Method for determining spatial position and/or orientation of e.g. medical instrument at patient during performing operative surgery, involves calculating spatial position of object points and/or orientation of object from image coordinates

摘要

The method involves generating two-dimensional X-ray images from different directions by an X-ray imaging device (2) i.e. C-arm X-ray device, and determining an angle between the two directions. The images are generated by projective imaging i.e. orthographic projection. Image coordinates of image points belonging to identical object points of an object are determined. A spatial position of the object points and/or orientation of the object are calculated from the determined image coordinates by a partially iterative process. An independent claim is also included for a device for determining a spatial position and/or orientation of an object during performing an image-assisted medical activity.