DE10049103B4 - Device for overlaying X-ray and video images - Google Patents
Device for overlaying X-ray and video images Download PDFInfo
- Publication number
- DE10049103B4 DE10049103B4 DE2000149103 DE10049103A DE10049103B4 DE 10049103 B4 DE10049103 B4 DE 10049103B4 DE 2000149103 DE2000149103 DE 2000149103 DE 10049103 A DE10049103 A DE 10049103A DE 10049103 B4 DE10049103 B4 DE 10049103B4
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- ray
- level
- optical
- image
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
- G01N23/046—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material using tomography, e.g. computed tomography [CT]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/08—Auxiliary means for directing the radiation beam to a particular spot, e.g. using light beams
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
- A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
- A61B6/5229—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image
- A61B6/5247—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/42—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with arrangements for detecting radiation specially adapted for radiation diagnosis
- A61B6/4208—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with arrangements for detecting radiation specially adapted for radiation diagnosis characterised by using a particular type of detector
- A61B6/4225—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with arrangements for detecting radiation specially adapted for radiation diagnosis characterised by using a particular type of detector using image intensifiers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2223/00—Investigating materials by wave or particle radiation
- G01N2223/40—Imaging
- G01N2223/419—Imaging computed tomograph
Abstract
Verfahren
zum Korrelieren eines optischen Bildes mit einem Röntgenbild
durch Überlagern
eines Bildes mit dem anderen, welche folgende Schritte umfasst:
Richten
einer Quelle von Röntgenstrahlenenergie
von einem Punkt im Raum durch ein interessierendes Objekt auf eine
Detektorebene, wodurch ein Röntgenbild
auf der Detektorebene erzeugt wird;
Positionieren des optischen
Zentrums einer optischen Kamera an einem Punkt im Raum, der dem
Projektionszentrum der Röntgenquelle
entspricht;
Erzielen eines optischen Bildes des interessierenden
Objekts von diesem Punkt im Raum aus;
Überlagern des Röntgenbildes
und des optischen Bildes und Drehen (Warping) eines der Bilder auf
das andere, derart, dass die beiden Bilder in ihrer Vergrößerung übereinstimmen
und dass die beiden Bilder eine gemeinsame Bildebene aufweisen.A method of correlating an optical image with an X-ray image by overlaying one image with the other, comprising the steps of:
Directing a source of x-ray energy from a point in space through an object of interest to a detector plane, thereby producing an x-ray image at the detector plane;
Positioning the optical center of an optical camera at a point in the space corresponding to the projection center of the X-ray source;
Obtaining an optical image of the object of interest from that point in space;
Overlaying the X-ray image and the optical image and turning (warping) one of the images on the other, such that the two images in their magnification match and that the two images have a common image plane.
Description
Hintergrund der Erfindungbackground the invention
Zusätzlich zu Röntgenbildern eines Objekts ist es oftmals nützlich, ein entsprechendes Videobild zu erhalten. Wenn diese beiden zu einem zusammengesetzten Bild kombiniert werden könnten, würde man unmittelbar sehen, wie die durch die Röntgenstrahlen enthüllten Merkmale auf die in einem Videobild dargestellten Oberflächenmerkmale bezogen sind.In addition to X-ray images of an object it is often useful to get a corresponding video image. If these two become one composite picture could be combined, one would immediately see like the X-rays revealed Features on the surface features displayed in a video image are related.
Der Artikel von Maintz und Viergever, „A Survey of medical image registration", Medical Image Analysis, Volume 2, Issue 1, March 1998, Seiten 1–36 bietet einen Überblick über unterschiedliche Techniken der medizinischen Bildverarbeitung.Of the Article by Maintz and Viergever, "A Survey of medical image registration ", Medical Image Analysis, Volume 2, Issue 1, March 1998, pages 1-36 an overview of different techniques medical image processing.
Die
Der
Der
Die
Das zu lösende Problem bei der vorliegenden Erfindung besteht darin, ein Verfahren und eine Vorrichtung zum Korrelieren eines optischen Bildes mit einem Röntgenbild bereitzustellen, welche die richtige Ausrichtung der optischen Kamera in Bezug auf die Röntgenquelle und somit die Ausrichtung der beiden aufgenommenen Bilder garantiert.The to be solved Problem with the present invention is a method and an apparatus for correlating an optical image an x-ray image provide the correct orientation of the optical camera in terms of the X-ray source and thus guarantees the alignment of the two pictures taken.
