obtained defining a position for said source in terms of said 2-dimensional mapping.

9. Apparatus for C-arm calibration in accordance with claim 7 including data processing means for deriving values for said transformation parameters from said coordinate information.

10. Apparatus for C-arm calibration in accordance with claim 7 including data processing means for utilizing said 2-dimensional mapping to backproject onto said one of said plurality of said planes an image formed of pixels on said imaging plane.

11. Apparatus for C-arm calibration in accordance with claim 7 including data processing means for utilizing scaling information between planes of said plurality of planes and said 2-dimensional mapping to backproject onto another of said plurality of planes, other than said one, an image formed of pixels on said imaging plane.

21. Apparatus for C-arm calibration in accordance with claim 6 wherein said planes are of radiation transparent material.

22. Apparatus for C-arm calibration in accordance with claim 21 including a pattern of radiation opaque markers on ones of said plurality of planes.

23. Apparatus for C-arm calibration in accordance with claim 21 including a pattern of radiation opaque markers on ones of said normal plane and of said plurality of planes.

27. Apparatus for C-arm calibration in accordance with claim 6 wherein said planes are of radiation transparent material.

12. Apparatus for C-arm calibration. for 3D reconstruction in an imaging system comprising an imaging source and an imaging plane, said apparatus utilizing a planar transformation for relating voxels in a voxel space and pixels in said imaging plane, and comprising the steps of:

storage means for storing the definition of a source coordinate system in reference to said imaging source;

storage means for storing the definition a normal plane in said voxel space, not including the origin of said source coordinate system and being substantially normal to an optical axis from said source to said imaging plane;

storage means for storing the definition of a relationship between said source coordinate system and another coordinate system, herein referred to as a world coordinate system, by transformation parameters;

data processing means for identifying pixel location coordinates for a respective pixel corresponding to each voxel by utilizing planar to planar transformation parameters;

storage means for storing a value of a filtered image at said respective pixel location; and

data processing and storage means for accumulating contributions corresponding to a plurality of image projections so as to thereby reconstruct said each voxel;

data processing means for dividing said voxel space into a plurality of planes parallel to said normal plane;

data processing means for back projecting an image of a plurality of pixels on said image plane onto a set of coplanar voxels defining one of said plurality of parallel planes;

data processing means for defining a relationship in said source coordinate system between each of said plurality of pixels and corresponding ones of said coplanar voxels so as to obtain a 2-dimensional mapping between points on said one of said plurality of planes and pixels on said image plane.

13. Apparatus for C-arm calibration in accordance with claim 12, wherein said plurality of planes comprises 3 planes in addition to said normal plane.

14. Apparatus for C-arm calibration in accordance with claim 13, wherein said plurality of planes comprises 3 planes forming, together with said normal plane, an intersection along one line.

15. Apparatus for C-arm calibration in accordance with claim 13, wherein said plurality of planes and said normal planes are separated by consecutive angles of 45 degrees.

16. Apparatus for C-arm calibration in accordance with claim 12, wherein said plurality of pixels on said image plane comprises at least 4 pixels.

17. Apparatus for C-arm calibration in accordance with claim 16, including data processing means for imaging 2 further voxels outside of said one of said plurality of parallel planes, whereby coordinate information is obtained defining a position for said source in terms of said 2-dimensional mapping.

18. Apparatus for C-arm calibration in accordance with claim 17 including data processing means for deriving values for said transformation parameters from said coordinate information.

19. Apparatus for C-arm calibration in accordance with claim 18 including data processing means for utilizing said 2-dimensional mapping to backproject onto said one of said plurality of said planes an image formed of pixels on said imaging plane.

20. Apparatus for C-arm calibration in accordance with claim 19 including data processing means for utilizing scaling information between planes of said plurality of planes and said 2-dimensional mapping to backproject onto another of said plurality of planes, other than said one, an image formed of pixels on said imaging plane.

24. Apparatus for C-arm calibration in accordance with claim 12 wherein said planes are of radiation transparent material.

25. Apparatus for C-arm calibration in accordance with claim 24 including a pattern of radiation opaque markers on ones of said plurality of planes.

26. Apparatus for C-arm calibration in accordance with claim 24 including a pattern of radiation opaque markers on ones of said normal plane and of said plurality of planes.