CPC A61B 6/584 (2013.01) [A61B 6/4441 (2013.01); A61B 6/463 (2013.01); A61B 6/5205 (2013.01); A61B 6/54 (2013.01)] | 15 Claims |
1. An X-ray imaging system, comprising:
a C-arm configured to acquire a plurality of X-ray images at different X-ray imaging poses of the C-arm; and
an X-ray overlay controller configured in a planning overlay display mode 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 (451) 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.
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