Method and system for registering radiographic images and three-dimensional models of external fixation devices.

Abstract

To digitally determine the actual position and pose of a known collection of objects in a projected three-dimensional space lying above a digital two-dimensional radiographic space.SOLUTION: The method comprises digitally inputting a first digital radiographic image depicting the known collection of objects in the projected three-dimensional space lying above the two-dimensional radiographic space. The method also comprises utilizing depictions of the known collection of objects in the two-dimensional radiographic space in the first digital radiographic image to determine the actual position and pose of the known collection of objects in the projected three-dimensional space lying above the two-dimensional radiographic space.SELECTED DRAWING: Figure 3

Description

Cross - reference to related applications

[0001] This application claims the benefit of and incorporates by reference in its entirety U.S. Provisional Patent Application No. 62 / 702,378, entitled "Deformation Analysis Using Multiple Non - Orthogonal Radiographs", filed on Jul. 24, 2018.

Technical Field

[0002] The present disclosure generally relates to systems and methods for registering two - dimensional images (e.g., radiographic images) and three - dimensional models of deformable and / or orthopedic analysis and / or fixation devices (e.g., external fixation devices). The systems and methods determine the relative position and orientation / pose of an image of an anatomical structure of interest (e.g., two or more bone portions) and a known fixation device (e.g., an external fixation device such as a hexapod) fixed to the anatomical structure of interest. In some embodiments, the systems and methods determine the focus of an image, account for the projection distortion of the image, and create a coordinate transformation matrix.

[0003] The methods and systems of the present disclosure enable the generation of a fixation device (e.g., an external fixation device) for planning the movement of a bone portion to a desired position via a three - dimensional computer model of the bone portion and the fixation device. For example, by operating on the model, the desired position and orientation / pose of the bone portion and the adjustment of the fixation device to achieve such a desired arrangement can be determined quickly and accurately regardless of the initial configuration of the fixation device. Next, the operations necessary to create the desired position and orientation / pose of the bone portion may be performed on the corresponding fixation device and bone portion to achieve the desired position and orientation / pose. However, other than external fixation devices ​​​​​​​​​​​​​ The apparatus may be used in conjunction with this system and method. [Background technology]

[0004] Correction of orthopedic deformities typically involves at least one pair of X-ray images. Specifically, these radiographs of the patient are taken from the front to the back (AP) direction of the body and from the inside to the outside. Along the conventional line of the direction of (ML), or other orthogonal or known favorable land It is attempted to be photographed along a point (or a known difference between advantageous points). Conventionally Therefore, AP and ML radiographs are taken so as to be orthogonal to each other within the patient space or Assumed (the patient space is aligned with the X-axis from right to left, the Y-axis from front to back, and the Z-axis from bottom to top) (defined as being). Measurements are taken, and deformation axes and points are annotated in a pair of radiographs. Next, compare these measurements and annotations in a pair of radiographs, or otherwise. Therefore, the three-dimensional representation of the deformation is reconstructed so that the state can be modified by manipulating the deformation in some way. It is used for that purpose.

[0005] However, the inaccuracies in favorable locations of a pair of radiographs, and their interrelationships Due to the spatial relationship, the patient and the objects attached to them in the image (i.e., shown in the image) The representation of artifacts (that are produced) becomes inaccurate. Radiographs and other patient imaging techniques are such that It does not generate a complete image of the artifacts contained in the image. The relationship between facts and the actual objects being photographed is one aspect of perspective, and the objects that are close to the image are... The body is magnified less than a distant object. Furthermore, the patient's position relative to the focus of the imaging device... Since placement is done manually, the advantageous points in the image are perfectly aligned with the conventional line / advantage points. They are not (therefore, the pair of images are not truly orthogonal). These aspects of the images / in By not considering accuracy, the patient and / or associated with the image 3D reconstruction of an object does not represent its true nature.

[0006] As a result, it explains the uncertainty / inaccuracy of the images of parts of the patient and objects attached to them. A system and method are needed to construct a true 3D model of the object. Furthermore, for objects... The position and orientation / direction of images of parts of the patient and objects attached to them are determined for each image. A system and method are needed.

[0007] Certain aspects of the prior art have been discussed to facilitate the disclosure of the applicant's invention, The applicant never denies these technical aspects, and these inventions are based on one or more conventional technical It is thought that this could encompass various aspects.

[0008] In this specification, if any document, action, or knowledge item is referenced or discussed, this reference is used. The reference or discussion is based on the document, action, or knowledge item, or any combination thereof, and is based on the priority date. if it was publicly available, publicly known, part of common knowledge, or otherwise The prior art was based on legal provisions applied in the manner of, or, While acknowledging that the details are known to be related to attempts to resolve any problems that may arise, No. [Overview of the project]

[0009] The present invention can address one or more of the problems and defects in the art discussed above. However, the present invention addresses other problems and defects in many technical fields. It is considered that it can be proven to be useful for. Therefore, the claimed invention is not necessarily construed as being limited to addressing any of the specific problems or deficiencies discussed herein and should not necessarily be construed as being limited to addressing any of the specific problems or deficiencies discussed herein .

[0010] In some embodiments, the radiographic or other images of a portion of a patient and an object coupled thereto include the shadow of a three-dimensional object positioned / arranged in a posture on / under the image (e.g., the film of the radiographic image) when taken. The apparent position and direction of the source of the image source (e.g., the X-ray source) with respect to the image on which the shadow is cast are unknown . .

[0011] In an ideal world, the focus of the imaging device is a point source located at an infinite distance above and at the center of the image itself. In an ideal representation, the shadow in the image is a true two-dimensional projection of the actual three-dimensional object. If two such ideal images / representations are obtained and it is found that the images / representations are orthogonal to each other about a common axis, the two sets of two-dimensional data can be directly utilized to accurately reconstruct the three-dimensional model of the object and its position and orientation in space . . However, this is generally impossible considering that current state-of-the-art technologies in patient imaging (e.g., radiographic techniques including simple film radiographs) result in projection distortion as described above. Furthermore, the possibility that the images (e.g., radiographs) are taken exactly orthogonal to the trajectories of both image sources and orthogonal to each other about a common axis, for example,

[0012] when the actual patient is instructed to lie down / pose in a predetermined manner, taking into account all the variables associated with obtaining these images with an actual imaging device (e.g., an X-ray device) ​ Therefore, it's almost impossible.

[0013] The systems and methods of this disclosure have two main sources of error, namely, focal position and orientation, and To use the patient's orientation to ultimately correct / explain the actual perspective / favorable points of the image. This leads to many conclusions about the true three-dimensionality of objects in an image (and sometimes the image itself). Build the model.

