Process for 2D-3D registration of a model with an X-ray image

摘要

Method for 2D-3D registration of a three-dimensional model (11) of an instrument (10) visible in a two-dimensional X-ray image (4) recorded with an X-ray device (18) with the X-ray image (4) recorded in a cone-beam geometry, starting from a starting position a position of the model (11) corresponding to the instrument (10) visible in the X-ray image (4) is determined in a three-dimensional coordinate system of the X-ray device (18), characterized in that groups of less than six transformations of the model assigned to a sub-step (8) in each case (11) can be used, the transformations being related to the instrument (10) in the model (11) and / or to the recording geometry (5) of the X-ray image (4) and being described by exactly one transformation parameter in each case, with each sub-step ( 8) the at least one transformation parameter of the associated group iteratively by comparing one of the recording geometry (5) the forward projection of the model (11) corresponding to the x-ray image (4) in its currently viewed position is optimized with the x-ray image (4).