• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Device for extracting three-dimensional information from radiographic images of an object; calibration procedure of said device; and procedure for generating said radiographic images. The device comprises: x-ray emitter (2); x-ray sensor (3); contour sensor (6), to represent points of the contour of an object, by means of radiation emitted or reflected by the object; calibration frame (10) with x-ray markers (8), and contour markers (7). The procedures are based on taking contour and x-ray images of the calibration frame (10) first without and then with a subject of study (1), taking into account the information provided by the markers (7, 8, 9), and the fact that the contour sensor (6) is arranged in relation to the x-ray emitter (2) in the same way in all the images taken. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2588257A1
    申请号:ES201530432
    申请日:2015-03-31
    公开日:2016-10-31
    发明作者:Francisco Javier Albiol Colomer；Alberto CORBI BELLOT；Celso BELLOT ROMERO；Alberto ALBIOL COLOMER
    申请人:Consejo Superior de Investigaciones Cientificas CSIC；Universidad Politecnica de Valencia；Universitat de Valencia；
    IPC主号:
    专利说明:

    OBJECT OF THE INVENTION
    The present invention can be included within the technological field of medical application devices. More particularly, the object of the present invention relates, according to a first aspect of the invention, to a device for extracting 3D information from radiographic images. According to a second aspect, the invention relates to a method for calibrating said device. According to a third object, the invention describes a method for generating said radiographic images. BACKGROUND OF THE INVENTION
    The taking of radiographic images of an object of study, whether a patient or an object, from different angles, positions and / or distances ("poses", a term widely used in this technological field), has acquired special relevance in fields such as medicine, surveillance and industrial production. In particular it is very useful to identify in a radiographic image information corresponding to the location of points of interest present in another radiological image of the same object of study, but generated from a different location and / or orientation (pose).
    This objective of obtaining several radiographic images of the object of study in different positions to obtain expanded information is typically carried out using computed tomography (CT) of computed tomography, however, for applications. industrial or medical in which this technique is mostly applied, such as preliminary analysis of the object of study, where modest equipment is required for efficient operation and, in turn, relatively fast, CT technology turns out to be a particularly expensive technique and complex. Additionally, the use of


    CT instruments require adopting a series of international principles regarding safety and the ALARA radiation protection criteria.
    There is an alternative, using purely radiographic systems, of lower cost and greater availability, which is not, however, exempt from the initial difficulty that has to do with the fact that the image it produces is flat and for three-dimensional reconstruction it is not known with sufficient precision the relative location of the X-ray source with respect to the plate that acts as an X-ray collector or the object of study. Expressed in other words, the pose of the system is not known. Additionally, it is complicated, from the recording of several radiographic images, to obtain three-dimensional information of areas of interest simultaneously present in different shots from different distances and orientations. In particular, when the object of study is a patient, there is a greater demand given the underlying clinical interest. DESCRIPTION OF THE INVENTION
    The present invention provides a more affordable alternative solution, in terms of cost and equipment availability, than the solutions contemplated by the current state of the art, to the problem of extracting three-dimensional information from radiographic images.
    The invention describes, in a first aspect, a device for extracting three-dimensional information from radiographic images of an object. According to a second aspect of the invention, a calibration procedure of said device is described. According to a third aspect, the invention relates to a method for generating said radiographic images.
    The device comprises the following elements: an X-ray camera, a contour sensor, and a calibration frame, as explained below.
    - The X-ray camera is composed of an X-ray emitter and an X-ray receiver, with which radiographic images of an object of study are generated and taken and, as will be explained below, in certain circumstances the object of radiographic study It can be the calibration frame. In other circumstances, the object of study may be another


