Method for marker-free automatic fusion of 2-D fluoroscopic C-arm images with preoperative 3D images using an intraoperatively obtained 3D data record

• US 7,010,080 B2
• Filed: 05/20/2004
• Issued: 03/07/2006
• Est. Priority Date: 05/20/2003
• Status: Active Grant

• Current Assignee: Siemens Healthineers AG (Siemens AG)
• Original Assignee: Siemens AG
• Inventors: Rahn, Norbert, Ritter, Dieter, Mitschke, Matthias
• Primary Examiner(s): BRUCE, DAVID VERNON
• Application Number:
  US10/850,499
• Publication Number:
  US 20050004454A1
• Time in Patent Office: 656 Days
• Field of Search: 378/4, 378/8, 378/15, 378/19, 378/901
• US Class Current: 378/8
• 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 6/504 for diagnosis of blood vessels, e.g. by angiography
• CPC Class Codes: A61B 6/5235 combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT
• CPC Class Codes: A61B 6/5247 combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
• CPC Class Codes: A61B 6/547 involving tracking of position of the device or parts of the device
• CPC Class Codes: G06T 2207/30004 Biomedical image processing
• CPC Class Codes: G06T 7/38 Registration of image sequences
• CPC Class Codes: Y10S 378/901 Computer tomography program or processor

Abstract

In a method and apparatus for automatic marker-free fusion (matching) of 2D fluoroscopic C-arm images with preoperative 3D images using an intraoperatively acquired 3D data record, an intraoperative 3D image is obtained using a C-arm x-ray system, image-based matching of an existing preoperative 3D image in relation to the intraoperative 3D image is undertaken, which generates a matching matrix of a tool plate attached to the C-arm system is matched in relation to a navigation system, a 2D fluoroscopic image to be matched is obtained, with the C-arm of the C-arm system in any arbitrary location, a projection matrix for matching the 2D fluoroscopic image in relation to the 3D image is obtained, and the 2D fluoroscopic image is fused (matched) with the preoperative 3D image on the basis of the matching matrix and the projection matrix.

Claims

1. A method for automatic marker-free matching of 2D fluoroscopic C-arm images with preoperative images using an intraoperatively acquired 3D record, comprising the steps of:

during a medical interventional procedure involving a region of a patient, intraoperatively obtaining a 3D image of the region using a C-arm x-ray system having a C-arm and having a tool plate attached to the C-arm x-ray system;

undertaking an image-based matching of an existing preoperative 3D image of the region, obtained prior to said medical interventional procedure, relative to the intraoperative 3D image, and thereby generating a matching matrix;

matching the tool plate relative to a navigation system;

obtaining a 2D fluoroscopic image using said C-arm x-ray system with said C-arm at any arbitrary position;

determining a projection matrix for matching said 2D fluoroscopic image to said 3D image; and

matching said 2D fluoroscopic image with said preoperative 3D image using said matching matrix and said projection matrix.

2. A method as claimed in claim 1 comprising, prior to said medical interventional procedure, obtaining said preoperative 3D image of said region.

3. A method as claimed in claim 1 comprising acquiring said projection matrix during a calibration of said C-arm x-ray system.

4. A method as claimed in claim 1 wherein said C-arm of said C-arm x-ray system exhibits deformation, and taking said deformation into account, using a look-up table, for determining said projection matrix.

5. A C-arm x-ray apparatus comprising:

a C-arm on which an x-ray source and a radiation detector are mounted adapted for irradiating a region of a patient during a medical interventional procedure;

a tool plate mounted to said C-arm;

a navigation system; and

a control and operating unit for operating said C-arm, said x-ray source and said radiation detector, and for receiving signals from said navigation system, for during a medical interventional procedure involving a region of a patient, intraoperatively obtaining a 3D image of the region using a C-arm x-ray system having a C-arm and having a tool plate attached to the C-arm x-ray system, undertaking an image-based matching of an existing preoperative 3D image of the region, obtained prior to said medical interventional procedure, relative to the intraoperative 3D image, and thereby generating a matching matrix, matching the tool plate relative to a navigation system, obtaining a 2D fluoroscopic image using said C-arm x-ray system with said C-arm at any arbitrary position, determining a projection matrix for matching said 2D fluoroscopic image to said 3D image, and matching said 2D fluoroscopic image with said preoperative 3D image using said matching matrix and said projection matrix.