Patent ID: 11931198
Assignee: KONINKLIJKE PHILIPS N.V.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 5:
6. An X-ray overlay controller, comprising:
at least one processor operable in a planning overlay display mode; and
a non-transitory machine-readable storage medium encoded in the planning overlay display mode with instructions executable by the at least one processor to:
process a planning X-ray image acquired by the C-arm at a planning X-ray imaging pose of the C-arm, the planning X-ray image being illustrative of a planning X-ray calibration device and non-illustrative of an interventional tool;
process a reference planning X-ray image acquired by the C-arm at a reference X-ray imaging pose of the C-arm, the reference planning X-ray image being illustrative of the planning X-ray calibration device and non-illustrative of the interventional tool;
compute a rigid body transformation between the C-arm at the planning X-ray imaging pose and the C-arm at the reference X-ray imaging pose based on the illustrations of the planning X-ray calibration device in the planning X-ray image and in the reference planning X-ray image;
process a base X-ray image acquired by the C-arm at the reference X-ray imaging pose of the C-arm, the base X-ray image being illustrative of a base X-ray calibration device and non-illustrative of the interventional tool, the base X-ray calibration device being registered to a tool guide;
compute a rigid body transformation between the C-arm at the planning X-ray imaging pose and a tool guide based on a computation of the rigid body transformation between the C-arm at the planning X-ray imaging pose and the C-arm at the reference X-ray imaging pose and further based on the registration of the base X-ray calibration device to the tool guide; and
control a display of a planned tool trajectory overlay onto the planning X-ray image based on a computation of the rigid body transformation between the C-arm at the planning X-ray imaging pose and a tool guide.