    element to be examined The object of study can also be a patient
    or an industrial product that you want to diagnose and / or inspect.
    - The contour sensor is a device designed to take contour information of the scene and objects helping to identify a plurality of contour points of the object of study and / or of the calibration frame and / or the scene. This detection may have to do with the capture of radiation directly present (and emitted) from the scene (object of study included). The contour detection process can also be based on the collection of radiation reflected by the object of study (and the scene, if possible) by being previously irradiated (s) from the contour detector. Conventional cameras, depth cameras, or multispectral cameras, would fulfill this function.
    - The calibration frame is fixed to the X-ray sensor. It comprises a plurality of markers, also called fiducials. On the one hand, the markers comprise X-ray markers, which are identifiable, manually or computationally, in radiographic images; and contour markers, which are identifiable, also manually or computationally, against the radiation on which the operation of the contour sensor is based.
    The term "scene" represents the "set of spatial and temporal circumstances in which an image acquisition takes place." This document translates as the joint relative provision of the X-ray emitter, the X-ray receiver, the sensor contour and calibration framework Likewise, the term "pose", which has already been identified above, is identified with the "posture or position taken by a person to be photographed, portrayed or painted by another." In the context of This document is specified in the relative position between two particular elements considered, for example, the object of study with respect to the X-ray emitter, or the contour sensor with respect to the X-ray emitter.
    In the state of the art referred to in a previous section, there are inherent limitations to the information that, autonomously, can be obtained from the X-ray device. These limitations have to do with the impossibility of taking information from the contour of the scene, such as the relative positions of the camera itself (X-ray emitter + ray receiver


    X) in the coordinate system of the location of the device (usually the clinic) as well as the orientation or information of the object of study itself. The present invention obtains said data, and integrates it to obtain three-dimensional information of a radiographic nature.
    The invention additionally allows a professional, both in the examination of patients and objects in industrial settings, to obtain scale factors directly on radiographic images, which allow a direct reliable comparison of the dimensions that appear in said radiographic images, no need to use markers for external X-rays as a scale reference. Similarly, the need to define a specific calibration frame for each scene or each pose is eliminated, for a period of time in which the device of the invention remains calibrated.
    On the other hand, according to a second aspect of the present invention, a calibration procedure of the aforementioned device is presented. The calibration procedure has two stages.
    In a first stage of the calibration procedure, images called first images are taken from the calibration frame, preferably without the presence of the object of study. These first images comprise a first contour image, using the contour sensor, and a first X-ray image, using the X-ray camera. The position of the calibration frame with respect to the X-ray emitter and the contour sensor is identical. In the first two images. Likewise, the position of the contour sensor with respect to the X-ray emitter is also identical in both first images.
    In a second stage of the calibration procedure, from the first radiographic image and the X-ray markers, a matrix called a camera projection matrix (Px) is determined, which corresponds to a transformation that relates to the system of reference in solidarity with the X-ray sensor, the 2D coordinates of the points of the first radiographic image with the 3D coordinates of the points in space. From Px, using known techniques, both the relative position between the contour sensor and the X-ray emitter are determined, as well as the intrinsic parameters of the X-ray chamber, which are collected in a Kx matrix. Similarly, from the first contour image, the relative position Dx between the contour sensor and the X-ray sensor is determined,


    using markers for contour.
    Finally, according to a third object of the present invention, a method for generating radiographic images incorporating three-dimensional information is presented. 5 In a first step of the procedure, at least two sessions are taken from the object of study together with the calibration framework, where each session comprises two second images: a second contour image, taken using the contour sensor, and a corresponding one second radiographic image, taken using the X-ray emitter. In each of the sessions, the object of study has varied its position and / or its orientation with
    10 with respect to the contour sensor and / or the X-ray emitter and / or the X-ray sensor, although said position / orientation is the same for the second two images of the same session, for example, but not necessarily, by of a simultaneous acquisition of both second images. Also, in all sessions, the contour sensor remains fixed in relation to the X-ray emitter.
    15 Therefore, the X-ray emitter can be oriented, in the different sessions, according to linear transformations Ti composed of a Ri rotation and a ti translation between sessions. In all the second images, the position of the contour sensor remains invariant with respect to the X-ray emitter. For taking the second images,
    20 only markers for contour are necessary.
    In a second step of the procedure, the corresponding Ri rotations and ti translations referred to above are determined, using the markers for contour in the second contour images and in the second radiographic images, and taking into account that the
    25 contour sensor has moved in solidarity with respect to the X-ray emitter.
    In a third step of the procedure, the affine transformation matrix of each of the sessions is determined, based on Kx and the Ri rotation and translation ti just calculated. The information of the matrix Pi is subsequently used to determine the projection, in a second
    30 radiographic image i, of a point of another second radiographic image k.