Kurze Beschreibung der FigurenShort description the figures
Beschreibung der Erfindungdescription the invention
Ein Verfahren zum Korrelieren eines Videobildes mit einem Röntgenbild des gleichen Objekts besteht darin, dass die jeweiligen Bilder vom gleichen Punkt im Raum aus gewonnen werden. Eine Video- oder optische Kamera kann an einem Punkt im Raum angeordnet werden, der demjenigen der Röntgenquelle entspricht, indem ein Teil des optischen Bildes durch einen für Röntgenstrahlen durchlässigen Spiegel abgelenkt wird. Die Kamera wird durch ein Ausrichtverfahren orientiert, um sicherzustellen, daß sie an einem Punkt angeordnet ist, der optisch der Stelle der Röntgenquelle entspricht.One A method of correlating a video image with an x-ray image of the same object is that the respective pictures of the same point in the room to be won. A video or optical Camera can be arranged at a point in the room, that of the one the X-ray source corresponds to one part of the optical image by one for X-rays permeable Mirror is distracted. The camera is going through an alignment process oriented to ensure that they are arranged at one point is that corresponds optically to the location of the X-ray source.
In
Um
ein Videobild zu erhalten, das mit dem Röntgenbild kombiniert werden
kann, ist das optische Zentrum
Ein
Spiegel M1, der für
Röntgenstrahlen durchlässig, jedoch
für sichtbare
Wellenlängen
reflektierend ist, wird im Weg der Röntgenquelle
Der
Ort der Spiegel kann so gewählt
werden, daß die
Länge des
Abschnitts r1 zwischen den Spiegeln M1 und M2 plus der Länge des
Abschnitts r2 zwischen dem Spiegel M2 und dem optischen Zentrum
Alternativ
kann der zweite Spiegel M2 weggelassen werden, wenn die Videokamera
Auch
bei sorgfältiger
Ausrichtung der Spiegel M1 und M2 kann es schwierig sein, das Röntgenquellen-Produktionszentrum
Zwei
Verfahren zum Korrelieren der beiden Bilder verwenden den Vorgang
des Drehens eines zweidimensionalen Bildes auf einer ersten Ebene
auf eine zweite Ebene. Die Röntgendetektorebene
Das
Drehen des Röntgenbildes
aus der Röntgendetektorebene
Der
Drehvorgang kann durch die folgende Gleichung dargestellt werden:
H
die planare Transformationsmatrix ist, welche die Pixels im Röntgenbild
auf das Videobild abbildet; und
mi die
Pixels im Röntgenbild,
sind.The turning process can be represented by the following equation:
H is the planar transformation matrix which images the pixels in the X-ray image onto the video image; and
m i are the pixels in the x-ray image.
Die Matrix H wird durch Anwendung von Verfahren berechnet, die im Stand der Technik bekannt sind. Solche Verfahren werden beschrieben in der US-Patentschrift Nr. 5 821 943 und US-Patentschrift Nr. 5 845 639, auf die hier Bezug genommen wird, sowie in Wolberg "Digital Image Warping" IEEE Computer Society Press, Los Alamitos, California 1990.The Matrix H is calculated by applying procedures that are in progress known in the art. Such methods are described in U.S. Patent No. 5,821,943 and U.S. Patent No. 5,845 639, incorporated herein by reference, as well as in Wolberg "Digital Image Warping" IEEE Computer Society Press, Los Alamitos, California 1990.
