DE102005046410A1 - 3D preoperative and 2D intraoperative image dataset combination procedure combines images using coordinate calibration from defined patient position change and navigation systems - Google Patents

3D preoperative and 2D intraoperative image dataset combination procedure combines images using coordinate calibration from defined patient position change and navigation systems Download PDF

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DE102005046410A1
DE102005046410A1 DE102005046410A DE102005046410A DE102005046410A1 DE 102005046410 A1 DE102005046410 A1 DE 102005046410A1 DE 102005046410 A DE102005046410 A DE 102005046410A DE 102005046410 A DE102005046410 A DE 102005046410A DE 102005046410 A1 DE102005046410 A1 DE 102005046410A1
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image data
preoperative
arm
ray
images
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Jan Dr. Boese
Andreas Meyer
Norbert Rahn
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Siemens AG
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Siemens AG
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/46—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with special arrangements for interfacing with the operator or the patient
    • A61B6/461—Displaying means of special interest
    • A61B6/463—Displaying means of special interest characterised by displaying multiple images or images and diagnostic data on one display
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    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
    • A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
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    • A61B6/466—Displaying means of special interest adapted to display 3D data
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    • A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
    • A61B6/5229—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image
    • A61B6/5235—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT
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    • A61B2034/732—Arrangement of the coils or magnets arranged around the patient, e.g. in a gantry
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    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
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    • A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves  involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
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Abstract

A 3D preoperative and 2D intraoperative image dataset combination procedure measures 3D computer tomography or magnetic resonance imaging mode images and the X ray (16, 17) C mount (6, 7) 2D images , fuses the datasets using relative coordinate calibration for a defined patient (8) position change (10, 11) between the two sets of measurements using an active magnetic navigation (14, 15) or electrophysiological mapping system. Independent claims are included for equipment using the procedure.

Description

Die vorliegende Erfindung betrifft ein Verfahren zur Überlagerung eines mit einem C-Bogen intraoperativ aufgenommenen 2D-Bild mit einem präoperativ aufgenommenen 3D-Bild einer 3D-Bildgebungsmodalität. Die Erfindung betrifft auch die Navigation in diesem 3D-Bild insbesondere in Verbindung mit anderen interventionellen Systemen wie magnetischen Navigationssystemen und/oder elektrophysiologischen Mapping-Systemen.The The present invention relates to a method of overlay a intraoperatively recorded with a C-arm 2D image with a preoperative taken 3D image of a 3D imaging modality. The invention also affects the navigation in this 3D image especially in conjunction with other interventional systems like magnetic navigation systems and / or electrophysiological mapping systems.

In der medizinischen Diagnose sowie zur Planung und Durchführung eines (minimal-invasiven) Eingriffs oder einer Therapie ist es wünschenswert bzw. zuweilen notwendig, intraoperative 2D-Bilder (Echtzeit-2D-Aufnahmen) mit präoperativen 3D-Bilddatensätzen oder auch mit anderen interventionellen Systemen (magnetische Navigationssysteme, elektrophysiologische Mapping-Systeme) zu kombinieren.In the medical diagnosis as well as the planning and implementation of a (minimally invasive) surgery or therapy, it is desirable or sometimes necessary, intraoperative 2D images (real-time 2D images) with preoperative 3D image data sets or with other interventional systems (magnetic navigation systems, electrophysiological mapping systems).

So sind beispielsweise intraoperative 2D-Bilder (C-Bogen-Fluoroskopie-Bilder, Ultraschall-Bilder) für einen interventionellen Kardiologen oder Elektrophysiologen unentbehrlich, um während der Intervention oder Prozedur Position und Lage des jeweiligen Instrumentes (Katheter, Führungsdraht) in Echtzeit verfügbar zu haben.So are, for example, intraoperative 2D images (C-arm fluoroscopy images, Ultrasound images) for an interventional cardiologist or electrophysiologist indispensable, around during the intervention or procedure position and location of the respective Instrument (catheter, guidewire) available in real time to have.