    DESCRIPTION OF THE DRAWINGS
    To complement the description that is being made and in order to help a better understanding of the characteristics of the invention, according to a preferred example of practical implementation thereof, a set of drawings is attached as an integral part of said description. where, for illustrative and non-limiting purposes, the following has been represented:
    Figures 1 and 2.- They show corresponding schematic views in plan (figure 1) and front (figure 2) of the device of the invention.
    Figure 3.- Shows a schematic image of the arrangement of the elements represented in Figure 1, and the optical properties of the X-ray camera and the contour sensor.
    Figure 4.- Shows a relationship between the calibration frame (left) and a first radiographic image (right) of said calibration frame, where the representation in the first radiographic image of the X-ray markers of the calibration frame is shown.
    Figure 5.- It shows two different poses of the X-ray emitter and the contour sensor with respect to the calibration frame, for taking two sessions of second images, where the object of study has not been represented.
    Figure 6.- It shows two second radiographic images corresponding to different poses, where in one of them (left) points of interest of the object of study are appreciated, and in another of them (right), the epipolar corresponding to the points of interest. PREFERRED EMBODIMENT OF THE INVENTION
    A detailed description of a preferred embodiment of the present invention is provided with the aid of the attached figures 1-6 above.
    The invention describes, according to a first aspect, a device for extracting


    three-dimensional information of radiographic images of an object. According to a second aspect of the invention, a calibration procedure of said device is described. According to a third aspect, the invention relates to a method for generating said radiographic images.
    As shown in Figures 1 to 3, the device of the invention comprises an X-ray camera (also called an X-ray scanner), for taking radiographic images of a study object (1). The X-ray camera is formed by an X-ray emitter (2) and an X-ray sensor (3), also called a plate, which defines an X-ray projection plane (4), for example a film, which can be subsequently subjected to some type of computerized treatment, such as: being digitized, in the case of Computerized Radiography (CR); or stored in memory in situ, in the case of Direct Radiography (DR),
    or directly scanned from a radiographic plate ("imaging plate" IP). The optical characteristics of the X-ray camera depend on the relative location (pose) between the X-ray emitter (2) and the X-ray sensor (3) in each radiographic image, so they are unknown in each case.
    In the experiments carried out, 35x43 cm fixed CR plates with a maximum resolution of 100 μm and FireCR ™ plate readers have been used. It has been verified that the successive placement and removal of the plates do not affect the results obtained. In particular, it has been verified that the related 2D transformations between two radiographs taken from the same position and with the same plate remain mostly at a tolerance below 1 px and 0.5% grade. That is, it can be assumed that the plates and the plate reading mechanism behave for practical purposes as a fixed radiological equipment. This verification has been carried out using Kitware's Insight Toolkit between corresponding random pairs of radiographs.
    The X-ray emitter (2) has been modeled as a pinhole camera (also referred to, according to its English name, as a "pinhole" camera), where the diaphragm (5) of the X-ray emitter (2) represents both the anode and the optical center. As lenses are not involved, the effects associated with spherical aberrations, radial distortions and obliqueness can be ignored without loss of generality.