[0014] Computer-based systems and methods include parts of an object attached to a patient (e.g., Projection distortion may be taken into account by determining the radiopaque portion, where The part has a specific shape and potential size (e.g., a spherical element), and is a single image (e.g. For example, it is a shadow projected onto a single radiation image (or per image). For example, this system The method involves numerous known parts of objects in the image, which exist as artifacts within the image. The shadow of the part, and the known relative shape and size of the part, and the part By utilizing the relationships between them, the appearance of the image source (e.g., an X-ray source for radiographic imaging) The focal position and orientation may be determined.

[0015] This system and method involves the center of the shadow, the center of the actual part that casts the shadow, and the focal point of the imaging device. Using multiple closed vector loops passing through point locations, we can determine the known portion of an object in image space. The position and orientation of the three-dimensional set may be determined. Multiple closed vector loops are determined. The system and method provide a set of known three-dimensional parts for an object in shadow image space. A transformation matrix can be constructed (i.e., row dimension, column dimension, and height dimension).

[0016] In a first aspect, the disclosure provides a method and system for utilizing a known set of objects. The shadow of the object is projected into the two-dimensional X-ray radiation space, and the projection is above the two-dimensional radiation space. This determines the actual position and orientation of a known set of objects in a computer-modeled three-dimensional space. To determine.

[0017] In some embodiments, the method and system utilize projection distortion to double the relative The ratio can be determined to assist in the reconstruction of the three-dimensional projection space. In some embodiments, This method and system are a real three-dimensional conditional model with a modified relative spatial arrangement. It can be reconstructed.

[0018] Certain embodiments of the systems and methods currently disclosed include several features. Often, one of those characteristics is solely responsible for those desirable attributes. No. Without limiting the scope of this system and method, their more prominent features Let me explain this briefly. After considering this discussion, in particular, the "form for carrying out the invention" as described herein. After reading the section titled "Concepts," the features of the various embodiments disclosed herein are as follows: You will understand how it offers many advantages over current cutting-edge technologies.

[0019] These and other features and advantages of the present invention are described in the appended claims and drawings. This will become clear from the following detailed description of various embodiments of the present invention taken in conjunction with the above.

[0020] The following explanation of this disclosure will be accompanied by the following drawings and diagrams, which are provided for ease of understanding. Therefore, they are not necessarily drawn to a consistent scale, and the same reference number can be used across various drawings. The same or similar elements or aspects retain their names and meanings across the board. [Brief explanation of the drawing]

[0021] [Figure 1] A perspective view of an exemplary external fixation device attached to an exemplary bone portion. [Figure 2] This is a front view of a two-dimensional radiographic image showing an exemplary external fixation device attached to an exemplary bone portion. [Figure 3] This is a perspective view of a constructed digital three-dimensional model, including a digital two-dimensional radiographic image and a digital three-dimensional model of an external fixation device, represented within the model in the correct relative position and orientation with respect to the determined focal point of the radiographic image. [Figure 4] This diagram shows an exemplary method for digitally registering radiographic images, along with a three-dimensional model of the external fixation device shown in the radiographic image. [Figure 5] This document presents an exemplary method for digitally constructing a coordinate transformation matrix that identifies the position and orientation of a radiographic image relative to a three-dimensional model of an external fixation device shown in the radiographic image. [Figure 6] This document illustrates an exemplary computer system that can be used to carry out aspects of this disclosure. [Figure 7] This document illustrates embodiments of computer program products that may incorporate this disclosure. [Modes for carrying out the invention]

[0022] Aspects, specific features, advantages, and further details of the present invention are shown in the accompanying drawings, not limited to those shown in the accompanying drawings. The invention will be described more fully below with reference to a specific embodiment. To avoid this, explanations of well-known materials, manufacturing tools, and processing techniques have been omitted. While detailed descriptions and specific examples illustrate embodiments of the present invention, they are illustrative examples. It should be understood that this is only given, and not limited to. The underlying invention The spirit and / or scope of the concept of various substitutions, modifications, additions, and / or arrangements are This disclosure will be obvious to those skilled in the art.

[0023] Referring first to Figure 1, the body tissues, for example, the first and second bone portions 102, 104 are , align and / or orient to promote the bonding or other healing of body tissues Yes, it is possible. Alignment and / or orientation of body tissues can be used with orthopedic external fixation devices. This can be achieved by connecting to an adjustable fixing device such as a fixing device 100. The fixation device remains outside the patient's body, but can be attached using, for example, minimally invasive mounting components. Multiple separate fixation platforms that can be attached to inconspicuous body tissues It can be equipped with components. Adjusting the spatial arrangement of the platforms relative to each other. As a result, each body tissue attached to it, for example, during the healing process, To facilitate bonding between them, reorient and / or otherwise align them with one another. This is possible. Use of external fixation devices in combination with the image analysis and placement techniques described herein. This could be advantageous.

[0024] The fixing members can be connected to each other via adjustable support columns or members, and the adjustable support columns are It is configured to facilitate the spatial rearrangement of the ratforms relative to each other. In the illustrated embodiment shown in Figure 1, the external fixation device 100 has at least one upper ring A pair of ring platforms in the form of a ring platform 106 and a lower ring platform 108 It comprises a platform or fixing member. Platform rings 106, 108 are the same It can be configured in the same or different way. For example, platform ring 106, 108 can have the same or different diameters. Similarly, platform rings Sections 106 and 108 can be constructed with various cross-sectional diameters and thicknesses. Fixing device 10 The fixing members of 0 are limited to the upper and lower platform rings 106 and 108 shown in the figure. It should be understood that the fixed device 100 is not fixed and can be constructed as an alternative. For example, it provides additional retaining rings to the upper ring platform 106 and / or lower It can be interconnected with the ring platform 108. Platform shape This is not limited to the ring, but includes at least one of the platforms, such as any or all of them. Furthermore, it should be understood that alternative constructions can be made using other suitable shapes. ru.

[0025] The first and second bone portions 102, 104 are connected to platform rings 106, 108. Each of them can be attached and / or joined using mounting members (not shown). The upper and lower platform rings 106 and 108 can be securely attached. Yes, it is possible. For example, the external fixation device can be placed on the upper and lower platforms 106 and 108. and to the first and second bone portions 102, 104 respectively (for example, directly or clanging) Mounting rods and (via a pin or any other mounting mechanism configuration) that are fixed or coupled / or may include mounting wires (not shown).

[0026] The mounting member is, for example, in the opening defined by platforms 106, 108. By joining these together, along the perimeter of platform rings 106 and 108 It can be detachably attached to platform rings 106 and 108 at predetermined points. It is possible. With respect to each platform 106, 108, mounting members and / or connections thereof. The combined mounting mechanism or component is located on the upper surface of the platform, the lower surface of the platform, Alternatively, they can be attached to any combination thereof. The configuration of the mounting member is as described above. It should be understood that it is not limited to any quantity. For example, any number of pins, wires, etc. Using any number of mounting members, the frame portion 102, as needed, 104 and each It can be fixed to platforms 106 and 108. In addition, one or more mounting The components are attached to platforms 106 and 108 without the use of intermediate or additional mounting mechanisms. It can be configured to be directly attached or coupled, or via a mounting mechanism Or, with the assistance or support of the mounting mechanism, to platforms 106, 108 It should be understood that the device may be configured to be installed indirectly.

