Method and device for registering 2D projection images relative to a 3D image data record

• US 7,689,019 B2
• Filed: 05/19/2006
• Issued: 03/30/2010
• Est. Priority Date: 05/19/2005
• Status: Active Grant

• Current Assignee: Siemens Healthineers AG (Siemens AG)
• Original Assignee: Siemens AG
• Inventors: Rahn, Norbert, Boese, Jan
• Primary Examiner(s): Lu; Tom Y
• Application Number:
  US11/437,089
• Publication Number:
  US 20060262970A1
• Time in Patent Office: 1,411 Days
• Field of Search: 382/128, 382/131, 382/132, 382/154, 600/407, 600/424, 600/428
• US Class Current: 382/128
• CPC Class Codes: G03B 42/023 Apparatus for indirect X-ray cinematography, i.e. by taking pictures on ordinary film from the images on the fluorescent screen by transforming the picture information intermediately into electrical signals G03B27/725
• CPC Class Codes: G06T 2207/30048 Heart; Cardiac
• CPC Class Codes: G06T 2207/30101 Blood vessel; Artery; Vein; Vascular
• CPC Class Codes: G06T 7/33 using feature-based methods
• CPC Class Codes: G06T 7/38 Registration of image sequences
• CPC Class Codes: Y10S 128/922 including image analysis

Abstract

The invention relates to a method and a device for registering 2D projection images of an object relative to a 3D image data record of the same object, in which, from just a few 2D projection images, a 3D feature contained in an object, which is also identifiable in the 3D images, is symbolically reconstructed. The 3D feature obtained in this way is then registered by 3D-3D registration with the 3D image data record.

Claims

1. A method for registering a plurality of 2D projection images of an object relative to 3D image data record of the object, comprising:

recording the plurality of 2D projection images of the object from a plurality of projection angles;

spatially and symbolically reconstructing a 3D model of a target structure of the object by a computing device from the 2D projection images using a model function,

wherein the 3D model of the target structure is identifiable both in the 3D image data record and in the 2D projection images; and

registering the 3D model of the target structure relative to the 3D image data record using a 3D-3D registration in which the target structure in the 3D image data record is harmonized with the 3D model of the target structure,

wherein a relationship is established by the registration between the coordinate system of the 3D image data record and the coordinate system of the 2D projection images.

2. The method as claimed in claim 1, wherein the target structure is first identified in the 3D image data record and is then harmonized with the reconstructed 3D model of the target structure using the 3D-3D registration.

3. The method as claimed in claim 1, wherein a specific feature of the target structure is extracted from the 3D image data record which is harmonized with a corresponding feature of the 3D model during the 3D-3D registration.

4. The method as claimed in claim 3, wherein the specific feature of the target structure is selected from the group consisting of:

form, surface, and centerline.

5. The method as claimed in claim 1, wherein the 3D-3D registration is a voxel-based registration using a measure of similarity for a degree of harmonization between the 3D model and the 3D image data record.

6. The method as claimed in claim 1, wherein the object is a part of a human or animal body and the target structure is an anatomical target structure.

7. The method as claimed in claim 6, wherein the anatomical target structure is a section of a vessel or a bone.

8. The method as claimed in claim 1, wherein the 2D projection images are x-ray fluoroscopy images.

9. The method as claimed in claim 1, wherein a result of the 3D-3D registration of the 3D model relative to the 3D image data record is used to register further 2D projection images of the object from any projection angles to the 3D image data record of the object.

10. The method as claimed in claim 1, wherein the steps of recording, spatially reconstructing, and registering are repeated after a movement of the object during a surgical intervention.

11. The method as claimed in claim 1, wherein the object is subject to a periodic movement, and the 2D projection images are recorded in a same movement state of the object in which the 3D image data record was recorded.

12. The method as claimed in claim 11, wherein the periodic movement of the object is breathing or heartbeat.

13. The method as claimed in claim 1, wherein the 3D image data record is recorded prior to the 3D-3D registration by the method selected from the group consisting of:

computer tomography, computer tomography angiography, magnetic resonance tomography, 3D ultrasound, and positron emission tomography.

14. The method as claimed in claim 1, wherein the model function is iteratively adapted from the 2D project images until a predetermined match is achieved in the spatial reconstruction of the target structure.

15. The method as claimed in claim 1, wherein the 2D projection images are intra-operatively recorded and the 3D image data record is pre-operatively recorded.

16. A device for registering a plurality of 2D projection images of an object relative to a 3D image data record of the object, comprising:

an x-ray device for recording a plurality of 2D projection images of the object from a plurality of projection angles;

a data memory for storing the 2D projection images of the object and the 3D image data record of the object; and

a computing device for;

spatially and symbolically reconstructing a 3D model of a target structure of the object from the 2D projection images using a model function that the 3D model of the target structure is identifiable both in the 3D image data record and in the 2D projection images, and

registering the 3D model of the target structure relative to the 3D image data record using a 3D-3D registration in which the target structure in the 3D image data record is harmonized with the 3D model.

17. The device as claimed in claim 16, wherein an x-ray device is used for recording the 2D projection images.

18. The device as claimed in claim 17, wherein the x-ray device is a C-arm monoplane device and the 2D projection images are fluoroscopy images recorded with a plurality of angulations of the C-arm.

19. The device as claimed in claim 17, wherein the x-ray device is a biplane x-ray device with which two of the 2D projection images are recorded simultaneously.

20. The device as claimed in claim 16, wherein the device comprises a display device for displaying a spatially correlated presentation of the 3D image data record with the 2D projection images of the object.