    The device additionally incorporates a contour sensor (6), being understood as such a device designed to identify a plurality of contour points of the object of study (1). The contour sensor (6) is preferably configured to capture emitted radiation and / or radiation reflected by the object of study (1). The contour sensor (6) can be, by way of example, a visible light camera, an infrared camera, etc. More preferably, the radiation is visible radiation, so that the contour sensor (6) is preferably a visible light camera, such as an RGB video camera, a depth camera, a combination of both, etc. In the example shown in the figures, the contour sensor (6) is an RGB video camera. The optical characteristics of the contour sensor (6) are considered known. A determination of said optical characteristics of the contour sensor (6) may be necessary, but said task is a task known in the field of the art to which the invention pertains and is not considered an essential part of the invention.
    The device of the invention additionally incorporates a plurality of markers (7, 8, 9), also called fiducials. The markers (7, 8, 9) are divided into markers for contour (7), which offer contrast in the images generated by the contour sensor (6), and markers for X-rays (8), which are contrast with the rays X, as will be explained below.
    The contour markers (7) have patterns of identifiable shapes by segmentation algorithms, as well as their dimensions and shape are known. It is preferred that the contour markers (7) have an essentially binary color pattern. The configuration of the contour markers (7), as well as the position of one or more points of the contour markers (7), are known with respect to a first three-dimensional coordinate system integral with the X-ray sensor (3). As will be explained below, the contour markers (7) allow the relative orientation and distance (pose) of the contour sensor (6) to be estimated with respect to the first coordinate system integral to the X-ray sensor (3).
    On the other hand, the markers for X-rays (8) are made of material or materials that produce contrast (generally due to opacity differences) sufficient to X-rays, such that lead, for example. The function of markers for X-rays (8) is to generate a symbol


    readable and well defined in the 2D projection represented in a radiographic negative, as will be explained later in the description of the process of the invention. The X-ray markers (8) also have certain dimensions and position with respect to a second coordinate system integral with the X-ray sensor (3). The first and the second coordinate system may be the same, but it is also possible that they are different, if the related transformation leading from one to another is known. As will be explained below, the X-ray markers (8) will allow determining the relative position between the contour sensor (6) and the X-ray emitter (2), with respect to the second coordinate system.
    Preferably, it is envisioned that some of the markers (7, 8) are configured according to mixed markers (9), each of which incorporates, in a compact unit, a contour marker (7) and a marker for X-rays (8).
    The set of markers (7, 8, 9), whether contour markers (7), X-ray markers (8) and / or, where appropriate, mixed markers (9), is called the calibration frame (10 ). According to a preferred embodiment, the calibration frame (10) is fixed to the X-ray sensor (3) outside the area of interest of the X-ray sensor (3), that is, in an area where the markers (7, 8, 9) affect as little as possible the radiographic image, for example in a structural component (11), such as a chassis, of the X-ray sensor (3).
    The calibration procedure object of the second aspect of the invention comprises the following steps:
    -  First, the following are arranged: the X-ray emitter (2) and the X-ray sensor (3) that constitute the X-ray camera; the contour sensor (6); and the calibration frame (10), in a starting situation in which both the X-ray emitter (2) and the contour sensor
    (6) are ready for operation and focusing towards the X-ray sensor (3).
    -  Next, a calibration step is performed, which consists of two steps described below.
    According to a first stage of the calibration step, illustrated by Figures 1, 2 and


    4, two first images of the calibration frame (10) are taken, specifically: a first radiographic image, taken with the X-ray emitter (2), and represented on the right side of Figure 4; and a first contour image, taken with the contour sensor (6). The relative position between the X-ray collector (3) and the X-ray emitter (2) must remain invariant in the first two images with respect to each other. The same consideration applies to the relative position between the X-ray emitter (2) and the contour sensor (6). It is not necessary to arrange the object of study (1) to take the first images, since this step is a previous step related to the determination of the relative locations that involve the X-ray emitter (2), the X-ray collector ( 3) and to the contour sensor (6) and that, therefore, is foreign to the object of study (1), so, preferably, the object of study (1) is not represented in the first images.
    -  According to a second stage of the calibration step, carried out after the first stage, from the first radiographic image, and using the markers for X-rays (8), a matrix called camera projection matrix is determined (Px), which corresponds to a related transformation that relates, with respect to the reference system in solidarity with the X-ray sensor (3), the 2D coordinates of the points of the first radiographic image with the 3D coordinates of the points in space and, from Px, using known techniques, both the relative position between the contour sensor (6) and the X-ray emitter (2) are determined, as well as the intrinsic parameters of the X-ray chamber, which are collected in a matrix Kx. Similarly, from the first contour image, the relative position Dx between the contour sensor (6) and the X-ray sensor (3) is determined, using the contour markers (7).
    With the first stage and the second stage, described above, of the calibration step, all the data necessary to characterize the behavior of the X-ray camera and the contour sensor (6) have been obtained.
    Once the calibration step has been carried out, the described device is prepared to generate radiographic images from which three-dimensional information can be extracted, as explained below.
    To carry out the mentioned generation, it starts from a device like the one above


