US 12,318,146 B2
Technique for determining a position of one or more imaged markers in an image coordinate system
Florian Herrmann, Schwanau (DE); and Hans Schoepp, Freiburg (DE)
Assigned to Stryker European Operations Limited, Carrigtwohill (IE)
Filed by Stryker European Operations Limited, Carrigtwohill (IE)
Filed on Apr. 13, 2021, as Appl. No. 17/229,314.
Claims priority of application No. 20169620 (EP), filed on Apr. 15, 2020.
Prior Publication US 2021/0322104 A1, Oct. 21, 2021
Int. Cl. A61B 34/20 (2016.01); A61B 34/10 (2016.01); G06T 7/00 (2017.01)
CPC A61B 34/20 (2016.02) [A61B 34/10 (2016.02); G06T 7/0012 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2068 (2016.02); G06T 2207/10081 (2013.01); G06T 2207/10116 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method of determining a respective position of one or more radiopaque markers in a three-dimensional (3D) image coordinate system of a 3D reconstruction of at least a portion of an object of interest for a surgical procedure, the computer-implemented method comprising:
obtaining a plurality of image data sets generated by an imaging device operating on the basis of radiation, the image data sets taken from a 3D volume in which the object and the one or more radiopaque markers are disposed, wherein the 3D volume comprises a central volume containing at least a portion of the object and further comprises a peripheral volume adjacent to the central volume and containing the one or more radiopaque markers such that the central volume does not contain the one or more radiopaque markers, wherein the image data sets have been taken from at least one of different positions and different orientations relative to the object, and wherein the central volume is defined by a largest portion of the 3D volume that is covered by each of the plurality of image data sets;
performing a 3D reconstruction of the central volume based on the image data sets;
defining first and second subsets of the image data sets for at least one dedicated radiopaque marker of the one or more radiopaque markers, wherein the first subset of the image data sets comprises image data sets that each includes the at least one dedicated radiopaque marker and the second subset of the image data sets comprises at least one image data set that does not include the at least one dedicated radiopaque marker; and
determining, from the first subset of the image data sets, a position of the at least one dedicated radiopaque marker in a 3D image coordinate system of the 3D reconstruction of the central volume containing the object portion generated from the first and second subsets.