Determining the position and orientation of a catheter from two-dimensional X-ray images, involves establishing initialized position and orientation parameters as actual position and orientation of catheter in pre-processed X-ray image

摘要

The method involves establishing the initialized position and orientation parameters as the actual position and orientation of a catheter in an X-ray image if determined similarity between a generated two-dimensional projection of a template and a pre-processed X-ray image exceeds a predetermined threshold. The generation of the two-dimensional projection and comparison of the two-dimensional projection with the pre-processed X-ray image are repeatedly performed in an optimization loop until the degree of determined similarity exceeds the predetermined threshold. A generated first X-ray image is pre-processed to accentuate the imaging structures of the catheter in the X-ray image. The three-dimensional template is generated for the catheter based on known dimensional characteristics of the catheter. Parameters for the position and angular orientation of the catheter relative to the pre-processed X-ray image are then initialized. The two-dimensional projection of the template is generated with reference to the initialized parameters for position and angular orientation of the catheter. The generated two-dimensional projection is compared with the pre-processed X-ray image to determine similarity between them. The generation and comparison steps are aborted if the determined similarity exceeds the predetermined threshold. An independent claim is included for the X-ray imaging system.