    described, which has been previously calibrated, or at least calibrated, so that both Kx and Dx are known. According to a preferred example, the calibration method described above has been applied to obtain Kx and Dx.
    Next, at least two sessions are taken from the object of study (1) together with the calibration frame (10), where each session comprises two second images: a second contour image, taken using the contour sensor (6) , and a corresponding second radiographic image, taken using the X-ray emitter (2). In each of the sessions, the object of study (1) has varied its position and / or its orientation with respect to the contour sensor (6) and / or the X-ray emitter (2) and / or the lightning sensor X (3), although said position / orientation is the same for the second two images of the same session. Likewise, in all sessions, the contour sensor (6) remains fixed in relation to the X-ray emitter (2), in accordance with a relative position designated as DRX. In figure 5 two positions are shown, with respect to which the second images are taken.
    The object of study (1) can be moved, keeping the X-ray emitter (2) and / or the X-ray sensor (3) and / or the contour sensor (6) static. Alternatively, these can be moved leaving the object of study static (1). Both the object of study (1) and the X-ray emitter (2) and the two sensors (3, 6) can also be moved. Any of the three situations described is possible without loss of generality, with the computational complexity required within the scope of the person skilled in the art.
    This implies that the X-ray emitter (2) can be oriented, with respect to itself, according to linear transformations Ti composed of a Ri rotation and a ti translation between sessions and others. In all orientation images, the position of the contour sensor (6) remains invariant with respect to the X-ray emitter (2).
    For taking the second images, only the contour markers (7) are necessary, so that, preferably, the X-ray markers (8) that, where appropriate, are not part of mixed markers (9), they can be removed, to avoid undesirable effects, such as: excessive radiation dispersion; artifacts in the images; and a subsequent reading of the most difficult images.


    Because, both for taking the first images and for taking the second images, the contour sensor (6) and the X-ray emitter (2) are required to have the same relative position and orientation, it is preferred that the contour sensor (6) and the X-ray emitter (2) are physically linked in solidarity.
    - Next, the corresponding Ri rotations and ti translations referred to above are determined. To do this, first determine the two-dimensional coordinates of the markers for visible (7) in the second contour images, and relate to the three-dimensional coordinates of the markers for visible (7), which are known. From there, you can calculate the Ri rotations and the translations referred to the contour sensor (6). Since the contour sensor (6) has shifted, for all the images, in solidarity with respect to the X-ray emitter (2), said Ri rotations and translations ti correspond to Ri rotations and ti translations, previously defined .
    - Next, a corresponding projection matrix (Pi) associated with each of the sessions is determined, according to the following expression:
    Pi = Kx * [Ri | you]
    where Kx is a matrix previously defined in the calibration step, and that incorporates the optical characteristics of the X-ray emitter (2).
    - Once the matrix Pi corresponding to each second radiographic image i associated with each session has been determined, said matrices Pi can be combined to add, to a certain radiographic image i, information regarding a third dimension not represented in the radiographic image k. Next, an application example is explained that illustrates a corresponding application of what has just been mentioned.
    According to a first example, the two-dimensional coordinates of a point of interest (13) of said radiographic image i are determined in a second radiographic image i. Then, using a computer treatment, the ray defined by the point of interest of the image i and the optical center of the X-ray emitter (2) are determined, which, as indicated above, coincides with the diaphragm (5), where the beam corresponds to a


    epipolar line (12) associated with the point of interest (13) in the second radiographic image i. Next, using the aforementioned computer processing, and a matrix Pk, corresponding to a second radiographic image k taken with a different orientation, the epipolar line (12) corresponding to the point of interest (13) is represented in the second radiographic image k (12). ) from
    5 the image i, where said representation can be informatically limited, if desired, to the area that makes physical sense (the one included in the object of study). In this way, it is possible, in a second two-dimensional radiographic image k, to identify the projection of the epipolar line (12) corresponding to the point of interest (13) of the second radiographic image i, which was not seen in said second radiographic image i .