[0027] As shown in Figure 1, the upper and lower platforms 106, 1 08 is connected to each other by multiple adjustable support columns or members 110. At least one of them, for example all of them, in the spatial arrangement of platforms 106, 108 and The postures can be configured to adjust to each other. For example, In the illustrated embodiment, the upper and lower platform rings 106, 108 are Six circumferentially spaced, length-adjustable supports extending (at least partially) between them. They are connected to each other at 110. Thus, the external fixation device 100 is connected to the hexapod or It can be equipped with a Stewart platform. However, the fixed device 100 The structure is not limited to the six support columns 110 in the illustrated embodiment, and more may be added as needed. Alternatively, it should be understood that fewer support posts (110) can be used.

[0028] As shown in Figure 1, one or more length-adjustable support posts 110 are connected via joints 116 The axial direction is rotatably coupled to one of the first and second platforms 106, 108. A slender, threaded rod portion 112 is connected in the direction, and via another joint 116, the first and A axially elongated bar rotatably coupled to the other of the second platform 106, 108 It may be equipped with a reel portion 114. The support column 110 has a threaded rod portion 112 that extends It is configured to extend through / into at least a portion of the barrel portion 114 in a retractable manner. As shown in 1, in some embodiments, the support column 110 is a first or second plug Arranged in pairs of oppositely facing support columns 110 joined to the same parts of form 106, 108. That's fine.

[0029] The threaded rod portion 112 and the barrel portion 114 are connected by the threaded rod portion 112 or the barrel portion. At least one part of the reel portion 114 rotates relative to the other parts, between them Adjust the relative axial position of the support column 110, and the overall axial length or total length It is screw-fastened to allow for adjustment (i.e., shortening or lengthening). In this way, the support column 100 is adjusted to form the first and second platforms 106, 1 The relative position and / or orientation / direction between 08 can be changed or altered. In this embodiment, as shown in Figure 1, the barrel portion 114 is a threaded rod portion 112 and barrel portion 114 are rotatable around their (aligned) axes (and potentially (and is translatable along it), and the overall length of the support assembly 110 can be adjusted (i.e., threaded) To adjust the telescopic position of the rod portion 112 and barrel portion 114, a threaded rod A barrel that is screw-fastened to at least a portion or other portion of the head portion 112 It may also include an adjustment knob configured to rotate part 114 relative to other parts. Meanwhile, the threaded rod portion 112 and the barrel portion 114 are connected to the threaded rod portion Adjust the axial orientation of 112 and barrel portion 114 to adjust the overall length of the support assembly 110 It may include any configuration or arrangement that allows adjustment of the first and second Adjusting the position of platforms 106 and 108 is done by adjusting the length of the adjustable support column 110. This is not limited to adjusting the length, and also applies to the first and second platforms 1 The relative positions of 06 and 108 are, for example, alternatively, connected to the fixed device 100. It is important to understand that this can be adjusted according to the type and / or number of joint members. It is.

[0030] Therefore, the axial length of each support assembly 110 can be adjusted independently. Adjustable length support posts 110 and they attach to platforms 106, 108. The universal joint 116 that can be attached is fixed by the Stewart Plattf More specifically, like a foam, callus lengthening ring system, hexapod, or te It allows it to function like an Iller Spatial Frame. Therefore, the support column By adjusting the length of 110, the spatial arrangement of platforms 106 and 108 can be adjusted. Therefore, the spatial arrangement of the bone portions 102 and 104 attached thereto can be changed. For example, in one non-limiting embodiment, the longitudinal axes of the bone portions 102, 104 are substantially Aligned with each other (for example, each of their ends adjacent to the others, e.g.) For example, changing the length of one or more supports 110 to promote bonding during the healing process. This results in the upper and lower platforms 106, 108, and thus coupled thereto The relative position and orientation of bone portions 102 and 104 may change.

[0031] Reconstruction of the first and second platforms 106, 108 of the orthopedic external fixation device 100 Using the arrangement, the angle formation, translation, rotation, or any of the angles of the body tissues 102, 104 is performed. The displacement of the combination can be corrected. Fixed equipment used using the technology described herein The device 100 can correct multiple such displacement defects individually or simultaneously.

[0032] As shown in Figure 1, the fixing device 100 has multiple reference markers 11 coupled to it. It may include 8. The reference marker 118 is a first or second fixed relationship with respect to each other. Platforms 106, 108, Platforms 106, 108, and support columns. It may be bonded to at least a portion of the 110. For example, the reference marker 118 is One or more adjacent support assemblies 110, such as the joint 116 of one or a pair of adjacent support assemblies 110 Even if placed in a fixed three-dimensional spatial relationship with respect to at least a portion of the column assembly 110 good.

[0033] The reference marker 118 has a specific shape that is different from that of the other components of the fixing device 100. It may also be of a different size. In this way, the shape and size of the reference marker 118 The is may be specific to the reference marker 118. Furthermore, at least one reference marker Kerr 118' may differ from other reference markers 118. For example, as shown in Figure 1. Therefore, one reference marker 118' is more than the other reference marker 118. It may be a small sphere. This allows the unique reference marker 118' to be joined to The specific platforms 106 and 108 that are being used are being used on other platforms 106 and 108 It can be identified or distinguished from the first. For example, the unique reference marker 118' is the first It may also be coupled to the upper platform 106, thereby (as described below) (i) In images of the fixing device 100, the second lower platform 108 is shown to the first This may be used to identify or estimate the upper platform 106.

[0034] As shown in Figure 1, in some embodiments, the reference marker 118 is a platform Extending from one of Form 106, 108, and / or 1 of the platform It may also include a spherical portion that is positioned in close proximity to or adjacent to it. In some embodiments, Reference marker 118 is located around platforms 106, 108 in a circumferential or angular direction. They may be placed at intervals in the direction. For example, each reference marker 118 may be placed on a pair of support posts 110 As such, in one of the same part or general area of ​​platform 106, 108 It may be fixedly coupled. As shown in Figure 1, the fixing device 100 thereby the first The upper platform 106 may include three reference markers 118, each Reference marker 118 connects to the first upper platform via each joint 116. It is located close to the ends of a pair of support assemblies 110 that are connected to the m 106. (As shown in Figure 1) In this manner, the fixing device 100 is thereby connected to the second lower platform 108. It may also include three combined reference markers 118, each of which reference markers 118 is A pair of support columns connected to the second upper platform 108 via joint 116. It is located close to the end of assembly 110.

