SYSTEM AND METHOD FOR LEARNING-BASED 2D/3D RIGID REGISTRATION FOR IMAGE-GUIDED SURGERY
First Claim
1. A method of registering 3-dimensional digitized images to 2-dimensional digitized images during a medical procedure comprising the steps of:
- providing a pair of correctly-registered training images L={lr, lf} and their joint intensity distribution pl(ir, if), wherein ir and if are reference and floating images, respectively;
providing a pair of observed images O={or, of} and their joint intensity distribution po(ir, if);
mapping a marginal intensity distribution of the observed pair O={or, of} to a marginal intensity distribution of the training pair L={lr, lf}; and
estimating a set of parameters T that registers image of to image or by maximizing a weighted sum of a Jensen-Shannon divergence (JSD) of a joint intensity distribution of the observed pair and a joint intensity distribution of the training pair and a similarity measure between the observed images.
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Accused Products
Abstract
A method of registering 3-dimensional digitized images to 2-dimensional digitized images during a medical procedure includes providing a pair of correctly-registered training images L={lr, lf} and their joint intensity distribution pl(ir, if), wherein ir and if are reference and floating images, respectively, providing a pair of observed images O={or, of} and their joint intensity distribution po(ir, if), mapping a marginal intensity distribution of the observed pair O={or, of} to a marginal intensity distribution of the training pair L={lr, lf}, and estimating a set of parameters T that registers image of to image or by maximizing a weighted sum of a Jensen-Shannon divergence (JSD) of a joint intensity distribution of the observed pair and a joint intensity distribution of the training pair and a similarity measure between the observed images.
12 Citations
22 Claims
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1. A method of registering 3-dimensional digitized images to 2-dimensional digitized images during a medical procedure comprising the steps of:
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providing a pair of correctly-registered training images L={lr, lf} and their joint intensity distribution pl(ir, if), wherein ir and if are reference and floating images, respectively; providing a pair of observed images O={or, of} and their joint intensity distribution po(ir, if); mapping a marginal intensity distribution of the observed pair O={or, of} to a marginal intensity distribution of the training pair L={lr, lf}; and estimating a set of parameters T that registers image of to image or by maximizing a weighted sum of a Jensen-Shannon divergence (JSD) of a joint intensity distribution of the observed pair and a joint intensity distribution of the training pair and a similarity measure between the observed images. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of registering 3-dimensional digitized images to 2-dimensional digitized images during a medical procedure comprising the steps of:
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providing a pair of correctly-registered training images L={lr, lf} and their joint intensity distribution pl(ir, if), wherein ir and if are reference and floating images, respectively; providing a 3-dimensional (3D) image volume of a medical target; generating a 2D digitally reconstructed radiograph (DRR) from said 3D image volume of said medical target; generating a live 2-dimensional (2D) X-ray image of said medical target, wherein said DRR and said Z-ray image comprise pair of observed images O={or, of} to be registered; calculating a joint intensity distribution po(ir, if) of the observed images; and estimating a set of parameters T that registers image of to image or by maximizing a weighted sum of a Jensen-Shannon divergence (JSD) of a joint intensity distribution of the observed pair and a joint intensity distribution of the training pair and a similarity measure between the observed images, wherein said registration parameters T comprise six parameters that characterize a pose of said 3D image with respect to said 2D X-ray image. - View Dependent Claims (12)
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13. A program storage device readable by a computer, tangibly embodying a program of instructions executable by the computer to perform the method steps for registering 3-dimensional digitized images to 2-dimensional digitized images during a medical procedure comprising the steps of:
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providing a pair of correctly-registered training images L={lr, lf} and their joint intensity distribution pl(ir, if), wherein ir and if are reference and floating images, respectively; providing a pair of observed images O={or, of} and their joint intensity distribution po(ir, if); mapping a marginal intensity distribution of the observed pair O={or, of} to a marginal intensity distribution of the training pair L={lr, lf}; and estimating a set of parameters T that registers image of to image or by maximizing a weighted sum of a Jensen-Shannon divergence (JSD) of a joint intensity distribution of the observed pair and a joint intensity distribution of the training pair and a similarity measure between the observed images. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification