Image-guided navigation employing navigated point computation method and system
View Patent ↗Provided is a method of image-guided navigation comprising determining a final navigated point in a three-dimensional reconstructed coordinate system based at least partially on two or more navigated points in a coordinate system associated with a two-dimensional array of image pixels and without specifying a coordinate of each of the two or more navigated points in a direction orthogonal to the two-dimensional array of image pixels, wherein each of the two or more navigated points is for a different position of a C-arm gantry. Also provided is an image-guided navigation system.
1. A method of image-guided navigation, comprising:
determining, via processing circuitry that receives signals generated by a sensor, a final navigated point in a three-dimensional reconstructed coordinate system based at least partially on two or more navigated points in a coordinate system associated with a two-dimensional array of image pixels and without specifying a coordinate of each of the two or more navigated points in a direction orthogonal to the two-dimensional array of image pixels, wherein each of the two or more navigated points is for a different position of a C-arm gantry.
2. The method of claim 1 , wherein the coordinates of each of the two or more navigated points in the XZ plane of the coordinate system associated with the two-dimensional array of image pixels are specified in the determination of the final navigated point.
3. The method of claim 1 , wherein determining the final navigated point comprises utilizing the following equation:
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wherein M is a number of gantry positions; x i o is the x-coordinate of one of the two or more navigated points in the coordinate system associated with the two-dimensional array of image pixels for i th gantry position; y i o is the y-coordinate of one of the two or more navigated points in the coordinate system associated with the two-dimensional array of image pixels for i th gantry position; and matrices A i represent the transform between the real world coordinate system and the image coordinate system for the i th gantry position.
4. The method of claim 1 , wherein determining the final navigated point comprises utilizing a quadratic objective function.
5. The method of claim 1 , wherein determining the final navigated point comprises utilizing a half-quadratic objective function.
6. The method of claim 1 , wherein two or more positions of the C-arm gantry are weighted differently in determining the final navigated point.
7. An image-guided navigation system, comprising:
a device;
an electromagnetic sensor fixed in relation to the device;
at least one electromagnetic sensor fixed in relation to a patient; and
processing circuitry configured to determine a position of the device in a three-dimensional reconstructed coordinate system based at least partially on two or more navigated points in a coordinate system associated a two-dimensional array of image pixels and without specifying a coordinate of each of the two or more navigated points in a direction orthogonal to the two-dimensional array of image pixels, wherein each of the two or more navigated points is for a different position of a C-arm gantry.
8. The image-guided navigation system of claim 7 , wherein the electromagnetic sensor fixed in relation to the device is configured to emit a signal.
9. The image-guided navigation system of claim 7 , wherein the at least one electromagnetic sensor fixed in relation to the patient is configured to receive a signal.
10. The image-guided navigation system of claim 7 , wherein the processing circuitry is configured to specify coordinates of each of the two or more navigated points in the XZ plane of the coordinate system associated with the two-dimensional array in the determination of the position of the device.