The application discloses a kind of for
bicuspid valve clamp
surgery navigation multi-
modal image automatic registration method, comprising the following steps: acquisition patient preoperative heart CTA image, intraoperative
CBCT image and intraoperative TEE image / corresponding perspective image, and the CTA, CBCT and TEE image of this acquisition are pretreated;Complete CTA to CBCT three-dimensional automatic coarse registration, establish unified patient coordinate
system, and combine with heart and
breathing motion compensation, dynamic fine registration is carried out to coarse registration result;Estimate TEE probe
pose and imaging plane, identify the common visual target in TEE and CBCT / perspective, complete TEE and CBCT / perspective dynamic automatic registration;Under unified coordinate
system, fuse each modality image, generate the multi-
modal navigation interface and navigation information of
surgery.The method of the application can realize automatic, fast, accurate multi-
modal space registration, improve the
standardization degree and safety of
bicuspid valve clamp
surgery navigation.