Method for navigating in the interior of the body using three-dimensionally visualized structures
First Claim
1. Method for navigating in the interior of the body using three-dimensionally visualized structures, comprising the following steps:
- providing at least two two-dimensional images (50, 50′
) of the same anatomical object (12) from different perspectives and also of information which makes it possible to draw a conclusion about the respective spatial position of an imaging system (26) relative to the anatomical object (12);
defining a projection (76, 76′
, 78, 78′
) of a geometrical structure (72, 80, 82) to be visualized or a part thereof in each two-dimensional image, wherein the geometrical structure (72, 80, 82) to be visualized is different from the anatomical object (12);
generating a conical surface (40, 40′
) in space for every image (50, 50′
), wherein the spatial positions of cone vertex (46, 46′
) and cone directrix are determined from the respective spatial position of the imaging system (26) and the shape of the cone directrix is determined from the shape of the projection (76, 76′
, 78, 78′
) of the geometrical structure (72, 80, 82) to be visualized;
forming a spatial intersection of the individual conical surfaces (40, 40′
) to determine the geometrical structure (72, 80, 82); and
displaying the geometrical structure (72, 80, 82) determined and/or an intersection (74) of a plurality of geometrical structures (72, 80, 82) determined and using the representation for navigation.
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Accused Products
Abstract
A method is described for navigating in the interior of the body using three-dimensionally visualized structures. In a first step of the method, at least two two-dimensional images of the same anatomical object are provided from different perspectives, and also items of information that make it possible to draw conclusions about the respective spatial position of an imaging system relative to the anatomical object. The projections of a geometrical structure to be visualized are then created in every two-dimensional image, wherein a geometrical structure to be visualized is created in each two-dimensional image, wherein the geometrical structure to be visualized is different from the anatomical object. A cone surface is then generated in space for each image wherein the spatial positions of the cone vertex and cone directrix are determined from the respective spatial position of the imaging system and the shape of the cone directrix is determined from the shape of the projection of the geometrical structure to be visualized on the image. Finally, a spatial intersection of the individual cone surfaces is formed to determine the geometrical structure and the geometrical structure determined and/or an intersection of a plurality of geometrical structures determined are/is represented and the representation is used for navigation.
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Citations
13 Claims
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1. Method for navigating in the interior of the body using three-dimensionally visualized structures, comprising the following steps:
-
providing at least two two-dimensional images (50, 50′
) of the same anatomical object (12) from different perspectives and also of information which makes it possible to draw a conclusion about the respective spatial position of an imaging system (26) relative to the anatomical object (12);defining a projection (76, 76′
, 78, 78′
) of a geometrical structure (72, 80, 82) to be visualized or a part thereof in each two-dimensional image, wherein the geometrical structure (72, 80, 82) to be visualized is different from the anatomical object (12);generating a conical surface (40, 40′
) in space for every image (50, 50′
), wherein the spatial positions of cone vertex (46, 46′
) and cone directrix are determined from the respective spatial position of the imaging system (26) and the shape of the cone directrix is determined from the shape of the projection (76, 76′
, 78, 78′
) of the geometrical structure (72, 80, 82) to be visualized;forming a spatial intersection of the individual conical surfaces (40, 40′
) to determine the geometrical structure (72, 80, 82); anddisplaying the geometrical structure (72, 80, 82) determined and/or an intersection (74) of a plurality of geometrical structures (72, 80, 82) determined and using the representation for navigation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. Method for navigating in the interior of the body using three-dimensionally visualized structures, comprising the following steps:
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providing at least two two-dimensional X-ray images (50, 50′
) of the same bone (12) from different perspectives, of information that makes it possible to draw conclusions about the respective spatial position of an X-ray imaging system (26) relative to the bone (12), and also a magnetoresonance data set of the bone (12);defining a projection (76, 76′
, 78, 78′
) of a surface or of an outline of the spongiosa of the bone (12) in every two-dimensional X-ray image;generating a conical surface (40, 40′
) in space for every image (50, 50′
), wherein the spatial positions of cone vertex (46, 46′
) and cone directrix are determined from the spatial position of the imaging system (26) and the shape of the cone directrix is determined from the shape of the defined projection;forming a spatial intersection of the individual cone surfaces (40, 40′
) to determine a first model of the spongiosa;determining a second model of the spongiosa from the magnetoresonance data set; generating a representation of the bone (12) by combining the two models and use of the representation for the purpose of navigation.
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Specification
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- Resources
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Current AssigneeStryker European Operations Holdings, LLC (Stryker Corporation)
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Original AssigneeStryker Leibinger GmbH & Co. KG (Stryker Corporation)
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InventorsRoth, Michael, de la Barrera, Jose, Schweikard, Achim, Doetter, Manfred
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Primary Examiner(s)Jaworski; Francis J.
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Application NumberUS10/089,357Publication NumberTime in Patent Office2,002 DaysField of Search600/407, 600410-411, 600/425, 600/427, 378/4, 378/11, 378/21, 382/131, 382/174US Class Current600/407CPC Class CodesA61B 2034/105 Modelling of the patient, e...A61B 2034/107 Visualisation of planned tr...A61B 2034/2055 Optical tracking systemsA61B 2034/2068 using pointers, e.g. pointe...A61B 2090/364 Correlation of different im...A61B 2090/367 creating a 3D dataset from ...A61B 34/10 Computer-aided planning, si...A61B 34/20 Surgical navigation systems...A61B 34/25 User interfaces for surgica...A61B 90/36 Image-producing devices or ...G06T 15/20 Perspective computationG06T 19/003 Navigation within 3D models...G06T 2207/10088 Magnetic resonance imaging ...G06T 2207/10112 Digital tomosynthesis [DTS]G06T 2207/30008 BoneG06T 2210/41 MedicalG06T 7/564 from contoursG06T 7/593 from stereo images
