Method and system for roentgenography-based modeling
First Claim
Patent Images
1. A method of transforming a plurality of roentgenograms of an object into a 3-D model of the object using a data transformation server, the method comprising:
- receiving, using one or more processing devices of the data transformation server and from an x-ray imager, a first roentgenogram of an object disposed between an x-ray source and the x-ray imager in a first orientation, wherein the first roentgenogram is generated using the x-ray imager, wherein the first orientation comprises a first angular position of the object relative to an imaging axis, wherein the first roentgenogram includes a first image of;
the object; and
at least one reference marker having at least two fiducials, wherein the fiducials are separated by a fixed distance;
receiving, using the one or more processing devices and from the x-ray imager, a second roentgenogram of the object disposed between the x-ray source and the x-ray imager in a second orientation, wherein the second roentgenogram is generated using the x-ray imager, wherein the second orientation comprises a second angular position of the object relative to the imaging axis, and wherein the second roentgenogram includes a second image of;
the object; and
the at least one reference marker;
receiving, using the one or more processing devices and from the x-ray imager, an angular displacement corresponding to the difference between the first and second angular positions of the object relative to the imaging axis;
determining, using the one or more processing devices, a first 3-D position of the x-ray source with respect to the x-ray imager in the first orientation using the first image of the at least one reference marker;
determining, using the one or more processing devices, a second 3-D position of the x-ray source with respect to the x-ray imager in the second orientation using the second image of the at least one reference marker;
identifying, using the one or more processing devices, a first object outline of the imaged object in the first roentgenogram;
identifying, using the one or more processing devices, a second object outline of the imaged object in the second roentgenogram;
generating, using the one or more processing devices, a first 3-D object projection from the first outline of the imaged object to the first 3-D position of the x-ray source;
generating, using the one or more processing devices, a second 3-D object projection from the second outline of the imaged object to the second 3-D position of the x-ray source;
aligning, using the one or more processing devices, the first and second 3-D projections of the imaged object in a 3-D reference frame using the angular displacement; and
transforming, using the one or more processing devices, the first and second 3-D object projections into a 3-D model of the imaged object in the 3-D reference frame.
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Abstract
Modeling an object in 3-D space may be accomplished various embodiments disclosed herein. An exemplary method of creating a 3-D model includes receiving roentgenograms of an object and at least one reference marker. In some embodiments, the roentgenograms may each include an image of at least one object marker. The exemplary method may further include determining 3-D positions of the x-ray source using the images of the at least one reference marker. The location of the 3-D positions of the x-ray source may allow a 3-D model of the imaged object to be created.
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Citations
41 Claims
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1. A method of transforming a plurality of roentgenograms of an object into a 3-D model of the object using a data transformation server, the method comprising:
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receiving, using one or more processing devices of the data transformation server and from an x-ray imager, a first roentgenogram of an object disposed between an x-ray source and the x-ray imager in a first orientation, wherein the first roentgenogram is generated using the x-ray imager, wherein the first orientation comprises a first angular position of the object relative to an imaging axis, wherein the first roentgenogram includes a first image of; the object; and at least one reference marker having at least two fiducials, wherein the fiducials are separated by a fixed distance; receiving, using the one or more processing devices and from the x-ray imager, a second roentgenogram of the object disposed between the x-ray source and the x-ray imager in a second orientation, wherein the second roentgenogram is generated using the x-ray imager, wherein the second orientation comprises a second angular position of the object relative to the imaging axis, and wherein the second roentgenogram includes a second image of; the object; and the at least one reference marker; receiving, using the one or more processing devices and from the x-ray imager, an angular displacement corresponding to the difference between the first and second angular positions of the object relative to the imaging axis; determining, using the one or more processing devices, a first 3-D position of the x-ray source with respect to the x-ray imager in the first orientation using the first image of the at least one reference marker; determining, using the one or more processing devices, a second 3-D position of the x-ray source with respect to the x-ray imager in the second orientation using the second image of the at least one reference marker; identifying, using the one or more processing devices, a first object outline of the imaged object in the first roentgenogram; identifying, using the one or more processing devices, a second object outline of the imaged object in the second roentgenogram; generating, using the one or more processing devices, a first 3-D object projection from the first outline of the imaged object to the first 3-D position of the x-ray source; generating, using the one or more processing devices, a second 3-D object projection from the second outline of the imaged object to the second 3-D position of the x-ray source; aligning, using the one or more processing devices, the first and second 3-D projections of the imaged object in a 3-D reference frame using the angular displacement; and transforming, using the one or more processing devices, the first and second 3-D object projections into a 3-D model of the imaged object in the 3-D reference frame. