Abstract: The present invention includes a device for transforming 3D image data such that the transformed image aligns with a 2D fluoroscopic image. The process of finding the transform that aligns the features of the 3D image with the 2D image is called image registration. The fluoroscopic image registration process has at its core a multistage framework that progressively refines a registration result. Each stage leverages the fluoroscopic registration engine which iteratively searches the parameter space defined by the stage. The core registration engine creates a candidate transform, uses it to create a digitally reconstructed radiograph, then compares that to the supplied fluoroscopic image, and the iterative alignment engine either ends or uses it to construct a new candidate transform. Similarity measurement of a candidate transform is based on intensities and any custom data relevant to the registration scenario.

Abstract: The present invention includes a device for transforming 3D image data such that the transformed image aligns with a 2D fluoroscopic image. The process of finding the transform that aligns the features of the 3D image with the 2D image is called image registration. The fluoroscopic image registration process has at its core a multistage framework that progressively refines a registration result. Each stage leverages the fluoroscopic registration engine which iteratively searches the parameter space defined by the stage. The core registration engine creates a candidate transform, uses it to create a digitally reconstructed radiograph, then compares that to the supplied fluoroscopic image, and the iterative alignment engine either ends or uses it to construct a new candidate transform. Similarity measurement of a candidate transform is based on intensities and any custom data relevant to the registration scenario.