US 9,811,913 B2
Method for 2D/3D registration, computational apparatus, and computer program
Anja Borsdorf, Adelsdorf (DE); and Jian Wang, Erlangen (DE)
Assigned to Siemens Healthcare GmbH, Erlangen (DE)
Filed by Anja Borsdorf, Adelsdorf (DE); and Jian Wang, Erlangen (DE)
Filed on May 11, 2016, as Appl. No. 15/151,670.
Claims priority of application No. 10 2015 208 929 (DE), filed on May 13, 2015.
Prior Publication US 2016/0335777 A1, Nov. 17, 2016
Int. Cl. G06K 9/00 (2006.01); G06T 7/00 (2017.01); A61B 6/03 (2006.01); A61B 6/00 (2006.01); G06F 19/00 (2011.01); G06T 7/33 (2017.01); G06T 7/12 (2017.01); G06T 7/269 (2017.01); A61B 90/00 (2016.01)
CPC G06T 7/0083 (2013.01) [A61B 6/032 (2013.01); A61B 6/4441 (2013.01); A61B 6/5223 (2013.01); A61B 6/5235 (2013.01); A61B 90/00 (2016.02); G06F 19/321 (2013.01); G06T 7/0012 (2013.01); G06T 7/12 (2017.01); G06T 7/269 (2017.01); G06T 7/33 (2017.01); A61B 6/487 (2013.01); A61B 2090/364 (2016.02); G06T 2207/10028 (2013.01); G06T 2207/10072 (2013.01); G06T 2207/10116 (2013.01); G06T 2207/10124 (2013.01); G06T 2207/30008 (2013.01)] 34 Claims
OG exemplary drawing
 
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.