Präoperative 3D-Bilder (3D-Volumenbilddaten wie CT-Bilder oder MRT-Bilder) hingegen werden dazu verwendet, um – insbesondere bei Prozeduren in komplexer Anatomie – einen Eingriff dreidimensional planen zu können oder um eine Diagnose für ein bestimmtes Krankheitsbild anhand dreidimensionaler Volumenbilddaten zu erstellen.preoperative 3D images (3D volume image data such as CT images or MRI images), on the other hand are used to - in particular in procedures in complex anatomy - an intervention three-dimensional to be able to plan or a diagnosis for a specific clinical picture based on three-dimensional volume image data to create.

Das Problem aus medizinisch-technischer Sicht besteht darin, intraoperative (Echtzeit-)2D-Bilder gemeinsam (beispielsweise überlagert bzw. fusioniert) mit präoperativen 3D-Bilddaten darzustellen, um z. B. die Führung von medizinischen Instrumenten auch in diesen visualisieren zu können.The Problem from a medical-technical point of view is intraoperative (Real-time) 2D images in common (superimposed or merged, for example) with preoperative To display 3D image data to z. As the leadership of medical instruments to be able to visualize in them as well.

Ferner besteht der Bedarf während einer Intervention oder einer Prozedur, die präoperativen 3D-Bilddatensätze auch in Verbindung mit anderen Systemen zu verwenden. So wäre es vorteilhaft, magnetische Navigation von Instrumenten (Katheter, Führungsdrähte, etc.) anhand der präoperativen 3D-Bilddatensätze durchzuführen, oder aber dreidimensionale Mapping-Daten zur Unterstützung von elektrophysiologischen Ablationsprozeduren (beispielsweise Pulmonalvenenisolationen) mit den präoperativen 3D-Bilddaten zu kombinieren.Further the need exists during an intervention or a procedure, the preoperative 3D image data sets as well to use in conjunction with other systems. So it would be beneficial magnetic navigation of instruments (catheters, guide wires, etc.) using the preoperative 3D image data sets, or but three-dimensional mapping data in support of electrophysiological Ablation procedures (e.g., pulmonary vein isolation) the preoperative Combine 3D image data.

Die Kombination präoperativer 3D-Bilddatensätze mit intraoperativen (Echtzeit-)2D-Bildern erfolgt nach dem Stand der Technik auf Basis einer 2D-3D-Registrierung der 2D-3D-Bilddatensätze bzw. einer Registrierung der 2D-3D-Bilddatensätze mit den Koordinatensystemen der interventionellen Systeme. Registrieren heißt, eine Abbildungsvorschrift zu ermitteln, die den einen Bilddatensatz in den anderen überführt.The Combination preoperative 3D image data sets with intraoperative (real-time) 2D images according to the state The technology based on a 2D-3D registration of the 2D-3D image data sets or a Registration of the 2D-3D image datasets with the coordinate systems interventional systems. Registration is called a mapping rule determine that transfers one image data set to the other.

Derzeit wird eine solche Registrierung durch verschiedene Ansätze (z. B. 2D-3D-Registrieralgorithmen) erreicht, die jedoch alle für den Benutzer mit Interaktionen verbunden sind. So erfordern die Registrierungsalgorithmen entweder aufwändige Merkmals-Extraktionen (Anwahl anatomischer Landmarken, Oberflächen, etc.) aus den Bilddaten oder sie laufen voxelbasiert ab und sind damit oft nicht-deterministisch, zuweilen wenig performant sowie fehleranfällig und mit Ungenauigkeiten (Registrierungsfehlern) behaftet. Dies liegt u. a. daran, dass die präoperativen Daten 2 bis 3 Tage zuvor aufgenommen wurden, so dass sich die anatomischen Strukturen bereits wieder verändert haben.Currently Such registration will be supported by various approaches (eg. 2D-3D registration algorithms), but all for the user associated with interactions. So the registry algorithms require either elaborate Feature extractions (selection of anatomical landmarks, surfaces, etc.) from the image data or they are voxel-based and are with it often non-deterministic, sometimes not very performant and error-prone and with inaccuracies (registration errors) afflicted. This is u. a. remember that the preoperative Data were taken 2 to 3 days before, so that the anatomical Structures already changed again to have.

Aufgabe der vorliegenden Erfindung ist es, ein Verfahren bereitzustellen, welches die Kombination präoperativer 3D-Bilddatensätze mit intraoperativen 2D-Bilddatensätzen bzw. mit weiteren interventionellen Systemen erleichtert bzw. vereinfacht.task the present invention is to provide a method which the combination preoperative 3D image data sets with intraoperative 2D image data sets or facilitated or simplified with other interventional systems.