    权利要求:
    Claims (8)
    [1]
     R E I V I N D I C A C I O N E S
     1. Device for extracting three-dimensional information from radiographic images of an object, characterized in that it comprises:
    - an X-ray camera, which is composed of an X-ray emitter (2) and an X-ray sensor (3), to obtain radiographic images of an object;
    - a contour sensor (6), to capture contour images showing contour points of the object, from radiation emitted or reflected by the object; Y
    - a calibration frame (10), fixed to the x-ray sensor (3), and comprising aplurality of contour markers (7), verifiable against the radiation in which it isbased on the operation of the contour sensor (6);where the object is selected between a study object (1) and the calibration frame (10).
    [2]
    2. Device for extracting three-dimensional information from radiographic images of an object, according to claim 1, characterized in that the calibration frame (10) additionally comprises a plurality of markers for X-rays (8), verifiable against X-rays .
    [3]
    3. Device for extracting three-dimensional information from radiographic images of an object, according to claim 2, characterized in that at least one of the markers (7, 8, 9) is a mixed marker (9), which incorporates into a compact unit a marker for contour
    (7) and an X-ray marker (8).
    [4]
    4. Device for extracting three-dimensional information from radiographic images of an object, according to any one of claims 1-3, characterized in that the calibration frame (10) is fixed to a structural component (11) of the lightning sensor X (3), outside an area of interest of said X-ray sensor (3).
    [5]
    5. Calibration method of the device described in any one of the preceding claims, characterized in that it comprises:
    -  take, from the calibration frame (10), a first contour image, using the contour sensor (6), and a first X-ray image, using the X-ray camera, where the position of the calibration frame (10) with respect to the X-ray emitter (2) and the sensor

    contour (6) is identical in the first two images, just as the position of the X-ray sensor (3) with respect to the X-ray emitter (2) is also identical in both first images;
    - From the first radiographic image and the X-ray markers (8), determine a camera projection matrix (Px), which corresponds to a related transformation related to a reference system in solidarity with the lightning sensor X, the 2D coordinates of the points of the first radiographic image with the 3D coordinates of the points in space;
    - from Px, determine both the relative position between the contour sensor (6) and the X-ray emitter (2), as well as the intrinsic parameters of the X-ray camera, which are collected in a Kx matrix; Y
    - From the first contour image, determine a vector Dx representative of the relative position between the contour sensor (6) and the X-ray sensor (3), using the contour markers (7).
    [6]
     6. Calibration procedure according to claim 5, characterized in that the object of study (1) is not present in the taking of the first images.
    [7]
    7.-Procedure to generate radiographic images containing three-dimensional information, characterized in that it comprises:
    - from the device described in any one of claims 1-4, wherein both the Kx matrix and the Dx vector are known;
    - take, from the object of study (1) together with the calibration frame (10), at least two sessions, where each session comprises two second images: a second contour image, taken using the contour sensor (6), and a corresponding second radiographic image, taken using the X-ray emitter (2), where, in each of the sessions, the object of study (1) has varied its position and / or its orientation with respect to the contour sensor (6) and / or the X-ray emitter (2) and / or the X-ray sensor (3), said position / orientation being the same for the second two images of the same session, as well as the relative position between the contour sensor (6) and the X-ray emitter (2) is the same in all second images, so that the X-ray emitter (2) is oriented, in accordance with linear Ti transformations composed of a Ri rotation and a ti translation between sessions and others;