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method of transforming a plurality of roentgenograms of an object into a 3-D model of the object using a data transformation server, the method comprising:
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receiving, using one or more processing devices of the data transformation server and from an x-ray imager, a first roentgenogram of an object disposed between an x-ray source and the x-ray imager in a first orientation, wherein the first roentgenogram is generated using the x-ray imager, wherein the first orientation comprises a first angular position of the object with respect to an imaging axis, wherein the imaging axis is parallel to the imager in the first orientation, wherein the first roentgenogram includes a first image of; the object; and at least one reference marker having at least two fiducials, wherein the fiducials are separated by a fixed distance; receiving, using the one or more processing devices and from the x-ray imager, a second roentgenogram of the object disposed between the x-ray source and the x-ray imager in a second orientation, wherein the second roentgenogram is generated using the x-ray imager, wherein the second orientation comprises a second angular position of the object with respect to the imaging axis, wherein the imaging axis is parallel to the imager in the second orientation and the second angular position of the object is orthogonal to the first angular position of the object, and further wherein the second roentgenogram includes a second image of; the object; and the at least one reference marker; determining, using the one or more processing devices, a first 3-D position of the x-ray source with respect to the x-ray imager in the first orientation using the first image of the at least one reference marker; determining, using the one or more processing devices, a second 3-D position of the x-ray source with respect to the x-ray imager in the second orientation using the second image of the at least one reference marker; identifying, using the one or more processing devices, a first object outline of the imaged object in the first roentgenogram; identifying, using the one or more processing devices, a second object outline of the imaged object in the second roentgenogram; generating, using the one or more processing devices a first 3-D object projection from the first outline of the imaged object to the first 3-D position of the x-ray source; generating, using the one or more processing devices, a second 3-D object projection from the second outline of the imaged object to the second 3-D position of the x-ray source; aligning, using the one or more processing devices, the first and second 3-D projections of the imaged object in a 3-D reference frame according to the orthogonal first and second angular positions of the object; and transforming, using the one or more processing devices, the first and second 3-D object projections into a 3-D model of the imaged object in the 3-D reference frame. - View Dependent Claims (16, 17)
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18. A method transforming a plurality of roentgenograms of an object into a 3-D model of the object using a data transformation server, the method comprising:
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receiving, using one or more processing devices of the data transformation server and from an x-ray imager, a first roentgenogram of an object disposed between an x-ray source and the x-ray imager in a first orientation, wherein the first roentgenogram is generated by the x-ray imager, wherein the first orientation comprises a first angular position of the object relative to an imaging axis, wherein the first roentgenogram includes a first image of; the object; at least one reference marker having at least two fiducials, wherein the fiducials are separated by a fixed distance; and at least one object marker attached to the object, wherein the object marker includes at least one fiducial of fixed dimensions; receiving, using the one or more processing devices and from the x-ray imager, a second roentgenogram of the object disposed between the x-ray source and the x-ray imager in a second orientation, wherein the second roentgenogram is generated by the x-ray imager, wherein the second orientation comprises a second angular position of the object relative to the imaging axis, and wherein the second roentgenogram includes a second image of; the object; the at least one reference marker; and the at least one object marker; determining, using the one or more processing devices, a first 3-D position of the x-ray source with respect to the x-ray imager in the first orientation using the first image of the at least one reference marker; determining, using the one or more processing devices, a second 3-D position of the x-ray source with respect to the x-ray imager in the second orientation using the second image of the at least one reference marker; generating, using the one or more processing devices, a first 3-D object