Methods and apparatus for registering CT-scan data to multiple fluoroscopic images
US5951475A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Sep 25, 1997 |
| Grant date | Sep 14, 1999 |
| Priority date | — |
| Expiry date | Sep 25, 2017 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S128/922
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A method and system is disclosed for registering two dimensional fluoroscopic images with a three dimensional model of a surgical tissue of interest. The method includes steps of: (a) generating, from CT or MRI data, a three dimensional model of a surgical tissue of interest; (b) obtaining at least two, two dimensional, preferably fluoroscopic, x-ray images representing at least two views of the surgical tissue of interest, the images containing radio-opaque markers for associating an image coordinate system with a surgical (robot) coordinate system; (c) detecting the presence of contours of the surgical tissue of interest in each of the at least two views; (d) deriving bundles of three dimensional lines that pass through the detected contours; and (e) interactively matching three dimensional points on three dimensional silhouette curves obtained from the three dimensional model with the bundles of three dimensional lines until the three dimensional model is registered within the surgical coordinate system to a predetermined level of accuracy. The step of iteratively matching includes steps of: defining a distance between surfaces of the model and a beam of three dimensional lines …
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.