Registration of fluoroscopic images of the chest and corresponding 3D image data based on the ribs and spine
First Claim
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1. A method to assist with registering 3D data with 2D fluoroscopic images of a thorax of a patient comprising the steps of:
- receiving a 2D fluoroscopic image data set of the thorax including an anatomical structure which is visible under fluoroscopy; and
approximating a candidate location of the anatomical structure based on the 2D fluoroscopic image data set;
receiving a 3D data set of the anatomical structure in the thorax; and
registering the 3D data set with the 2D fluoroscopic image data set based on the approximating step;
wherein the 3D data set is at least one data selected from the group comprising image data and model data; and
wherein the registering step comprises computing a 3D-projected location of the anatomical structure from the 3D data set, and matching the 3D-projected location of the anatomical structure from the 3D data set with the candidate location of the anatomical structure from the approximating step.
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Abstract
The present invention is a method to register 3D image data with fluoroscopic images of the chest of a patient. The ribs and spine, which are visible in the fluoroscopic images, are analyzed and a rib signature or cost map is generated. The rib signature or cost map is matched to corresponding structures of the 3D image data of the patient. Registration is evaluated by computing a difference between the fluoroscopic image and a virtual fluoroscopic projected image of the 3D data. Related systems are also described.
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Citations
23 Claims
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1. A method to assist with registering 3D data with 2D fluoroscopic images of a thorax of a patient comprising the steps of:
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receiving a 2D fluoroscopic image data set of the thorax including an anatomical structure which is visible under fluoroscopy; and approximating a candidate location of the anatomical structure based on the 2D fluoroscopic image data set; receiving a 3D data set of the anatomical structure in the thorax; and registering the 3D data set with the 2D fluoroscopic image data set based on the approximating step; wherein the 3D data set is at least one data selected from the group comprising image data and model data; and wherein the registering step comprises computing a 3D-projected location of the anatomical structure from the 3D data set, and matching the 3D-projected location of the anatomical structure from the 3D data set with the candidate location of the anatomical structure from the approximating step. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for evaluating a completed registration between a 2D fluoro image of the thorax and a 3D-based fluoro projection image computed from a 3D data set, the method comprising:
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estimating a 2D displacement motion between the 2D fluoro image and the 3D-based fluoro projection image; and computing a final displacement error based on the 2D displacement motion from the estimating step; and wherein the 2D displacement motion comprises a plurality of 2D displacement values, and the final displacement error is based on weighting at least one displacement value more than another. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16)
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17. A fluoroscopy assistance system to assist with registering 3D data with 2D fluoroscopic images of a thorax of a patient comprising a computer processor programmed to:
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receive a 2D fluoroscopic image data set of the thorax including an anatomical structure which is visible under fluoroscopy; receive a 3D data set of the thorax including the anatomical structure; computing a candidate signature representing the anatomical structure based on the 2D fluoroscopic image data and a virtual signature based on the 3D data set; register the 3D data set with the 2D fluoroscopic image data set based on the at least one of the candidate signature and the virtual signature; and computing a difference between the candidate signature of the anatomical structure and the virtual signature of the anatomical structure from the 3D data set wherein the anatomical structure is one structure selected from the group comprising a rib and spine; and wherein the 3D data set is at least one data selected from the group comprising image data and model data. - View Dependent Claims (18, 19, 20, 21, 22, 23)
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Specification