Methods for updating 2D/3D registration on movement and computing device

1. A method for updating a 2D/3D registration between a three-dimensional image data set corresponding to a target area and a plurality of two-dimensional projection images of the target area, the target area being subjected to a movement, the method comprising:

capturing, using an X-ray unit, the plurality of two-dimensional projection images of the target area;

selecting, by a selection unit of a computing device, a plurality of contour points along a contour associated with a rigid object in the target area, the contour being visible in a first captured projection image and a three-dimensional image data set registered therewith;

determining, by a displacement detection unit of the computing device, a displacement of each contour point of the plurality of contour points between the first captured projection image and a successively captured second projection image;

obtaining, by a movement information detection unit of the computing device, movement information for each contour point of the plurality of contour points based on the determined displacement, the movement information describing a movement of the rigid object, wherein the obtaining comprises (1) restricting degrees of freedom of movement to observable movements that are perpendicular to a course of the contour in the three-dimensional image data set, and (2) solving a system of equations for a three-dimensional target plane that comprises the displaced contour point;

forming a normal vector of the three-dimensional target plane, wherein the normal vector comprises a cross product of a first vector and a summation vector, wherein the first vector is formed as a cross product of a contour vector that stands perpendicular to the course of the contour in the three-dimensional image data set with a second vector that describes a three-dimensional position of a contour point prior to the movement, and wherein the summation vector comprises the contour point prior to movement on an image plane and a third vector describing a displacement in the image plane; and

updating, by a registration-updating unit of the computing device, the registration based on the obtained movement information.

2. The method of claim 1 , further comprising adjusting the system of equations to zero based on a setting of a scalar product of the normal vector with a fourth vector, wherein the fourth vector is formed as a sum of (a) the second vector that describes the three-dimensional position of the contour point prior to the movement and (b) a sought vector that describes a three-dimensional displacement of the contour point caused by the movement.

3. The method of claim 2 , further comprising determining the contour vector as a gradient of the image data of the three-dimensional image data set at the contour point.

4. The method of claim 2 , further comprising assuming that a rotational component of the movement is linear to obtain a linear system of equations.

5. The method of claim 1 , further comprising determining the contour vector as a gradient of the image data of the three-dimensional image data set at the contour point.

6. The method of claim 1 , further comprising assuming that a rotational component of the movement is linear to obtain a linear system of equations.

7. The method of claim 1 , further comprising using a random sample consensus (RANSAC) algorithm for the solving of the system of equations.

8. The method of claim 1 , further comprising using a three-dimensional coordinate system having an origin that corresponds to a focal point of a radiation source that is used to capture the plurality of two-dimensional projection images.

9. The method of claim 1 , wherein the plurality of contour points is initially selected in the first captured projection image, the method further comprising determining a three-dimensional position of each contour point of the plurality of contour points based on (a) at least one forward projection from the three-dimensional image data set, (b) a division of the three-dimensional image data set into a plurality of depth sections, or (c) at least one forward projection from the three-dimensional image data set and the division of the three-dimensional image data set into the plurality of depth sections.

10. The method of claim 1 , wherein the rigid object comprises a bone, a medical instrument introduced into a patient, or a combination thereof.

11. The method of claim 10 , wherein the bone comprises a skull, and wherein the medical instrument comprises a stent or a marker device.

12. The method of claim 1 , further comprising capturing the plurality of two-dimensional projection images, obtaining movement information for each pair of successively measured projection images in the plurality of two-dimensional projection images, and updating the registration and three-dimensional position of each contour point of the plurality of contour points based on the obtained movement information.

13. The method of claim 1 , further comprising determining and displaying a superimposed representation of the three-dimensional image data set and a most recent projection image.

14. The method of claim 1 , wherein the plurality of two-dimensional projection images of the target area is captured during a treatment process.

15. A method for updating a 2D/3D registration between a three-dimensional image data set corresponding to a target area and a plurality of two-dimensional projection images of the target area, the target area being subjected to a movement, the method comprising:

capturing, using an X-ray unit, the plurality of two-dimensional projection images of the target area;

selecting, by a selection unit of a computing device, a plurality of contour points along a contour associated with a rigid object in the target area, the contour being visible in a first captured projection image and a three-dimensional image data set registered therewith;

determining, by a displacement detection unit of the computing device, a displacement of each contour point of the plurality of contour points between the first captured projection image and a successively captured second projection image, wherein the determining of the displacement in an image plane comprises assuming a linear approximation of an image value function for image data, and calculating a product of (a) a negative change in intensity at a contour point in a projection image prior to the movement, and (b) an inverse of a gradient of the image value function at the contour point in the projection image prior to the movement;

obtaining, by a movement information detection unit of the computing device, movement information for each contour point of the plurality of contour points based on the determined displacement, the movement information describing a movement of the rigid object, wherein the obtaining comprises (1) restricting degrees of freedom of movement to observable movements that are perpendicular to a course of the contour in the three-dimensional image data set, and (2) solving a system of equations for a three-dimensional target plane that comprises the displaced contour point; and

updating, by a registration-updating unit of the computing device, the registration based on the obtained movement information.

16. The method of claim 15 , wherein the determining of the displacement is iterative and further comprises:

using a most-recently-determined displacement of the contour point as a first potential moving contour point;

comparing the first potential moving contour point with a measured moving contour point of the projection image after the movement, thereby determining a correction displacement; and

adding the correction displacement to the most-recently-determined displacement, thereby determining a current displacement.

17. An x-ray unit comprising a computing device configured to update a 2D/3D registration between a three-dimensional image data set corresponding to a target area and a plurality of two-dimensional projection images of the target area, the target area being subjected to a movement, the computing device of the x-ray unit configured to:

select a plurality of contour points along a contour associated with a rigid object in the target area, the contour being visible in a first projection image and a three-dimensional image data set registered therewith;

determine a displacement of each contour point of the plurality of contour points between the first projection image and a successively captured second projection image;

obtain movement information for each contour point of the plurality of contour points based on the determined displacement, the movement information describing a movement of the rigid object, wherein the movement information detection unit is configured to (1) restrict degrees of freedom of movement to observable movements that are perpendicular to a course of the contour in the three-dimensional image data set and (2) solve a system of equations for a three-dimensional target plane that comprises the displaced contour point;

form a normal vector of the three-dimensional target plane, wherein the normal vector comprises a cross product of a first vector and a summation vector, wherein the first vector is formed as a cross product of a contour vector that stands perpendicular to the course of the contour in the three-dimensional image data set with a second vector that describes a three-dimensional position of a contour point prior to the movement, and wherein the summation vector comprises the contour point prior to movement on an image plane and a third vector describing a displacement in the image plane; and

update the registration based on the obtained movement information.