Patent ID: 9155470
Filing Date: 2015-10-13
Classification: A61B,G06T

Abstract:
1. A method for fusing pre-operative computed tomography (CT) image data with a fluoroscopic image acquired using a fluoroscopic image acquisition device based on an ultrasound image acquired using an ultrasound probe, comprising: detecting a 2D location of the ultrasound probe in the fluoroscopic image; estimating a 3D pose of the ultrasound probe based on the detected 2D location of the ultrasound probe in the fluoroscopic image; and mapping the ultrasound image to a 3D coordinate system of the fluoroscopic image acquisition device based on the estimated 3D pose of the ultrasound probe; detecting contours of an anatomical structure in the ultrasound image; calculating a transformation between the ultrasound image and a pre-operative CT image based on the contours detected in the ultrasound image and a patient-specific physiological model extracted from the pre-operative CT image; and determining a final mapping between the pre-operative CT image and the fluoroscopic image based on the transformation between the ultrasound image and the patient-specific physiological model extracted from the pre-operative CT image and the mapping of the ultrasound image to the 3D coordinate system of the fluoroscopic image acquisition device.