2D-3D image registration algorithm

A 2D-3D, registration algorithm technology, applied in the field of surgical navigation, can solve the problems of time-consuming, affecting the application of the algorithm, unable to obtain accurate results, etc., and achieve the effect of accurate registration results

Active Publication Date: 2021-01-15
NANJING TUODAO MEDICAL TECHNOLOGY CO LTD
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Since the target variable has 6 degrees of freedom (3 of which represent rotation and the other 3 represent translation), the traditional similarity evaluation algorithm based on templat

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  • 2D-3D image registration algorithm

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Embodiment Construction

[0039] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments.

[0040] The present invention is mainly applied in the CT perspective image registration of human vertebrae, figure 1 Be the flow chart of the present invention, as figure 1 As shown, the 2D-3D image registration algorithm of the present invention comprises steps:

[0041] (1) Scan the affected part of the patient (spine in this example) through the C-arm machine or CT machine to obtain a preoperative 3D image; automatically segment the preoperative 3D image to obtain a vertebral image, and then obtain the center point position of the vertebrae (ie The coordinates of the center point of the vertebra in the image coordinate system) and the bounding box (ie, the circumscribed cuboid of the vertebra);

[0042] (2) Use the C-arm machine or CT machine to perform anteroposterior and lateral perspective scans on the patient's affected area during t...

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Abstract

The invention discloses a 2D-3D image registration algorithm. The algorithm comprises the following steps: (1) scanning an affected part of a patient before an operation to obtain a preoperative 3D image; carrying out positive and lateral perspective scanning on the corresponding affected parts of the patient in an operation to obtain positive and lateral 2D perspective images; (2) constructing aspace model of intraoperative shooting positive and lateral perspective imaging equipment, and calculating and obtaining an initial pose of the preoperative 3D image in the space model according to the step (1); (3) generating a positive side position DRR image of the preoperative 3D image by adopting the space model constructed in the step (2), and carrying out template matching on the positive side position DRR image and the corresponding intraoperative 2D perspective image to obtain a rough matching transformation pose of the preoperative 3D image; and (4) performing accurate optimization matching by using a gradient descent optimization algorithm to obtain a final transformation pose of the preoperative 3D image. According to the method, rough matching is carried out by adopting template matching, and then the optimal result is obtained by using the gradient descent optimization algorithm, so that a very accurate registration result can be obtained while the registration speed is ensured.

Description

technical field [0001] The invention relates to the technical field of surgical navigation, in particular to a registration algorithm for 3D CT images and 2D perspective images. Background technique [0002] The 3D CT image and 2D perspective image registration algorithm calculates the pose transformation value between the 3D CT image and the 2D perspective image, which is used to integrate preoperative information (CT-based surgical planning data) into the image-guided placement surgery. In intraoperative X-ray projection images to improve the accuracy of reaching the target position. The current algorithm implementation usually uses 3D CT images to generate 2D DRR (Digital Reconstruction Radiology) images, calculates the similarity between DRR images and fluoroscopic images, and finds a certain pose of CT so that the generated DRR images and fluoroscopic images have the best similarity. Since the target variable has 6 degrees of freedom (3 of which represent rotation and...

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Application Information

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IPC IPC(8): G06T7/33
CPCG06T2207/10081G06T2207/10116G06T2207/30004G06T7/33
Inventor 程敏汤翔
Owner NANJING TUODAO MEDICAL TECHNOLOGY CO LTD
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