System and method for local three dimensional volume reconstruction using a standard fluoroscope

摘要

SYSTEM AND METHOD FOR LOCAL THREE DIMENSIONAL VOLUME RECONSTRUCTION USING A STANDARD FLUOROSCOPE A system and method for constructing fluoroscopic-based three dimensional volumetric data from two dimensional fluoroscopic images including a computing device (125) configured to facilitate navigation of a medical device to a target area within a patient and a fluoroscopic imaging device (110) configured to acquire a fluoroscopic video of the target area about a plurality of angles relative to the target area. The computing device (125) is configured to determine a pose of the fluoroscopic imaging device (110) for each frame of the fluoroscopic video and to construct fluoroscopic-based three dimensional volumetric data of the target area in which soft tissue objects are visible using a fast iterative three dimensional construction algorithm. 300->30 NAVIGATE TO REGION OF INTEREST/TARGET AREA USING EMN OR OTHER TECHNIQUE PLACE MULTIPLE MARKERS (RADIO-OPAQUE) WITHIN THE REGION OF THE TARGET/AROUND ALIGN THE FLUOROSCOPE C-ARM SUCH THAT IT CAN ROTATE 300 AROUND THE MARKERS WITH ALL OF THE MARKERS VISIBLE RECORD VIDEO OF ABOUT A 300 FLUOROSCOPE ROTATION AROUND THE MARKERS TRACK TWO-DEMENSIONAL POSITION OF EACH MARKER THROUGHOUT THE ENTIRE VIDEO RECONSTRUCT THE MARKER POSITIONS IN 3D USING STRUCTURE FROM MOTION AND OBTAIN, FOR EACH VIDEO FRAME, THE FLUOROSCOPIC POSE IN LOCAL MARKERS COORDINATE SYSTEM USE A FAST ITERATIVE 3D VOLUME RECONSTRUCTION ALGORITHM (PROJECTION, BACK -PROJECTION TO RECONSTRUCT A LOCAL 3D VOLUME AT THE AREA OF THE MARKERS WHICH CORRESPOND TO THE LOCAL ANATOMY AND WHICH SOFT-TISSUES ARE VISIBLE