    - determine the corresponding Ri rotations and ti translations referred to above, using the markers for contour (7) in the second contour images and in the second radiographic images, and taking into account that the contour sensor (6) has moved in solidarity with respect to the X-ray emitter (2);
    5 - determine an affine transformation matrix Pi of each of the sessions, starting with Kx and the corresponding rotation Ri and translation ti just calculated;
    - determine the projection, in a second radiographic image k, of a point of another second radiographic image i, from the information of the matrix Pi.
    8. Method for generating radiographic images containing three-dimensional information, according to claim 7, characterized in that, to determine Kx and Dx, the calibration procedure described in any of claims 5-6 is applied.
    [9]
    9.-Procedure to generate radiographic images that contain information
    Three-dimensional, according to any one of claims 7 and 8, characterized in that the step of determining the projection comprises the following steps:
    -  determine, in a second radiographic image i, the two-dimensional coordinates of a point of interest of said radiographic image i;
    - determine the ray defined by the point of interest of the image i and the optical center of the emitter
    20 x-rays (2), where the ray corresponds to an epipolar line (12) associated with the point of interest in the second radiographic image i; Y
    - represent, in the second radiographic image k, the epipolar line (12) corresponding to the point of interest of the image i.

     DRAWINGS 



    类似技术:
    公开号 | 公开日 | 专利标题
    US7372935B2|2008-05-13|Method for minimizing image artifacts and medical imaging system
    JP5906015B2|2016-04-20|2D / 3D image registration based on features
    CA2710939C|2016-11-08|System and method for registration of imaging data
    Yao2003|Assessing accuracy factors in deformable 2D/3D medical image registration using a statistical pelvis model
    US8121380B2|2012-02-21|Computerized imaging method for a three-dimensional reconstruction from two-dimensional radiological images; implementation device
    JP2008216089A|2008-09-18|Instrument for measuring three-dimensional position and direction of specimen
    EP3332711B1|2019-05-01|Dental image collection device providing optical alignment features and related methods
    JP2002531209A|2002-09-24|X-ray inspection apparatus and method for forming distortion-free x-ray images
    ES2588257B1|2017-08-04|DEVICE FOR REMOVING THREE-DIMENSIONAL INFORMATION FROM RADIOGRAPHIC IMAGES OF AN OBJECT; CALIBRATION PROCEDURE OF SUCH DEVICE; AND PROCEDURE FOR GENERATING SUCH RADIOGRAPHIC IMAGES
    Wang et al.2012|Mouse atlas registration with non-tomographic imaging modalities—a pilot study based on simulation
    Wang et al.2012|MARS: a mouse atlas registration system based on a planar x-ray projector and an optical camera
    Albiol et al.2016|Geometrical calibration of x-ray imaging with rgb cameras for 3d reconstruction
    Detchev et al.2011|Image matching and surface registration for 3D reconstruction of a scoliotic torso
    US20070019787A1|2007-01-25|Fusion imaging using gamma or x-ray cameras and a photographic-camera
    Bennani et al.2016|Three dimensional | lumbar vertebrae data set
    ES2445490B1|2014-12-10|DEVICE AND PROCEDURE FOR OBTAINING DENSITOMETRIC IMAGES OF OBJECTS THROUGH COMBINATION OF RADIOLOGICAL SYSTEMS AND DEPTH CAMERAS
    KR102313801B1|2021-10-19|Apparatus and method for guiding correct posture of medical image system
    Corbi et al.2016|Joint calibration of RGB and X-ray cameras
    Haneishi et al.2010|Image synthesis using a mini gamma camera and stereo optical cameras