Diese Aufgabe wird gemäß der vorliegenden Erfindung durch die Merkmale der unabhängigen Ansprüche gelöst. Die abhängigen Ansprüche bilden den zentralen Gedanken der Erfindung in besonders vorteilhafter Weise weiter.These Problem is in accordance with the present invention by the characteristics of the independent claims solved. The dependent ones claims form the central idea of the invention in a particularly advantageous Continue.

Erfindungsgemäß wird ein Verfahren beansprucht, zur Kombination präoperativer 3D-Bilddatensätze mit intraoperativen 2D-Bilddatensätzen
gekennzeichnet durch folgende Schritte:

  • S1: Messen eines 3D-Bilddatensatzes mit einer 3D-Bildgebungsmodalität,
  • S2: Messen eines 2D-Bilddatensatzes mit einem Röntgen-C-Bogen,
  • S3: Fusionieren des 2D-Bilddatensatzes mit dem 3D-Bilddatensatz auf Basis einer Kalibrierung zwischen den Koordinatensystemen der 3D-Bildgebungsmodalität und des Röntgen-C-Bogens,
wobei die Kalibrierung auf einem Positionswechsel der Patientenliege zwischen dem Messen des 3D-Bilddatensatzes und dem Messen des 2D-Bilddatensatzes basiert.According to the invention, a method is claimed for combining preoperative 3D image data sets with intraoperative 2D image data sets
characterized by the following steps:
  • S1: measuring a 3D image data set with a 3D imaging modality,
  • S2: measuring a 2D image data set with an X-ray C-arm,
  • S3: merging the 2D image data set with the 3D image data set based on a calibration between the coordinate systems of the 3D imaging modality and the X-ray C-arm,
wherein the calibration is based on a patient chair position change between measuring the 3D image data set and measuring the 2D image data set.

Dabei wird in einer ersten möglichen Ausgestaltungsform des erfindungsgemäßen Verfahrens zu dem Röntgen-C-Bogen und/oder zu der 3D-Bildgebungsmodalität ein aktives magnetisches Navigationssystem kalibriert.In this case, in a first possible embodiment of the method according to the invention to the X-ray C-arm and / or to the 3D imaging modality an active magnetic Navigati calibrated onsystem.

In einer zweiten möglichen Ausgestaltungsform des erfindungsgemäßen Verfahrens wird zu dem Röntgen-C-Bogen und/oder zu der 3D-Bildgebungsmodalität ein elektro-physiologisches Mapping-System kalibriert.In a second possible Embodiment of the method according to the invention is the X-ray C-arm and / or to the 3D imaging modality electro-physiological Calibrated mapping system.

Die 3D-Bildgebungsmodalität stellt erfindungsgemäß und vorteilhaft ein Computertomographie-Gerät oder ein Magnetresonanztomographie-Gerät dar.The 3D imaging modality represents invention and advantageous a computed tomography device or a magnetic resonance imaging device.

Ferner wird erfindungsgemäß eine Vorrichtung beansprucht, welche zur Durchführung des Verfahrens nach einem der vorhergehenden Ansprüche geeignet ist.Further is a device according to the invention which is to be carried out the method according to any one of the preceding claims suitable is.

Weitere Vorteile, Merkmale und Eigenschaften der vorliegenden Erfindung werden nun anhand von Ausführungsbeispielen bezugnehmend auf die begleitenden Zeichnungen näher erläutert.Further Advantages, features and characteristics of the present invention will now be based on embodiments with reference to the accompanying drawings.

1 zeigt in einer schematischen Aufsicht die Kombination eines C-Bogen-Röntgensystems mit integriertem aktiven magnetischen Navigations- (bzw. Positions-) System und CT-Scanner, und 1 shows in a schematic plan view the combination of a C-arm X-ray system with integrated active magnetic navigation (or position) system and CT scanner, and

2 zeigt schematisch und perspektivisch die kalibrierten Bildkoordinatensysteme bei einer Kombination eines C-Bogen-Röntgen-Systems mit einem CT-Scanner. 2 shows schematically and in perspective the calibrated image coordinate systems in a combination of a C-arm X-ray system with a CT scanner.

