Method and system for registration of 3D images within an interventional system

1. A method for registration of a 3D anatomical model in an interventional system, the method comprising:

receiving said 3D anatomical model with a first plurality of fiducial points thereon at said interventional system, said interventional system farther having an interventional system model with a second plurality of fiducial points thereon;

calibrating said second plurality of fiducial points of said interventional system model to a predetermined cardiac cycle and a predetermined respiratory cycle associated with the said first plurality of fiducial points on said 3D anatomical model;

scaling a size of said 3D anatomical model with respect to a size of said interventional system model, and rotating and translating said 3D anatomical model such that each point of said first plurality of fiducial points on said 3D anatomical model are aligned with a corresponding point of said second plurality of fiducial points so as to register said 3D anatomical model with said interventional system model; and

displaying said 3D anatomical model and said interventional system model on a display device.

2. The method of claim 1 , further comprising determining a transformation, T, between said first plurality of fiducial points, x, in a first coordinate space with said second plurality of fiducial points, y, in a second coordinate space so as to minimize an error T(x)−y.

3. A system for registration of a 3D anatomical model comprising:

an imaging system for acquiring said 3D anatomical model said 3D anatomical model having a first plurality of fiducial points thereon;

an interventional system configured to receive said 3D anatomical model from said imaging system, with said first plurality of fiducial points thereon said interventional system further having an interventional system model with a second plurality of fiducial points thereon;

said interventional system further configured to calibrate said second plurality of fiducial points of said interventional system model to a predetermined cardiac cycle and a predetermined respiratory cycle associated with the said first plurality of fiducial points on said 3D anatomical model;

said interventional system further configured to scale a size of said 3D anatomical model with respect to a size of said interventional system model, and to rotate and translate said 3D anatomical model such that each point of said first plurality of fiducial points on said 3D anatomical model are aligned with a corresponding point of said second plurality of fiducial points so as to register said 3D anatomical model with said interventional system; and

said interventional system further configured to display said 3D anatomical model and said interventional system model on a display device.

4. The system of claim 3 , further comprising means for determining a transformation, T, between said first plurality of fiducial points, x, in a first coordinate space with said second plurality of fiducial points, y, in a second coordinate space so as to minimize an error T(x)−y.

5. A method for registration of a 3D anatomical model in an interventional system, the method comprising: said receiving a 3D anatomical model an at said interventional system, said 3D anatomical model having one or more anatomical features thereon;

navigating an instrument to locations corresponding to said one or more anatomical features on said 3D anatomical image using said interventional system;

determining locations of said instrument on an interventional system model when said instrument is at said locations corresponding to said one or more anatomical features;

scaling a size of said 3D anatomical model with respect to a size of said interventional system model, and rotating and translating said 3D anatomical model such that locations of said anatomical features in said 3D anatomical model are aligned with locations of said instrument in said interventional system model 3D anatomical model with said interventional system model; and

displaying said 3D anatomical model and said interventional system model on a display device.

6. The method of claim 5 , further her comprising calibrating said locations of said instrument on said interventional system model to a predetermined cardiac cycle and a predetermined respiratory cycle associated with the said anatomical features on said 3D anatomical model.

7. The method of claim 5 , further comprising determining a transformation, T, between said one or more anatomical features in a first coordinate space with instrument locations in a second coordinate space so as to link said one or more anatomical features with said instrument locations and minimize a registration error.

8. A system for registration of a 3D anatomical model comprising:

an imaging system for acquiring said 3D anatomical model, said 3D anatomical model having one or more anatomical features thereon;

an interventional system configured to receive said 3D anatomical model from said imaging system;

said interventional system configured to navigate for navigating and localizing an instrument to locations corresponding to said one or more anatomical features on said 3D anatomical model; and

said interventional system further configured to determine locations of said instrument on an interventional system model when said instrument is at said locations corresponding to said one or more anatomical features;

said interventional system further configured to scale a size of said 3D anatomical model with respect to a size of said interventional system model, and to rotate and translate said 3D anatomical model such that locations of said anatomical features in said 3D anatomical model are aligned with locations of said instrument in said interventional system model so as to register said 3D anatomical model with said interventional system model; and

said interventional system further configured to display said 3D anatomical model and said interventional system model on a display device.

9. The system of claim 8 , wherein said interventional system is further configured to calibrate said locations of said instrument on said interventional system model to a predetermined cardiac cycle and a predetermined respiratory cycle associated with the said anatomical features on said 3D anatomical model.

10. The system of claim 8 , wherein said interventional system is further configured to determine a transformation, T, between said one or more anatomical features in a first coordinate space with the instrument locations in a second coordinate space so as to link said one or more anatomical features with said localized instrument locations and minimize a registration error.