REAL-TIME TRACKING FOR FUSING ULTRASOUND IMAGERY AND X-RAY IMAGERY

摘要

A registration system includes a controller (160). The controller (160) includes a memory (162) that stores instructions; and a processor (161) that executes the instructions. When executed, the instructions cause the controller (160) to execute a process that includes obtaining a fluoroscopic X-ray image (S810) from an X-ray imaging system (190), and a visual image (S820) of a hybrid marker (110) affixed to the X-ray imaging system (190) from a camera system (140). A transformation between the hybrid marker (110) and the X-ray imaging system (190) is estimated (S830) based on the fluoroscopic X-ray image. A transformation between the hybrid marker (110) and the camera system (140) is estimated (S840) based on the visual image. Ultrasound images from an ultrasound system (156) are registered (S850) to the fluoroscopic X-ray image from the X-ray imaging system (190) based on the transformation estimated between the hybrid marker (110) and the X-ray imaging system (190), so as to provide a fusion of the ultrasound images to the fluoroscopic X-ray image.