Abstract: The invention relates to a shot-processing device which comprises a memory (10), a detector (20), a preparer (30), a combiner (40), an estimator (50) and a selector (60). The memory (10) is arranged to receive, on the one hand, scene data (12) that comprise three-dimensional object pairs each associating an object identifier, and ellipsoid data which define an ellipsoid and its orientation and a position of its centre in a common frame of reference and, on the other hand, shot data (14) defining a two-dimensional image of the scene associated with the scene data (12), from a viewpoint corresponding to a desired pose. The detector (20) is arranged to receive shot data (14) and to return one or more two-dimensional object pairs (22) each comprising an object identifier present in the scene data, and a shot region associated with this object identifier.

Abstract: A method and apparatus for determining the three-dimensional movement of a patient positioned on a table between an X-ray source and an image receiver of an X-ray imaging apparatus is presented. The apparatus has an X-ray source positioned opposite an image receiver, the X-ray source and the image receiver being driven in rotation about an axis. The method and apparatus has the following operation: radio-opaque markers are placed on the patient's body; at least one first radiographic image of the patient is taken for a first determined fixed position of the imaging apparatus; at least one second radiographic image of the patient is taken for a second determined fixed position; and a matrix of the three-dimensional movement of the patient is determined on the basis of the two-dimensional movements of the markers in the radiographic images, the X-ray source constituting a fixed reference frame.

Abstract: A system and method for correcting the registration of a 3D image and a 2D image acquired with medical imaging systems is disclosed. The system and method determines acquisition geometry of the imaging system by calculating an initial projection matrix associated with the 2D image. The system performs a projection of the 3D image using the initial projection matrix resulting in a 2D projection of the 3D image. The system registers the 2D projection of the 3D image and the 2D image. A new projection matrix is determined based on the registration of the 2D image and the 2D projection of the 3D image. The 3D image is then registered with the 2D image using the new projection matrix. An associated medical imaging system is disclosed. Method embodiments use previously acquired 3D images or images acquired using imaging modalities different than the one used to acquire the 2D image.

Abstract: A system to track movement of an object travelling through an imaged subject is provided. The system includes an imaging system to acquire a fluoroscopic image and operable to create a three-dimensional model of a region of interest of the imaged subject. A controller includes computer-readable program instructions representative of the steps of calculating a probability that an acquired image data is of the object on a per pixel basis in the fluoroscopic image, calculating a value of a blending coefficient per pixel of the fluoroscopic image dependent on the probability, adjusting the fluoroscopic image including multiplying the value of the blending coefficient with one of a greyscale value, a contrast value, and an intensity value for each pixel of the fluoroscopic image. The adjusted fluoroscopic image is combined with the three-dimensional model to create an output image illustrative of the object in spatial relation to the three-dimensional model.

Abstract: A method for determining acquisition geometry of an imaging system from a set of calibration matrices for an arbitrary position of the system, a projection matrix makes a point in a 2D image correspond to a point of an object in a space. This matrix is produced for any unspecified position of the system from knowledge of a limited number of pre-computed calibration matrices. For instance, a projection matrix may be computed by interpolating coefficients of calibration matrices and/or applying a transformation with a rigid model defined comprehensively or locally to a particular calibration matrix.

Abstract: A method for the correction of registration of radiography images comprises means to determine a residual rigid transformation in comparing the pre-operation 3D image with a fluoroscopic image. This residual transformation is determined according to a registration based on the content of the image. Once the residual transformation is computed, it is combined with a geometrical registration. The use of the geometrical registration in this combination enables the making of a real-time registration comprising the motion of the C-arm without any additional registration. And the use of the registration based on the content of the image enables the precision of said geometrical registration to be refined.

Abstract: A system to track movement of an object travelling through an imaged subject is provided. The system includes an imaging system to acquire a fluoroscopic image and operable to create a three-dimensional model of a region of interest of the imaged subject. A controller includes computer-readable program instructions representative of the steps of calculating a probability that an acquired image data is of the object on a per pixel basis in the fluoroscopic image, calculating a value of a blending coefficient per pixel of the fluoroscopic image dependent on the probability, adjusting the fluoroscopic image including multiplying the value of the blending coefficient with one of a greyscale value, a contrast value, and an intensity value for each pixel of the fluoroscopic image. The adjusted fluoroscopic image is combined with the three-dimensional model to create an output image illustrative of the object in spatial relation to the three-dimensional model.

Abstract: A method and apparatus for determining the three-dimensional movement of a patient positioned on a table between an X-ray source and an image receiver of an X-ray imaging apparatus. The apparatus has an X-ray source positioned opposite an image receiver, the X-ray source and the image receiver being driven in rotation about an axis. The method and apparatus has the following operation: at least three radio-opaque markers are placed on the patient's body; at least one first radiographic image of the patient is taken for a first determined fixed position of the imaging apparatus; at least one second radiographic image of the patient is taken for a second determined fixed position of the imaging apparatus; and a matrix of the three-dimensional movement of the patient with respect to the X-ray source of the imaging apparatus is determined on the basis of the two-dimensional movements of the markers in the radiographic images, the X-ray source constituting a fixed reference frame.

Abstract: A method and apparatus for determining acquisition geometry of an imaging system from a set of calibration matrices for an arbitrary position of the system, a projection matrix makes a point in a 2D image correspond to a point of an object in a space. This matrix is produced for any unspecified position of the system from knowledge of a limited number of pre-computed calibration matrices. For instance, a projection matrix may be computed by interpolating coefficients of calibration matrices and/or applying a transformation with a rigid model defined comprehensively or locally to a particular calibration matrix.