Automatic improvement of tracking data for intraoperative C-arm images in image guided surgery

摘要

The above described invention relates to a method of determining a measure of accuracy of a registration mapping combining data indicative of spatial positions in a three-dimensional operating space and imaging data acquired with an imaging device located in a position and orientation in operating space referred to as imaging pose, the method comprising the steps: bringing a phantom into a first position and orientation in operating space, referred to as first pose, where the phantom is at least in partial view of the imaging device located in a second pose, the phantom comprising an assembly of markers that can be imaged by the imaging device; acquiring image data of the marker assembly of the phantom with the imaging device in the second pose; locating imaged markers in the acquired image data of the marker assembly; obtaining mapped markers by submitting spatial positions of the markers in the marker assembly of the phantom in the first pose to the registration mapping using the second pose as imaging pose; and determining a distance measure of the imaged markers and the mapped markers as the measure of accuracy of the registration mapping as well as System for determining a measure of accuracy of a registration mapping combining data indicative of spatial positions in a three-dimensional operating space and imaging data acquired with an imaging device located in a position and orientation in operating space referred to as imaging pose, the system comprising: a phantom that can be brought into a first position and orientation in operating space, referred to as first pose, where the phantom is at least in partial view of the imaging device located in a second pose, the phantom comprising an assembly of markers that can be imaged by the imaging device ; a first device for acquiring image data of the marker assembly of the phantom with the imaging device in the second pose; a second device for locating imaged markers in the acquired image data of the marker assembly; a third device for obtaining mapped markers by submitting spatial positions of the markers in the marker assembly of the phantom in the first pose to the registration mapping using the second pose as imaging pose; and a fourth device for determining a distance measure of the imaged markers and the mapped markers as the measure of accuracy of the registration mapping.