marker projection from the at least one object marker in the first roentgenogram to the first 3-D position of the x-ray source; generating, using the one or more processing devices, a second 3-D object marker projection from the at least one object marker in the second roentgenogram to the second 3-D position of the x-ray source; aligning, using the one or more processing devices, the first and second 3-D object marker projections in a 3-D reference frame using the first and second object marker projections; identifying, using the one or more processing devices, a first object outline of the imaged object in the first roentgenogram identifying, using the one or more processing devices, a second object outline of the imaged object in the second roentgenogram generating, using the one or more processing devices, a first 3-D object projection from the first object outline to the first 3-D position of the x-ray source; generating, using the one or more processing devices, a second 3-D object projection from the second object outline to the second 3-D position of the x-ray source; aligning, using the one or more processing devices, the first and second 3-D object projections in the 3-D reference frame using the alignment of the first and second 3-D object marker projections in the 3-D reference frame; and transforming, using the one or more processing devices, the first and second 3-D object projections into a 3-D model of the imaged object in the 3-D reference frame. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
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34. A method of transforming a plurality of roentgenograms of an object into a 3-D model of the object using a data transformation server, the object being coupled to at least one ring of an orthopedic fixator, the at least one ring having a predetermined diameter, the method comprising:
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receiving, using one or more processing devices of the data transformation server and from an x-ray imager, a first roentgenogram of an object disposed between an x-ray source and the x-ray imager in a first orientation, wherein the first roentgenogram is generated by the x-ray imager, wherein the first orientation comprises a first angular position of the object relative to an imaging axis, wherein the first roentgenogram includes a first image of; the object; at least one reference marker having at least two fiducials, wherein the fiducials are separated by a fixed distance; and the ring; receiving, using the one or more processing devices and from the x-ray imager, a second roentgenogram of the object disposed between the x-ray source and the x-ray imager in a second orientation, wherein the second roentgenogram is generated by the x-ray imager, wherein the second orientation comprises a second angular position of the object relative to the imaging axis, wherein the second roentgenogram includes a second image of; the object; the at least one reference marker; and the ring; determining, using the one or more processing devices, a first 3-D position of the x-ray source with respect to the x-ray imager in the first orientation using the first image of the at least one reference marker; determining, using the one or more processing devices, a second 3-D position of the x-ray source with respect to the x-ray imager in the second orientation using the second image of the at least one reference marker; receiving, using the one or more processing devices, a first ring outline of the imaged ring in the first roentgenogram; generating, using the one or more processing devices, a first 3-D ring projection from the first ring outline in the first roentgenogram to the first 3-D position of the x-ray source; determining, using the one or more processing devices, a first ring position from the x-ray imager in the first orientation using the first 3-D ring projection and the fixed diameter of the ring; receiving, using the one or more processing devices, a second ring outline of the imaged ring in the second roentgenogram; generating, using the one or more processing devices, a second 3-D ring projection from the second ring outline in the second roentgenogram to the second 3-D position of the x-ray source; determining, using the one or more processing devices, a second ring position from the x-ray imager in the second orientation using the second 3-D ring projection and the fixed diameter of the ring; determining, using the one or more processing devices, the 3-D position of the ring with respect to the x-ray imager in the first and second orientations using the first and second ring outlines and the first and second ring positions; identifying, using the one or more processing devices, a first object outline of the imaged object in the first roentgenogram; generating, using the one or more processing devices, a first 3-D object projection from the first outline of the imaged object to the first 3-D position of the x-ray source; identifying, using the one or more processing devices, a second object outline of the imaged object in the second roentgenogram; generating, using the one or more processing devices, a second 3-D object projection from the second outline of the imaged object to the second 3-D position of the x-ray source; aligning, using the one or more processing devices, the first and second 3-D object projections in a 3-D reference frame using the 3-D positions of the ring with respect to the x-ray imager in the first and second orientations; and transforming, using the one or more processing devices, the first and second 3-D object projections into a 3-D model of the imaged object in the 3-D reference frame. - View Dependent Claims (35, 36, 37, 38, 39, 40, 41)
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Specification