Method for registering two-dimensional image data, computer program product, navigation method for navigating a treatment apparatus in the medical field, and computational device for registering two-dimensional image data

• US 8,218,843 B2
• Filed: 10/01/2008
• Issued: 07/10/2012
• Est. Priority Date: 10/01/2007
• Status: Expired due to Fees

• Current Assignee: Brainlab AG
• Original Assignee: Brainlab AG
• Inventors: Edlauer, Martin, Mezger, Uli, Essenreiter, Robert, Weiser, Manfred
• Primary Examiner(s): Midkiff, Anastasia
• Application Number:
  US12/243,148
• Publication Number:
  US 20090087063A1
• Time in Patent Office: 1,378 Days
• Field of Search: 382/128, 382/131, 382/132, 382/154, 382/276, 382293-298, 382/325, 378/162, 378/204, 378/205, 378/210, 378/901, 600/427
• US Class Current: 382/131
• CPC Class Codes: A61N 5/1049 for verifying the position of the patient with respect to the radiation beam
• CPC Class Codes: G06T 2207/10081 Computed x-ray tomography [CT]
• CPC Class Codes: G06T 2207/10121 Fluoroscopy
• 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

The present application relates to a method for registering two-dimensional image data, comprising the steps of:

• • providing a registered three-dimensional image data set of an object under examination;
  • providing a two-dimensional image data set of the object under examination which is to be registered;
  • generating synthetic two-dimensional image data sets of the object under examination from the three-dimensional image data set, wherein the synthetic two-dimensional image data sets to be generated are parameterized with regard to parameters which describe the two-dimensional image data set to be registered;
  • comparing the parameterized synthetic two-dimensional image data sets with the two-dimensional image data set to be registered, and finding the parameterized synthetic two-dimensional image data set having the greatest similarity to the two-dimensional image data set to be registered;
  • on the basis of this, ascertaining the spatial relationship between the two-dimensional image data set to be registered and the registered three-dimensional image data set, and thus registering the two-dimensional image data set.

Claims

1. A method for registering two-dimensional image data, comprising:

providing a three-dimensional image data set of an object under examination, said three-dimensional image data set registered to the object;

providing a two-dimensional image data set of the object under examination which is to be registered;

generating, using a processor, a plurality of synthetic two-dimensional image data sets of the object under examination from the three-dimensional image data set, wherein each of the generated synthetic two-dimensional image data sets is parameterized with regard to parameters corresponding to recording conditions of a virtual image capture device;

comparing, using a processor, each of the plurality of parameterized synthetic two-dimensional image data sets with the two-dimensional image data set, and finding a parameterized synthetic two-dimensional image data set of the plurality of parameterized two-dimensional image data sets having the greatest similarity to the two-dimensional image data set;

based on the synthetic two-dimensional image data set having the greatest similarity with the two-dimensional image data set, ascertaining the spatial relationship between the two-dimensional image data set and the registered three-dimensional image data set, thereby registering the two-dimensional image data set to the three-dimensional image data set.

2. The method in accordance with claim 1, wherein finding and comparing are performed using an iterative method.

3. The method in accordance with claim 1, wherein parameterization is performed using three parameters of translation and/or three parameters of rotation.

4. The method in accordance with claim 1, wherein parameterization is performed using at least one of focal length, scaling, or position of the center of the image.

5. The method in accordance with claim 1, further comprising inputting at least one parameter which describes the two-dimensional image data set.

6. The method in accordance with claim 1, further comprising outputting at least one of the parameters to be assigned to the parameterized synthetic two-dimensional image data set having the greatest similarity to the two-dimensional image data set.

7. The method in accordance with claim 1, wherein generating the plurality of synthetic two-dimensional image data sets comprises using an image-generating method that uses a conical or fanned ray as a detection ray to generate the plurality of synthetic two-dimensional image data sets.

8. The method in accordance with claim 7, wherein the two-dimensional image data comprises a fluoroscopic recording recorded by means of a C-arc apparatus, and wherein a conical ray is simulated as a detection ray to generate the plurality of synthetic two-dimensional image data sets.

9. The method in accordance with claim 7, wherein the two-dimensional image data set comprises a two-dimensional topogram recorded by a CT scanner, and wherein a fanned ray is simulated as a detection ray to generate the plurality of synthetic two-dimensional image data sets.

10. A non-transitory computer readable medium comprising computer executable instructions adapted to perform the method in accordance with claim 1.

11. A navigation method for navigating a treatment apparatus in the medical field, comprising

registering a two-dimensional image data set in accordance with the method in accordance with claim 1;

visually displaying a position of a treatment apparatus to be navigated, in the registered two-dimensional image data set;

positioning the treatment apparatus to be navigated with the aid of the visual display.

12. A computational device for registering two-dimensional image data, comprising:

an input unit configured to;

receive a three-dimensional image data set of an object under examination, the three-dimensional image data set registered to the object; and

receive a two-dimensional image data set of the object, the two-dimensional image data set to be registered to the object;

and a processing unit configured to;

generate a plurality of synthetic two-dimensional image data sets of the object from the three-dimensional image data set, wherein each of the generated synthetic two-dimensional image data sets are parameterized with regard to parameters corresponding to recording conditions of a virtual image capture device;

compare each of the plurality of parameterized synthetic two-dimensional image data sets with the two-dimensional image data set and to find a parameterized synthetic two-dimensional image data set of the plurality of two-dimensional image data sets having the greatest similarity to the two-dimensional image data set; and

based on the synthetic two-dimensional image data set having the greatest similarity with the two-dimensional image data set, ascertain the spatial relationship between the two-dimensional image data set and the registered three-dimensional image data set, and thereby registering the two-dimensional image data set to the three-dimensional image data set.