NON-RIGID 2D/3D REGISTRATION OF CORONARY ARTERY MODELS WITH LIVE FLUOROSCOPY IMAGES

摘要

A method for non-rigid registration of digital 3D coronary artery models with 2D fluoroscopic images during a cardiac intervention includes providing a digitized 3D centerline representation of a coronary artery tree that comprises a set of S segments composed of Q_S 3D control points, globally aligning the 3D centerline to at least two 2D fluoroscopic images, and non-rigidly registering the 3D centerline to the at least two 2D fluoroscopic images by minimizing an energy functional that includes a summation of square differences between reconstructed centerline points and registered centerline points, a summation of squared 3D registration vectors, a summation of squared derivative 3D registration vectors, and a myocardial branch energy. The non-rigid registration of the 3D centerline is represented as a set of 3D translation vectors r_s,q that are applied to corresponding centerline points x_s,q in a coordinate system of the 3D centerline.