Die der Erfindung zugrunde liegende Aufgabe wird erfindungsgemäß dadurch gelöst, dass – gemäß 1 – eine Anlage zur Generierung von intraoperativen 2D-(Echtzeit-)Bilddaten (insbesondere in Röntgen-C-Bogen-Systemen zur Echtzeit-Aufnahme von 2D-Durchleuchtungsbildern) mit einer Anlage zur Generierung von dreidimensionalen präoperativen Bilddaten (z.B. mit einem CT- oder MRT-Scanner) kombiniert wird.The object underlying the invention is inventively achieved in that - according to 1 A system for the generation of intraoperative 2D (real time) image data (in particular in X-ray C-arm systems for the real-time acquisition of 2D fluoroscopic images) with a system for the generation of three-dimensional preoperative image data (eg with a CT or MRI Scanner) is combined.

1 zeigt in der Draufsicht die Kombination eines Röntgen-C-Bogen-Systems 6, 7 mit einem CT-Scanner 2 inklusive einem aktiven magnetischen Positionssystem 14, 15. Der zu untersuchende Patient 8 liegt auf einer in Richtung des Doppelpfeils 10 verschiebbaren und in Richtung des Doppelpfeils 11 drehbaren Patientenliege 9. Der zu untersuchende Bereich (hier der Kopf des Patienten) befindet sich im Iso-Center 12, d.h. zwischen den auf Gleitschienen 15 schwenkbaren Linearmagneten 14 des magnetischen Navigationssystems und zwischen Röntgenquelle 17 und Detektoreinheit 16 des C-Bogens 6. 1 shows in plan view the combination of an X-ray C-arm system 6 . 7 with a CT scanner 2 including an active magnetic position system 14 . 15 , The patient to be examined 8th lies on one in the direction of the double arrow 10 sliding and in the direction of the double arrow 11 rotatable patient bed 9 , The area to be examined (here the patient's head) is located in the Iso-Center 12 ie between the on slide rails 15 swiveling linear magnets 14 of the magnetic navigation system and between the X-ray source 17 and detector unit 16 of the C-arm 6 ,

Das C-Bogen-Röntgensystem 6, das magnetische Navigationssystem 14 und das CT-Gerät 1 sind räumlich zueinander derart dicht angeordnet, dass der Patient 8 nach einer C-Bogen-Durchleuchtung im Rahmen eines interventionellen Eingriffs zur Durchführung einer CT-Aufnahme nicht eigens umgelagert werden muss.The C-arm X-ray system 6 , the magnetic navigation system 14 and the CT device 1 are spatially close to each other so densely arranged that the patient 8th after a C-arm fluoroscopy during an interventional procedure to carry out a CT scan does not need to be specially rearranged.

Um von einer Modalität zur anderen zu gelangen, muss lediglich eine ±180°-Drehung 11 der Patientenliege um den Drehpunkt 13 vorgenommen werden und diese anschließend über eine Translationsbewegung 10 in den CT-Scanner 2 eingefahren werden – vorausgesetzt, dass der CT-Scanner über Gleitschienen 3 aus der Parkposition 4 in die Betriebsposition 5 gebracht wurde. Durch diese definierte Positionsänderung der Patientenliege 9, bei der der Patient relativ zur Patientenliege selbst nicht bewegt wird, besteht zwischen beiden Systemen (Röntgen-C-Bogen und CT-Gerät) eine feste, klar definierte räumliche Zuordnung. Durch diese feste räumliche Zuordnung von Röntgen-C-Bogen und CT-Scanner kann auf Basis einer einmaligen Kalibrierprozedur eine feste Beziehung zwischen den Bildkoordinatensystemen der beiden bildgebenden Systeme ermittelt werden.To get from one modality to another, you only have to make a ± 180 ° turn 11 the patient bed around the fulcrum 13 be made and then this via a translational movement 10 in the CT scanner 2 be retracted - provided that the CT scanner via slide rails 3 from the parking position 4 in the operating position 5 was brought. Through this defined change in position of the patient bed 9 , in which the patient is not moved relative to the patient bed itself, exists between the two systems (X-ray C-arm and CT device) a fixed, well-defined spatial assignment. Due to this fixed spatial assignment of X-ray C-arm and CT scanner, a fixed relationship between the image coordinate systems of the two imaging systems can be determined based on a one-time calibration procedure.