[0035] The reference marker 118 is positioned so that it is visible when the fixing device 100 is imaged, such as in X-ray photography. It is composed of, for example, at least the (spherical) outer surface portion of the reference marker 118 is radiation It may be impermeable. This allows the reference marker 11 to be used, as will be further explained below. Using a predetermined or known position of 8, the image of the fixed device 100 (e.g., radiograph / X-ray images) from platforms 106, 108, and / or platform 10 6. The position and orientation of 108 can be identified or estimated.

[0036] Regarding the reference marker 118, imaging of the fixing device 100 (for example, its radiographic imaging) ) Before that, attach the components of the fixing device to specific pre-identified or known positions. It is possible to embed them within the components of the fixing device 100, or in any combination thereof. It is possible. The marker element is compared to the visibility of other components of the fixed device 100. In addition, the fixed device 100 can be configured to improve the visibility of the image. For example, The quasi-marker 118 can be constructed from different materials, such as radiopaque materials, or fixed. In the radiographic image of the device 100, they can be easily separated from other components of the reference marker 118. They may be constructed in shapes that distinguish them.

[0037] Referring here to Figures 2 to 4, the external fixation device (and the bone portion or Digital radiographic image 201 showing anatomical structures (such as other tissues) and external fixation shown. An exemplary method for digitally registering a three-dimensional model 300 of the device is shown. Alternatively, digital radiographic images of patients with external fixation devices attached to anatomical structures 20 Figure 2 shows 1. This means that the digital radiographic image 201 is (external fixation of the patient). External fixation device 200 (corresponding to the device) and platform 206 for external fixation device 200 , 208 anatomical structures (e.g., bone or other tissue parts) 202, 20 Includes a description of 4. The external fixation device 200 and a three-dimensional model 300 of the external fixation device on the patient. (Therefore, the external fixation device 200 shown in the illustration) is also shown in the radiographic image 201 of Figure 2. The configuration of method 400 for registration is shown in the flowchart of Figure 4. Furthermore, Figure 3 is , a digitally constructed model 325 of the digital radiographic image 201 and method 40 in Figure 4 The relative position of the three-dimensionally modeled external fixation device 300 constructed via 0 and A digital three-dimensional model 300 of the external fixation device for a patient in a given posture / direction (therefore, The external fixation device 200 illustrated in radiographic image 201 is also shown.

[0038] The external fixation device of the patient being imaged, and therefore the external fixation device 20 shown in image 201. The three-dimensional modeled external fixation device 300 of 0 and 3D model 325 is shown in relation to Figure 1. It may be the same or similar external fixation device as the external fixation device 100 described above. For example, an external fixation device of a patient being imaged, and therefore the external fixation shown in image 201. The three-dimensional model of the external fixation device 300 in the device 200 and the three-dimensional model 325 is shown in Figure 200. Compared to one external fixation device 100, one or more similar components, embodiments, functions, and processes and / or may include the function. Thus, the external fixation device 2 shown in Figure 201 Similar reference numbers starting with "2" for 00, and three-dimensionally modeled external fixation. Similar reference numbers beginning with "3" for device 300 are similar to those for external fixation device 100 in Figure 1. Used to indicate the components, aspects, functions, processes and / or functions of, and directed toward The above explanations apply equally and will not be repeated for the sake of brevity and clarity. For example, it is imaged in conjunction with the patient's anatomical structure, thereby as shown in image 201. The external fixation device 200 and the modeled external fixation device 300 are (digitally modeled) True or corrected relative position and appearance with respect to focus O of the deformed or identified image 201 (As shown in the three-dimensional model 325 along with image 201), at least two each At least a pair of first upper and second lower plates attached to the bone or tissue portion The platform consists of a foam board and six length-adjustable support columns extending between the platforms, and each platform A spherical reference marker located near the end of a pair of support columns on the platform (and identifies a specific platform) (and thus include a single criterion marker that identifies each platform) It may be configured as a xapod.

[0039] As shown in Figure 4, Method 400, in aspect 402, provides a first two-dimensional digital image Images, for example, as shown in Figure 2, of the first and second bone or tissue portions 202, 204 This may include inputting an image 201 of a patient showing an external fixation device 200 attached to the device. As shown in Figure 2, Image 201 is a depiction of the external fixation device 200 (reference marker depiction 2 (including 18) and may also include depictions of the first and second bone or tissue portions 202, 204. Image 201 is a digital radiographic image, or projection distortion, and unknown, inaccurate, or This may include any other two-dimensional image containing a misidentified viewpoint / focus. Fixing device 200 The depiction of the first and second bone or tissue portions 202, 204 shows the actual fixation device and the bone or If the tissue portion is located between the image detection surface and the focal point, the film or other image detection Equivalent to the actual fixation device and the imaged shadow of the bone or tissue portion projected onto the surface. It should be noted that there may be similar or other similar cases. Therefore, image 201 is a unique projection. Includes shadow distortion.

[0040] Image 201 may be digitally input by the user, or Image 201 may be taken It may be obtained from a sedative device (not shown). For example, the digital image 201 is an X-ray image, Computed tomography, magnetic resonance imaging, ultrasound, infrared imaging, photography, fluorescence fluoroscopy, visual imaging This can be obtained using a vector image, or any combination thereof. Image 20 1 is in any position and / or orientation relative to the actual fixation device and bone or tissue portion. It can be captured.

[0041] Method 400 involves inputting multiple images of the actual fixation device and the bone or tissue portion. It may include, thereby depicting external fixation devices from different perspectives and focuses 200 (base (Including quasi-marker depiction 218) and first and second bone or tissue portion depictions 202, 2 This includes method 400, which involves comparing, contrasting, or otherwise dividing images. Instead of analyzing them, each image may be processed separately or individually.

[0042] As shown in Figure 2, the exemplary digital input image 201 shows at least two bones The first upper and second lower platforms are attached to tissue portions 202 and 204, respectively. Form 206, 208, and Platform 206, 208 and on each platform Six length-adjustable sections extending between the ends of the pair of support columns and the spherical reference markers 218 located nearby. The support column 110 (and a specific platform, thus identifying each platform) It is possible to indicate one unique reference marker (218).

[0043] As shown in Figure 4, the actual digital dimensions of the external device can be digitally input in 404. For example, the user may have digital dimensions or the corresponding physical external device. You may enter one or more dimensions. For example, the diameter of the actual reference marker, each platform Corresponds to the actual code distance between reference markers on the frame, and the actual axial length of the support column. The digital dimensions may be digitally input. Method 400 is the distance and the actual axis of the support column. The distance between the corresponding reference markers at both ends of each support is determined by a known relationship with length. You may calculate it.

