Patent ID: 8588501
Filing Date: 2013-11-19
Classification: G06K

Abstract:
1. A method of automatically initializing pose for registration of 2D fluoroscopic abdominal aortic images with a 3D model of an abdominal aorta, comprising: detecting a 2D iliac bifurcation and a 2D renal artery bifurcation from a sequence of 2D fluoroscopic abdominal aortic images obtained from a patient; detecting a spinal centerline in a 2D fluoroscopic spine image; providing a 3D iliac bifurcation and a 3D renal artery bifurcation from a 3D image volume of the patient's abdomen, and a 3D spinal centerline from the 3D image volume of the patient's abdomen; and determining pose parameters {x, y, z, θ}, wherein (x, y) denotes the translation on a table plane, z denotes a depth of the table, and θ is a rotation about the z axis, by minimizing a cost function (C wherein C wherein P 1 is a projection of the 3-D bifurcations to an aortic image plane, B 1 2D and B 1 3D are the respective 2-D and 3-D bifurcations of the iliac arteries, B 2 2D and B 2 3D are the respective 2-D and 3-D bifurcations of the renal arteries, and is the homogenous transformation matrix of the registration parameters, and C