Method for 2D/3D registration, computational apparatus, and computer program
First Claim
1. A method for registering a three-dimensional image data record of a target region of a patient with a two-dimensional x-ray image of the target region recorded in a recording geometry, wherein, after prescribing an initial transformation as a test transformation to be optimized, the method comprises:
- selecting at least one rigid reference structure with an associated contour, visible in the x-ray image, from anatomical structures contained in the image data record, which were established during an evaluation;
establishing a two-dimensional gradient x-ray image and a three-dimensional gradient data record of the image data record, wherein at least one two-dimensional gradient comparison image, which is forward projected in the recording geometry of the x-ray image using the test transformation, is established from the gradient data record;
finding a neighborhood in the gradient x-ray image from a plurality of neighborhoods extending about test points for a plurality of contour points in the gradient comparison image corresponding to initial points on the three-dimensional contour of the at least one selected reference structure in the recording geometry of the x-ray image, which neighborhood best corresponds to a local neighborhood of the contour point due to a comparison measure and extends about a comparison point;
establishing local two-dimensional displacement information by comparison of the contour points with the associated comparison points;
establishing movement parameters of a three-dimensional movement model describing a movement of the target region between recording of the image data record and the x-ray image from the local two-dimensional displacement information; and
establishing a registration transformation describing the registration by correcting the test transformation based on the movement parameters.
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Abstract
A method for registering a three-dimensional image data record of a target region of a patient with a two-dimensional x-ray image is provided. The method includes selecting at least one rigid reference structure with an associated contour; establishing a two-dimensional gradient x-ray image and a three-dimensional gradient data record of the image data record; finding a neighborhood in the gradient x-ray image from a plurality of neighborhoods extending about test points for a plurality of contour points; establishing local two-dimensional displacement information by comparison of the contour points with the associated comparison points; establishing movement parameters of a three-dimensional movement model describing a movement of the target region between recording of the image data record and the x-ray image from the local two-dimensional displacement information; and establishing a registration transformation describing the registration by correcting the test transformation based on the movement parameters.
14 Citations
34 Claims
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1. A method for registering a three-dimensional image data record of a target region of a patient with a two-dimensional x-ray image of the target region recorded in a recording geometry, wherein, after prescribing an initial transformation as a test transformation to be optimized, the method comprises:
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selecting at least one rigid reference structure with an associated contour, visible in the x-ray image, from anatomical structures contained in the image data record, which were established during an evaluation; establishing a two-dimensional gradient x-ray image and a three-dimensional gradient data record of the image data record, wherein at least one two-dimensional gradient comparison image, which is forward projected in the recording geometry of the x-ray image using the test transformation, is established from the gradient data record; finding a neighborhood in the gradient x-ray image from a plurality of neighborhoods extending about test points for a plurality of contour points in the gradient comparison image corresponding to initial points on the three-dimensional contour of the at least one selected reference structure in the recording geometry of the x-ray image, which neighborhood best corresponds to a local neighborhood of the contour point due to a comparison measure and extends about a comparison point; establishing local two-dimensional displacement information by comparison of the contour points with the associated comparison points; establishing movement parameters of a three-dimensional movement model describing a movement of the target region between recording of the image data record and the x-ray image from the local two-dimensional displacement information; and establishing a registration transformation describing the registration by correcting the test transformation based on the movement parameters. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32)
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33. An x-ray apparatus comprising:
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a radiation source; an x-ray detector configured to, with the radiation source, generate an x-ray image; and a control apparatus, wherein the control apparatus is configured to; select at least one rigid reference structure with an associated contour, visible in the x-ray image, from anatomical structures contained in an image data record, which were established during an evaluation; establish a two-dimensional gradient x-ray image and a three-dimensional gradient data record of the image data record, wherein at least one two-dimensional gradient comparison image, which is forward projected in a recording geometry of the x-ray image using a test transformation, is established from the gradient data record; find a neighborhood in the gradient x-ray image from a plurality of neighborhoods extending about test points for a plurality of contour points in the gradient comparison image corresponding to initial points on the three-dimensional contour of the at least one selected reference structure in the recording geometry of the x-ray image, which neighborhood best corresponds to a local neighborhood of the contour point due to a comparison measure and extends about a comparison point; establish local two-dimensional displacement information by comparison of the contour points with the associated comparison points; establish movement parameters of a three-dimensional movement model describing a movement of the target region between recording of the image data record and the x-ray image from the local two-dimensional displacement information; and establish a registration transformation describing the registration by correcting the test transformation based on the movement parameters.
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34. A computer program, when executed on a computational apparatus, is configured to:
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select at least one rigid reference structure with an associated contour, visible in an x-ray image, from anatomical structures contained in an image data record, which were established during an evaluation; establish a two-dimensional gradient x-ray image and a three-dimensional gradient data record of the image data record, wherein at least one two-dimensional gradient comparison image, which is forward projected in a recording geometry of the x-ray image using a test transformation, is established from the gradient data record; find a neighborhood in the gradient x-ray image from a plurality of neighborhoods extending about test points for a plurality of contour points in the gradient comparison image corresponding to initial points on the three-dimensional contour of the at least one selected reference structure in the recording geometry of the x-ray image, which neighborhood best corresponds to a local neighborhood of the contour point due to a comparison measure and extends about a comparison point; establish local two-dimensional displacement information by comparison of the contour points with the associated comparison points; establish movement parameters of a three-dimensional movement model describing a movement of the target region between recording of the image data record and the x-ray image from the local two-dimensional displacement information; and establish a registration transformation describing the registration by correcting the test transformation based on the movement parameters.
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Specification