[0044] Referring to Figure 3, Method 400 relates to Image 201 and any focal point O, Using a three-dimensional model of the external fixation device 300 corresponding to the external fixation device, a three-dimensional model 325 may be digitally modeled or created. Three-dimensional model of wound support For the fixed device 300, the known AB, BC, CA and (via input digital dimensions) It has code distances DE, EF, and FD, and a known shape (via input digital dimensions). 318 318 are six radiopaque spherical reference markers that function as A, B, C, D, E, and F. They may be attached and configured as spatially arranged platforms 306, 308. Reference marker shapes A, B, and C are derived from reference marker shapes D, E, and F (input The spacing is known to be (through the digitally defined dimensions). Therefore, Figure 3 is This shows a 3x3 reference marker configuration, which represents the first and second platforms. This refers to the three matching reference markers located above 306 and 308, respectively. In this example, A The unique reference marker 318' shown is the same as the remaining reference markers 3 (all the same size). Less than 18. A unique reference marker 318'A is the first platform 306. Distinguished from the second platform 308, the first platform 30 in image space Distinguish between 6 rotations.

[0045] As shown in Figure 1, if the reference marker for the actual external fixation device is spherical, then Image 201 The reference marker depiction 218 within the image 201 relative to the reference marker is shown in Figure 2. It is spherical due to the positional relationship between the focal point O and the imaging plane. The elliptical base in image 201 The quasi-marker depiction 218 may include a relatively sharp outer edge, as shown in Figure 2. Method 400 406 is the elliptical reference marker depiction 21 in image 201, as shown in Figure 4. 8 can be digitally positioned. Method 400 is an elliptical reference marker drawing 21 You may also use the 8 shape edges, which were the source of the reference marker drawing 218 The reference marker is actually a point located and positioned somewhere on the shadow / depiction 218. It may be concluded that Method 400 also states that each actual reference marker is, as shown in Figure 3, Describe the line between the center of each elliptical reference marker drawing 218 and the focal point of the source in image 201. We can conclude that it lies on the vector.

[0046] Method 400 is an enlargement of each elliptical reference marker drawing 218, as shown in Figure 4, in 408. Through the coefficient, between each elliptical reference marker depiction 218 and the actual respective reference marker The relative distance between each elliptical reference marker depiction 218 and the image source or focus O. Distance can be further determined or related (or defined). Several implementation forms In this state, method 400 is the size and position of the elliptical reference marker depiction 218 in image 201. The location was identified and evaluated. In some embodiments, method 400 uses an elliptical reference marker. In relation to the digitally entered actual diameter of depiction 218, the digitally determined reference marker -The minor axis dimension of depiction 218 may be used, which is the relative distance between image 201 and focal point O. The distance and the height along the vector extending between the location of the actual reference marker are related. It may be done. In some embodiments, method 400 utilizes image resolution to digitally Initial image scale of reference marker depiction 218 relative to the actual size input in the barrel and It is possible to determine the relative size.

[0047] For example, method 400 digitally identifies the diameter of each elliptical reference marker drawing 218. Alternatively, measure (for example, identify the minor axis or average diameter of each elliptical reference marker drawing 218) (Measure) Each elliptical reference marker depicts a diameter of 218, corresponding to the actual reference marker The scaling factor for each elliptical reference marker depiction 218 is digitally determined in comparison to the actual diameter. Determined, and using the magnification factor, the reference marker depiction 218 in image 201 and the actual reference marker The relative distance between the carr and the reference marker depiction 218 and the image source or focus O Distance may be associated or described. Thereafter, method 400 uses each elliptical reference marker —Description 218: Digitally determined diameter, and the respective reference marks of the actual fixing devices. Using the actual diameter of the digitally inputted marker, reference marker drawing 218 and image source Alternatively, as a function of the distance between the focal point O and the actual reference, the elliptical reference marker depiction 218 and the actual reference. The relative distance to the marker may be determined or described. Thereafter, this method will determine each actual Regarding the reference marker, the distance from image 201 (for example, the distance extending perpendicularly from image 201) You may determine an equation, formula, or relationship for the distance along the Z-axis.

[0048] The distance between each elliptical reference marker drawing 218 and the actual reference marker is, This itself does not indicate the position and orientation of the image source or focal point O. Method 400 is the image source The distance between actual reference markers to determine the apparent focal position and orientation of the focal point or focal point O. You may use the input dimensions related to this.

[0049] As shown in Figure 3, this system and method are for image 201 and an arbitrary focal point O. Using a three-dimensional model of an external fixation device 300 that corresponds to an actual external fixation device, The three-dimensional model 325, which was created or is shown within the radiographic image 201, The position and orientation of the actual external fixation device corresponding to the external fixation device 200 may be determined. As shown in 3, the focus O is defined as any point floating in space above image 210.

[0050] Method 400 is 410, and as shown in Figures 3 and 4, each is based on Image 201. At the center of the marker drawing 218, the model of the three-dimensionally modeled external fixation device 300. The center of the reference marker 318, and at least two of the optionally selected focal positions O By constructing multiple closed vector loops that extend through or pass through, Numerical constraints may be defined. As a non-restrictive example, method 400 is as shown in Figure 3, P The first closed vector loop 330 of 1A-O-P2A-P1A, B2A-CE-P1A- The second closed vector loop 332 of B2A, and / or B0A-AB-B1A-BO A third closed vector loop 334 can be constructed.

[0051] Method 400 solves multiple closed vector loops in 412, as shown in Figure 4. For example, so that they collapse on their own and / or become equal to zero. , the actual reference markers of the external fixator (e.g., the X, Y, and Z coordinates in image 201) (In the target) Each node position A, B, C, D, E, F and the actual image 201 , true, or corrected (for example, in the X, Y and Z coordinates of image 201) ) The position of the focal point O can be determined. Each of the actual reference markers of the external fixator The node positions A, B, C, D, E, F and the actual focal point O position in image 201 are limited It should be noted that this can be determined using a closed vector loop of this magnitude. However, by using a relatively large number of such closed vector loops, the results can be combined. It can be improved quantitatively.

[0052] After determining all node positions A, B, C, D, E, F, and O in image space, In 414, method 400 is (via input dimensions) relative to image 201, as shown in Figure 4. Known (at least partially indicated by a set of spherical reference markers) actual external fixation A first coordinate transformation matrix (or coordinate transformation) suitable for the device can be constructed. Next, Method 400 is 414, and the inverse of the coordinate transformation matrix is ​​obtained, as shown in Figure 4, the actual wound fixing The position (e.g., X, Y, and Z positions) and orientation (i.e., X, It is possible to determine a second coordinate transformation matrix that defines or describes the directions in Y and Z. Cut.