In
den beiden eine Drehung verwendenden Verfahren werden wenigstens
zwei zusätzliche
Markierungen
Beim
ersten dieser Verfahren, das im Ablaufdiagramm der
Beim
zweiten dieser Verfahren, das im Ablaufdiagramm der
Nunmehr
wird ein Videobild der Röntgendetektorebene
Ein
drittes Verfahren zum Positionieren der Videokamera
Die
Spiegel M1 und M2 reflektieren das Laserlicht und veranlassen dasselbe,
zur Videokamera
Abänderungen
des Obigen können
vorgenommen werden, um die Anwendung anzupassen. Beispielsweise
kann man zwei Röntgenquellen-
und Videokamera-Kombinationen verwenden, um eine Stereodarstellung
des interessierenden Objekts zu erreichen. Statt der Markierungen
Claims (13)
Applications Claiming Priority (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/410,226 US6227704B1 (en) | 1999-09-30 | 1999-09-30 | Laser-based method for aligning apparatus for superimposing X-ray and video images |
US410228 | 1999-09-30 | ||
US410227 | 1999-09-30 | ||
US410225 | 1999-09-30 | ||
US410226 | 1999-09-30 | ||
US09/410,227 US6229873B1 (en) | 1999-09-30 | 1999-09-30 | Method for aligning an apparatus for superimposing X-ray and video images |
US09/410,225 US6473489B2 (en) | 1999-09-30 | 1999-09-30 | Apparatus for superimposition of X-ray and video images |
US09/410,228 US6447163B1 (en) | 1999-09-30 | 1999-09-30 | Method for aligning and superimposing X-ray and video images |
Publications (2)
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DE10049103A1 DE10049103A1 (en) | 2001-07-12 |
DE10049103B4 true DE10049103B4 (en) | 2005-01-27 |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007023029A1 (en) | 2007-05-16 | 2008-11-20 | Siemens Ag | Two image data sets overlapping device for use in magnetic resonance tomograph, has two-dimensional image data set produced by surface of object overlapped in overlapping unit such that image data sets are congruented |
DE102007034210A1 (en) * | 2007-07-23 | 2009-02-05 | Siemens Ag | Apparatus and method for composing images |
DE102013219134A1 (en) | 2013-09-24 | 2015-03-26 | Siemens Aktiengesellschaft | System and method for correlating object information with X-ray images |
DE102014204702A1 (en) | 2014-03-13 | 2015-09-17 | Siemens Aktiengesellschaft | A navigation aid for introducing an elongated medical penetration element into a patient |
Families Citing this family (11)
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---|---|---|---|---|
FI109653B (en) * | 2000-10-11 | 2002-09-30 | Instrumentarium Corp | Method and apparatus for photographing a patient's head portion |
CN100542485C (en) * | 2005-08-04 | 2009-09-23 | Ge医疗系统环球技术有限公司 | The X-ray imaging device |
DE102005062582B4 (en) * | 2005-12-27 | 2017-08-03 | Siemens Healthcare Gmbh | Imaging system and method for making x-ray and optical images |
DE102006004692A1 (en) | 2006-01-31 | 2007-08-09 | Siemens Ag | An imaging medical device and method for such a device |
DE102007034218B4 (en) * | 2007-07-23 | 2013-06-13 | Siemens Aktiengesellschaft | Apparatus and method for image composition |
DE102007049539B4 (en) * | 2007-10-16 | 2017-07-20 | Siemens Healthcare Gmbh | Apparatus and method for processing and displaying X-ray images |
DE102010018291B4 (en) | 2010-04-26 | 2018-12-20 | Siemens Healthcare Gmbh | Navigation system and X-ray system |
DE102010017543A1 (en) | 2010-06-23 | 2011-12-29 | Surgiceye Gmbh | Apparatus and method for combined optical and nuclear image acquisition |
DE102011005659B4 (en) | 2011-03-16 | 2017-06-01 | Siemens Healthcare Gmbh | Method for the geometrically correct assignment of X-ray images |
DE102011075435A1 (en) * | 2011-05-06 | 2012-11-08 | Siemens Aktiengesellschaft | display unit |
DE102015208698A1 (en) * | 2015-05-11 | 2016-11-17 | Siemens Healthcare Gmbh | Device for an X-ray system |
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Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007023029A1 (en) | 2007-05-16 | 2008-11-20 | Siemens Ag | Two image data sets overlapping device for use in magnetic resonance tomograph, has two-dimensional image data set produced by surface of object overlapped in overlapping unit such that image data sets are congruented |
DE102007034210A1 (en) * | 2007-07-23 | 2009-02-05 | Siemens Ag | Apparatus and method for composing images |
DE102007034210B4 (en) * | 2007-07-23 | 2014-03-20 | Siemens Aktiengesellschaft | Apparatus and method for composing images |
DE102013219134A1 (en) | 2013-09-24 | 2015-03-26 | Siemens Aktiengesellschaft | System and method for correlating object information with X-ray images |
WO2015043793A1 (en) | 2013-09-24 | 2015-04-02 | Siemens Aktiengesellschaft | System and method for correlating object information with x-ray images |
US10182776B2 (en) | 2013-09-24 | 2019-01-22 | Siemens Healthcare Gmbh | System and method for correlating object information with X-ray images |
DE102014204702A1 (en) | 2014-03-13 | 2015-09-17 | Siemens Aktiengesellschaft | A navigation aid for introducing an elongated medical penetration element into a patient |
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