CPC A61B 8/463 (2013.01) [A61B 6/5217 (2013.01); A61B 8/4245 (2013.01); A61B 8/46 (2013.01); A61B 8/5261 (2013.01); G06T 7/0012 (2013.01); G06T 7/33 (2017.01); A61B 6/5247 (2013.01); A61B 8/4405 (2013.01); A61B 8/464 (2013.01); A61B 8/469 (2013.01); A61B 8/5223 (2013.01); G01R 33/4814 (2013.01); G06T 2207/10072 (2013.01); G06T 2207/10081 (2013.01); G06T 2207/10088 (2013.01); G06T 2207/10132 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30004 (2013.01)] | 21 Claims |
1. A method, performed by an ultrasound imaging apparatus, of registering a first image that is an ultrasound image and a second image that is an image from another modality, the method comprising:
loading the second image pre-acquired for a patient;
acquiring information about a position and an orientation of an ultrasound probe based on a three-dimensional positional relationship between at least one external electromagnetic sensor attached to a first feature point of a patient's body and an electromagnetic sensor of the ultrasound probe;
extracting, from the second image, a second feature point corresponding to the first feature point;
registering the first and second images based on the three-dimensional positional relationship between the at least one external electromagnetic sensor and the electromagnetic sensor of the ultrasound probe and on a position of the second feature point extracted from the second image; and
displaying the first image in a first region of a display and the second image registered with the first image in a second region of the display,
wherein the registering the first and second images comprises:
acquiring information about an angle between a first external electromagnetic sensor attached to the first feature point of the patient's body and a second external electromagnetic sensor attached to a structural feature point of the patient's body different from the first feature point; and
correcting an angular error in the second image based on the information about the angle between the first external electromagnetic sensor and the second external electromagnetic sensor.
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