[0053] In some embodiments, method 400 provides two suitable origins located at a common node. To determine the normal vector of a vector, a pair of suitable nodes on a common platform are used. A suitable first coordinate transformation may be constructed by determining the cross product of the exact vectors. For example, method 400 takes the cross product of AB and AC, thereby determining that AB and AC have their origin at A. A vector perpendicular to both AC can be determined. Then, method 400 results in We intersect the resulting vector with one of the previous suitable vectors, in this case (in the example above). It is defined by each selected node, as defined by ABC. (ru) A Cartesian coordinate system (i.e., coordinate transformation row) that indicates or describes a platform in image space. The columns can be determined. Once multiple closed vector loops are determined, method 400 This thereby changes the coordinates for the set of known actual reference markers in the shadow image space. You may define a conversion (i.e., determine the row dimension, column dimension, and height dimension).

[0054] Method 400 uses a second coordinate transformation matrix to create a three-dimensional model 300 of the actual external fixation. The digital 3D model 325, and the 3D model at the viewpoint or camera field of view of the image focus O. Create images 201 showing the relative position and orientation / direction of the modified external fixation device 300. This method allows rendering the three-dimensional model 300 and then rendering the three-dimensional model 30 Since 0 can be displayed to the user, the user can qualitatively inspect the three-dimensional model 300. Alternatively, review the three-dimensional model 300 constructed via method 400 in image 201. In contrast, it ensures that you are in the correct position and posture.

[0055] Regarding the digitally modeled external fixator 300 and image 201 in Figure 3, the second seat An example of constructing a target transformation matrix and the resulting coordinate transformation matrix is ​​shown in Figure 5. ru.

[0056] Using the determined coordinate system, Method 400 employs a consistent approach across each image. Then, using the set of known three-dimensional objects in each of multiple radiographic images, multiple This system can determine the coordinate transformation between any pair of images within an image. The method constructs the true three-dimensional position and orientation of a three-dimensional object using non-orthogonal or other methods. Correct the rotated pair of images, and therefore any other annotations made within the radiographic image. Measurements can also be described accurately.

[0057] This method and system applies method 400 to each of the multiple images 201 for each image. Using this method, all known reference markers (external fixation devices) within a larger patient space are noted. Multiple coordinate systems can be determined as described above.

[0058] As will be apparent to those skilled in the art, the present disclosure relates to hexapod and bone partial modeling. In the fields of external fixation devices and anatomical structure computer modeling, including the following areas It provides significant improvements. Furthermore, the inventions of this disclosure include the field of distortion correction of radiographic images, This invention provides significant improvements in the field of radiographic imaging. The invention of this disclosure also provides hexapod-like control. This provides significant improvements in the field of prescription regulations for external fixation devices, including the field of localized prescriptions.

[0059] Those skilled in the art will recognize that aspects of the present invention relate to systems, methods, and / or computer programs. It will be recognized that this can be embodied in the product. In some embodiments, aspects of the present invention This is entirely hardware-based, entirely software-based (e.g., firmware, resident software) (e.g., software, microcode), or a combination of software and hardware forms. These can be materialized, and all of these are generally referred to as "systems" in this specification. Includes circuits and / or modules.

[0060] Figure 6 shows a computer system for using one or more aspects of the present invention. Here is an example: Computer system 500 is used to additively manufacture articles. Computer systems in manufacturing and / or repair facilities for goods such as computer systems, and / or generate data used by AM equipment or devices to manufacture articles. It may be a computer system for that purpose. The computer system 500 in Figure 6 is Stores program code such as program code to execute the above process and / or suitable for execution via bus 520 to memory 504 Directly or indirectly It includes at least one processor 502 coupled to it. During operation, the processor 502 memory 504 From this, instructions for execution by the processor can be obtained. 504 This refers to local memory used during the actual execution of the program code, bulk storage. The page and program code must be searched from bulk storage during execution. To reduce the number of times it fails, temporary storage for at least some program code should be used. The provided cache memory may also be included. 504 A non-restrictive list of examples is, Disk drive, random access memory (RAM), read-only memory (ROM), erase Possible and programmable read-only memory (EPROM or flash memory), optical Fiber, portable compact disc read-only memory (CD-ROM), optical memory, magnetic Memory, including storage devices, or any suitable combination thereof. 504 , operating The 505 system effectively adjusts the circuit design to a digital layout, among other things. One or more executable programs, such as one or more computers, to perform the actions described in the details. It may also include a data program 506.

[0061] Input / output (I / O) devices 512, 515 (such as peripheral devices) are directly or via I / O The system may be connected via the controller 510. The network adapter 508 Furthermore, the system is connected to a computer system, and the computer system intervenes in private or private To connect to other computer systems via a brick network. This is possible. Modems, cable modems, and Ethernet cards are currently available in Thailand. This is just a small part of the P network adapter 508. For example, network adapter 508 facilitates the acquisition of data from a remote source in order to facilitate aspects of the present invention. I'll do that.

[0062] The computer system 500 has storage 516 with one or more databases. For example, non-volatile drives such as magnetic disk drives, optical disk drives, and tape drives It may be coupled to the storage area. Storage 516 is an internal storage device, and This may include connected storage or network-accessible storage. The computer program in page 516 is in memory 504 Loaded into, processor 50 This can be done by method 2.

[0063] The computer system 500 has fewer components than those shown in the illustration, as shown herein. No additional components, or several combinations of the illustrated components and additional components. It may include: Computer system 500 includes mainframes, servers, personal Computers, workstations, laptops, handheld computers, smartphones Phone, table, or other mobile device, telephony device, network Any computer such as appliances, virtualization devices, and storage controllers It may include a finding device.

[0064] Furthermore, the above process operates collaboratively as part of the computing environment. It may be executed by a computer system of 500.

[0065] In some embodiments, aspects of the present invention are embodied in a computer-readable medium. It may take the form of a computer program product. Computer-readable media may have a computer on it. It may integrate computer-readable program code. Various computer-readable media Alternatively, a combination of these may be used. For example, computer-readable media can be computer-readable. This may include readable storage media, examples of which include one or more electronic, magnetic, optical, or semiconductor storage media. This may include a system, apparatus, or device, or any suitable combination of the foregoing (but (but not limited to these). Examples of computer-readable storage media include, for example, one or more watts. Electrical connection with earpiece, portable computer diskette, hard disk or large capacity Storage devices, random access memory (RAM), read-only memory (ROM), and / Alternatively, it could be an erasable, programmable, read-only memory such as EPROM or flash memory. Memory, optical fiber, portable compact disc read-only memory (CD-ROM) , optical storage devices, magnetic storage devices (including tape devices), or any suitable combination of the above. This includes... Computer-readable storage media are instruction execution systems, devices, or processors. Program code for use by or in connection with devices such as S. It is defined to include tangible media that can contain or store. Therefore, the computer Program code stored in a computer-readable medium is a product containing program code ("Co It generates computer program products, etc.