    CN112654314A|2021-04-13|Registration method and system for radioactive ray image and three-dimensional model of external fixing device
    CN110740687A|2020-01-31|X-ray imaging apparatus
    Chae et al.2013|Coordinates tracking and augmented reality system using bipolar X-ray fluoroscopy and stereo vision for image-guided neurosurgery
    Thürauf et al.2016|A realistic X-ray simulation for C-arm geometry calibration
    Al-Durgham et al.2016|Toward an automatic calibration of dual fluoroscopy imaging systems
    Thürauf et al.2015|Evaluation of a 9D-position measurement method of a C-arm based on X-ray projections
    同族专利:
    公开号 | 公开日
    EP3279860A4|2018-10-10|
    US10672145B2|2020-06-02|
    EP3279860A1|2018-02-07|
    ES2588257B1|2017-08-04|
    US20180144501A1|2018-05-24|
    WO2016156646A1|2016-10-06|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US7747312B2|2000-01-04|2010-06-29|George Mason Intellectual Properties, Inc.|System and method for automatic shape registration and instrument tracking|
    US6978040B2|2001-12-19|2005-12-20|Canon Kabushiki Kaisha|Optical recovery of radiographic geometry|
    US7792242B2|2004-11-12|2010-09-07|Shimadzu Corporation|X-ray CT system and X-ray CT method|
    DE102005022540B4|2005-05-17|2007-07-05|Siemens Ag|Method for minimizing image artifacts and medical imaging system|
    FR2904455B1|2006-07-27|2009-04-17|Axs Ingenierie|COMPUTERIZED IMAGING METHOD FOR THREE DIMENSIONAL RECONSTRUCTION FROM TWO DIMENSIONAL RADIOGRAPHIC IMAGES; DEVICE FOR IMPLEMENTING.|
    JP2011139761A|2010-01-06|2011-07-21|Toshiba Corp|X-ray diagnostic apparatus, and controlling method for x-ray diagnostic apparatus|
    DE102011075904A1|2011-05-16|2012-11-22|Siemens Aktiengesellschaft|A method for providing an image data set with suppressed over-field artifacts and X-ray image capture device|
    WO2015011987A1|2013-07-22|2015-01-29|株式会社島津製作所|X-ray imaging device|
    DE102013220663A1|2013-10-14|2015-04-16|Siemens Aktiengesellschaft|Reconstruction of image data using contour data|
    JP6346032B2|2014-08-22|2018-06-20|株式会社リガク|Image processing apparatus, image processing method, and image processing program|EP3826559A1|2018-07-24|2021-06-02|AMDT Holdings, Inc.|Methods and systems of registering a radiographic image and a 3d model of an external fixation device|
    EP3946062A1|2019-04-04|2022-02-09|Centerline Biomedical, Inc.|Spatial registration of tracking system with an image using two-dimensional image projections|
    法律状态:
    2017-08-04| FG2A| Definitive protection|Ref document number: 2588257 Country of ref document: ES Kind code of ref document: B1 Effective date: 20170804 |
    优先权:
    申请号 | 申请日 | 专利标题
    ES201530432A|ES2588257B1|2015-03-31|2015-03-31|DEVICE FOR REMOVING THREE-DIMENSIONAL INFORMATION FROM RADIOGRAPHIC IMAGES OF AN OBJECT; CALIBRATION PROCEDURE OF SUCH DEVICE; AND PROCEDURE FOR GENERATING SUCH RADIOGRAPHIC IMAGES|ES201530432A| ES2588257B1|2015-03-31|2015-03-31|DEVICE FOR REMOVING THREE-DIMENSIONAL INFORMATION FROM RADIOGRAPHIC IMAGES OF AN OBJECT; CALIBRATION PROCEDURE OF SUCH DEVICE; AND PROCEDURE FOR GENERATING SUCH RADIOGRAPHIC IMAGES|
    US15/563,312| US10672145B2|2015-03-31|2016-03-29|Device for extracting three-dimensional information from X-ray images of an object, method for calibrating said device, and method for generating said X-ray images|
    EP16771447.6A| EP3279860A4|2015-03-31|2016-03-29|Device for extracting three-dimensional information from x-ray images of an object, method for calibrating said device, and method for generating said x-ray images|
    PCT/ES2016/070216| WO2016156646A1|2015-03-31|2016-03-29|Device for extracting three-dimensional information from x-ray images of an object, method for calibrating said device, and method for generating said x-ray images|
    [返回顶部]