초록 ▼

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

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 that approach the surfaces; and finding a pose of the surfaces that minimizes a distance to the lines using, preferably, a statistically robust method, thereby providing a desired registration between a surgical robot and a preoperative treatment plan.

대표청구항 ▼

[ What is claimed is:] [18.] A system for registering two dimensional fluoroscopic images with a three dimensional model of a tissue of interest, comprising:a model processor for generating a three dimensional model of a tissue of interest using as input a plurality of images taken through the tissu

[ What is claimed is:] [18.] A system for registering two dimensional fluoroscopic images with a three dimensional model of a tissue of interest, comprising:a model processor for generating a three dimensional model of a tissue of interest using as input a plurality of images taken through the tissue of interest;an imaging system for obtaining, in cooperation with a calibration device, at least two, two dimensional images representing at least two views of the tissue of interest, the images containing calibration markers for associating an image coordinate system with a second coordinate system; andan image processor having inputs coupled to outputs of said model processor and said imaging system for detecting the presence of first contours of the tissue of interest in each of the at least two views, said image processor operating to derive bundles of lines in three dimensional space that pass through the detected first contours, and further operating to match points on second contours obtained from the three dimensional model with the bundles of lines in three dimensional space until the three dimensional model is registered within the second coordinate system to a predetermined degree of accuracy.