[0066] Referring to Figure 7, in one example, the computer program product 600 is, for example, To provide and promote one or more aspects of the present invention, computer-readable program code One or more computer-readable media 602 on which means or logic 604 is stored Includes.

[0067] Programs contained in or stored on computer-readable media RAM code is used in computer systems (computers, computer systems, etc.). (including its components) and / or other devices are acquired and executed by the computer. To operate / function a data system, its components, and / or other devices in a specific way. It can be done. The program code can be wireless, wired, fiber optic, and / or wireless. It can be transmitted using any suitable medium, including (but not limited to) frequencies. A program for performing operations to carry out, achieve, or facilitate aspects of the present invention. The code may be written in one or more programming languages. In some embodiments, Programming languages ​​include object-oriented languages ​​such as C, C++, C#, and Java. / or including procedural programming languages. The program code is entirely user-conducted. On the computer, completely away from the user's computer, or partially away from the user's computer It may run on a computer, or partially on a remote computer. In some embodiments, The user's computer and the remote computer are connected via a local area network (L via a network such as an AN or a wide area network (WAN), and / or via an external computer (for example, using an Internet service provider) They communicate (via the internet).

[0068] In one example, the program code was obtained for execution by one or more processors. It contains one or more program instructions. Computer program instructions are used to manufacture machines. For example, it may be provided to one or more processors in one or more computer systems. When such a program instruction is executed by one or more processors, this Aspects of the invention, for example, the flowcharts and / or block diagrams described herein To perform, achieve, or facilitate the actions or functions described herein. Each block, or b, in the flowchart and / or block diagram shown and explained Regarding lock combinations, in some embodiments, computer program instructions This can be done.

[0069] The flowcharts and block diagrams shown and described with reference to the figures are in accordance with aspects of the present invention. Possible embodiments of a system, method, and / or computer program product —Shows the architecture, function, and operation. Therefore, these flowcharts and / or block diagrams illustrate methods, apparatus (systems), and / or components according to aspects of the present invention. It could be a computer program product.

[0070] In some embodiments, as described above, each block in the flowchart or block diagram The character can represent a module, part, or section of code, and is specified as a block. Includes one or more executable instructions for performing an operation and / or logical function. The actions / functions specified or performed by the block are different from those shown in the illustrations and / or descriptions. They may occur in a different order, or simultaneously with one or more other blocks, or partially / completely. You will understand that these can occur simultaneously. In fact, two of them appear in succession. These blocks may be executed simultaneously or in reverse order. Furthermore, each block in the block diagram and / or flowchart diagram, as well as the block A combination of blocks in a diagram and / or flowchart is a block diagram or block diagram. Alternatively, a dedicated hardware-based system that performs the actions / functions specified throughout the flowchart. This can be fully implemented by the system or in combination with computer instructions. .

[0071] Please understand that the above explanation is intended as an example and not as an limitation. Those skilled in the art will recognize the present invention as defined by the following claims and their equivalents. Without deviating from the general spirit and scope of this specification, numerous changes and modifications have been made herein. Positive actions may be taken. For example, the above embodiments (and / or their forms) may be combined with each other. They may be used together. Furthermore, certain situations or materials may deviate from their scope. Many modifications may be made to adapt the teachings to various embodiments without limitation. The dimensions and types of materials described in the details define the parameters of various embodiments. While this is the intention, these are merely examples and not limiting. (See above explanation) Considering this, many other embodiments will be obvious to those skilled in the art. The scope of the embodiments is as follows, with reference to the attached claims, if such claims are granted It should be determined along with the full range of equivalents.

[0072] The terms used herein are for the sole purpose of describing specific embodiments. This invention is not intended to limit the present invention. When used herein, the singular form "a" is used. "an" and "the" also include the plural form unless the context clearly indicates otherwise. It is intended to include, to provide (comprise) (and co (Any form of "comprise," such as "mprises" or "comprising") "to have" (and any form of "h" such as "has" or "having") ave), include (and includes or incl "Include" in any form such as "ding"), "contain" (or The word "contains" can be any form of "contains," such as "contains" or "containing." The terms ""), and other grammatical variations, are understood to be indefinite linking verbs. It will be understood. As a result, it will include one or more steps or elements (compr ises), has, includes, or includes (c The method or article (contains) owns one or more of those steps or elements. However, this is not limited to possessing only one or more of those steps or elements. to include, possess, or have one or more characteristics. The way or article that includes or contains The steps of the elements possess one or more of those features, but only one or more of those features. It is not limited to owning.

[0073] As used herein, "comprising" and "has" ", including, including, and Other grammatical variations of these include "consisting of" and "Consisting essentially of" Includes terminology.

[0074] As used herein, "essentially consisting of" The phrase "ntially of)" or its grammatical variations are the described features, integers, and It should be interpreted as specifying a step or component, but with one or more additional features. This does not exclude the addition of integers, steps, components, or groups thereof, but rather additional features, integers. , steps, components, or groups thereof are fundamental to the composition or method claimed. This applies only if the new characteristics are not substantially altered.

[0075] All publications cited herein are not described as if each individual publication were fully explained. It is specifically and individually indicated that something is incorporated herein by reference, as if by reference. As such, incorporated herein by reference.

[0076] Subject matter incorporated by reference is a substitute for any claim limitation unless otherwise specified. It is not considered to be so.

[0077] Where one or more scopes are referenced throughout this specification, each scope is a summary of the information presented. It is intended to be an abbreviation, and its scope is limited to whether the same thing is fully described herein. It is understood that this includes each discrete point within the range.

[0078] Although several aspects and embodiments of the present invention are described and illustrated herein, Alternative embodiments and models may be influenced by those skilled in the art to achieve the same objective. It has that characteristic. Therefore, the claims of this disclosure and the appended claims are intended to convey the true spirit of the invention and To cover all such further alternative aspects and embodiments that fall within the scope That is the intention.

Claims

1. It is a method, The procedure includes the step of digitally determining the actual position and orientation of a known set of objects from an orthopedic fixation device in a projected three-dimensional space above a digital two-dimensional radiography space, wherein the step of digitally determining is: The steps include: digitally inputting a first digital radiographic image showing the known set of objects in the projected three-dimensional space above the digital two-dimensional radiographic space; A step of measuring the measurement size of the depiction of the known collection of objects in the first digital radiation image, A step of comparing the known size of the known object set from the orthopedic fixation device with the measured size, The steps include defining multiple constraints by constructing multiple closed vector loops for the depiction of the known set of objects in the first digital radiation image, A step of solving the plurality of closed vector loops, wherein by solving the plurality of closed vector loops, the focal position of the first digital radiation image corresponds to the position of the image source when the first digital radiation image was captured. A step of determining the actual position and orientation of the known object collection in the projected three-dimensional space above the digital two-dimensional radiography space, using the size comparison and focal position. Methods that include...

2. The method according to claim 1, further comprising the step of utilizing the comparison to construct a three-dimensional model of the actual positions and orientations of the known set of objects in the projected three-dimensional space.

3. The method of claim 2, wherein the step of utilizing the comparison includes the step of digitally determining a relative magnification between the measured size of the depiction of the known object set in the first digital radiographic image and the known size of the known object set from the orthopedic fixation device in order to reconstruct the projected three-dimensional space.

4. The known collection of objects from the orthopedic fixation device includes a spherical reference marker, The measurement size corresponds to the diameter of the depiction of the reference marker in the first digital radiation image. The method according to claim 3, wherein the known size corresponds to the diameter of an actual reference marker from the orthopedic fixation device.

5. The first digital radiographic image further includes a depiction of at least one anatomical structure combined with the known collection of objects, The method according to claim 4, further comprising the step of constructing a three-dimensional model of the actual position and orientation of the at least one anatomical structure in the projected three-dimensional space.

6. The known set of objects includes the reference markers for the orthopedic fixation device, Each closed loop vector extends through the center of one object in the known set of objects, the center of one depiction in the depiction of the known set of objects, and an arbitrarily selected focus. The step of solving the plurality of closed loop vectors includes the step of determining the node position of the actual reference marker and determining the focal position. The method according to any one of claims 1 to 5.

7. The method according to any one of claims 1 to 6, wherein the step of determining the actual position and orientation of the known set of objects in the projected three-dimensional space above the digital two-dimensional radiographic space includes the step of constructing a coordinate transformation matrix that defines the position and orientation of the known set of objects relative to the first digital radiographic image.

8. A computer program product, It includes a computer-readable storage medium that is readable by one or more processing circuits and stores instructions for one or more processors to perform actions to digitally determine the actual position and orientation of a known set of objects from an orthopedic fixation device in a projected three-dimensional space above a digital two-dimensional radiography space, The aforementioned operation, The steps include: digitally inputting a first digital radiographic image showing the known set of objects in the projected three-dimensional space above the digital two-dimensional radiographic space; The steps include matching the depiction of the known object set in the first digital radiographic image with the same object from the known object set in the orthopedic fixation device, The steps include measuring the measurement size of the depiction of the known object collection in the first digital radiographic image, comparing the measurement size with the known size of the same object in the known object collection from the orthopedic fixation device, and determining the magnification factor and the focus of the first digital radiographic image. A step of determining the actual position and orientation of the known object collection in the projected three-dimensional space above the digital two-dimensional radiography space, using the measured size of the depiction of the known object collection in the digital two-dimensional radiography space and the focus of the first digital radiography image. Computer program products, including [this].

9. The computer program product according to claim 8, wherein the operation further includes the step of constructing a three-dimensional model of the actual positions and orientations of the known set of objects in the projected three-dimensional space.

10. The computer program product according to claim 8 or 9, wherein the step of determining the actual position and orientation of the known object set in the projected three-dimensional space above the digital two-dimensional radiography space by utilizing the measured size of the depiction of the known object set in the digital two-dimensional radiography space and the focus of the first digital radiography image includes the step of digitally determining a relative magnification between the measured size of the depiction of the known object set in the first digital radiography image and the known size of the known object set from the orthopedic fixation device in order to reconstruct the projected three-dimensional space.

11. The computer program product according to claim 10, wherein the operation further includes the step of determining a relationship between the first digital radiographic image and the depiction of the known set of objects by identifying a unique reference marker of the known set of objects in the first digital radiographic image.

12. The computer program product according to claim 11, wherein the first digital radiographic image further comprises a depiction of at least one anatomical structure combined with the known set of objects, and the operation further comprises the step of constructing a three-dimensional model of the actual position and orientation of the at least one anatomical structure in the projected three-dimensional space.

13. The computer program product according to any one of claims 8 to 12, wherein the known set of objects comprises reference markers for the orthopedic fixation device.

14. The computer program product according to any one of claims 8 to 13, wherein the operation further includes the step of constructing a coordinate transformation matrix that defines the position and orientation of the known object set relative to the first digital radiographic image, using the actual position and orientation of the known object set in the projected three-dimensional space above the digital two-dimensional radiographic space.

15. It is a system, Memory and At least one processor that communicates with the memory, To perform a method for digitally determining the actual position and orientation of a set of known spherical reference markers from an orthopedic fixation device in a projected three-dimensional space above a digital two-dimensional radiography space, the method includes program instructions executable by one or more processors via the memory, The aforementioned method, The steps include: digitally inputting a first digital radiographic image showing the set of known reference markers in the projected three-dimensional space above the digital two-dimensional radiographic space; The steps include matching the depiction of the set of known reference markers in the first digital radiographic image with the same reference markers from the set of known reference markers from the orthopedic fixation device, A step of measuring one of the minor axis or average diameter of the depiction of the set of known reference markers in the digital two-dimensional radiography space from the first digital radiographic image, A step of comparing the measured minor axis or measured average diameter of the depiction of the set of known reference markers with the known minor axis or average diameter of the set of known reference markers from the orthopedic fixation device that matches the depiction of the set of known reference markers, and determining a magnification factor used to determine the relative distance between the depictions of the set of known reference markers, A step of determining the actual position and orientation of the set of known reference markers in the projected three-dimensional space above the digital two-dimensional radiography space using the aforementioned magnification factor. A system that includes this.

16. The system according to claim 15, further comprising the step of comparing the measured minor axis or measured average diameter with the known diameter of the set of known reference markers to construct a three-dimensional model of the actual position and orientation of the set of known reference markers in the projected three-dimensional space above the digital two-dimensional radiography space.

17. The system according to claim 15 or 16, further comprising the step of utilizing the actual position and orientation of the set of known reference markers in order to reconstruct the projected three-dimensional space.

18. The system according to any one of claims 15 to 17, further comprising the step of determining a relationship between the first digital radiographic image and the depiction of the unique reference markers by identifying a unique reference marker of the set of known reference markers in the first digital radiographic image.

19. The system according to claim 18, wherein the first digital radiographic image further comprises a depiction of at least one anatomical structure coupled to the set of known reference markers, and the method further comprises the step of constructing a three-dimensional model of the actual position and orientation of the at least one anatomical structure in the projected three-dimensional space.

20. The system according to claim 18 or 19, wherein the common object of the set of known reference markers includes a reference marker having a smaller diameter than the other reference markers in the set of known reference markers.

21. The system according to any one of claims 15 to 20, further comprising the step of constructing a coordinate transformation matrix that defines the position and orientation of the set of known reference markers relative to the first digital radiographic image.

Images