Auf diese Weise ist die Registrierung zwischen vom CT-Scanner generierten präoperativen 3D-Bilddatensätzen und vom C-Bogen-Röntgensystem generierten intraoperativen 2D-(Echtzeit-)Bilddatensätzen bekannt, vorausgesetzt, dass gemäß 2 Rotationsbewegungen 11 und Translationsbewegungen 10 der Patientenliege exakt erfasst und in diese feste Beziehung einbezogen werden. Durch diese Kalibrierung wird somit das Koordinatensystem 18 des Röntgen-C-Bogens mit dem Koordinatensystem 19 des CT-Gerätes einmalig in Beziehung gesetzt, wodurch sich ein Registrierverfahren auf Basis von 2D-3D-Registrierungs-Algorithmen erübrigt und dessen (oben geschilderten) Nachteile vermieden werden. Eventuell auftretende mechanisch reproduzierbare Toleranzen bei der Bewegung der Patientenliege können ebenfalls durch Kalibrierung einmalig ermittelt und zusätzlich in die System-Kalibrierung der Koordinatensysteme berücksichtigt, d.h. einbezogen werden.In this way, registration between 3D preoperative image data sets generated by the CT scanner and intraoperative 2D (real-time) image data sets generated by the C-arm X-ray system is known, provided that 2 rotational movements 11 and translational movements 10 The patient bed can be accurately recorded and included in this fixed relationship. This calibration thus becomes the coordinate system 18 of the X-ray C-arm with the coordinate system 19 of the CT device once, thereby obviating a registration process based on 2D 3D registration algorithms and avoiding its disadvantages (described above). Any occurring mechanically reproducible tolerances in the movement of the patient bed can also be determined once by calibration and additionally taken into account in the system calibration of the coordinate systems, ie included.

Durch diese möglicherweise um Bewegungstoleranzen erweiterte Kalibrierung sind intraoperatives 2D-(Echtzeit)-Durchleuchtungsbild mit präoperativen CT-Daten registriert, wodurch beide Bildarten auf einfache Weise synchronisiert, beispielsweise überlagert, dargestellt werden können.By this maybe Calibration enhanced by motion tolerances are intraoperative 2D (real time) fluoroscopic image with preoperative CT data registered whereby both types of images are easily synchronized, for example superimposed, can be represented.

Ferner kann bei nunmehr bekannter Registrierung durch Kalibrierung jedes weitere interventionelle System, welches bzgl. seines eigenen Koordinatensystems mit einem der beiden Koordinatensysteme der beiden Komponenten (C-Bogen oder CT-Gerät) fixiert und damit ebenfalls registriert ist, genutzt werden – beispielsweise im Falle eines aktiven magnetischen Navigationssystems, um interventionelle Einrichtungen wie Katheter und Führungsdrähte relativ zu den präoperativen 3D-Bilddaten aktiv zu navigieren.Furthermore, with a now known registration by calibration, each further interventional system, which is fixed with respect to its own coordinate system with one of the two coordinate systems of the two components (C-arm or CT apparatus) and thus also registered, can be used - for example in the case of acti magnetic navigation system to actively navigate interventional devices such as catheters and guidewires relative to preoperative 3D image data.

Die Navigation erfolgt dabei sowohl aufgrund der bekannten Beziehung zwischen dem Koordinationssystem des CT-Scanners und dem des Röntgen-C-Bogens als auch aufgrund einer Kalibrierung zwischen dem Koordinatensystem des Röntgen-C-Bogens und dem Koordinatensystem des magnetischen Navigationssystems.The Navigation takes place both because of the known relationship between the coordination system of the CT scanner and that of the X-ray C-arm as well as due to a calibration between the coordinate system of the X-ray C-arm and the coordinate system of the magnetic navigation system.

Weiterhin können auch Instrumente eines elektronischen Mapping-Systems (beispielsweise ein Ablationskatheter) aufgrund der bekannten Beziehungen zwischen dem Koordinatensystem des CT-Scanners und dem Koordinatensystem des Röntgen-C-Bogens bzw. zwischen dem Koordinatensystem des Röntgen-C-Bogens und dem Koordinatensystem des elektro-physiologischen Mapping-Systems geführt werden.Farther can also instruments of an electronic mapping system (for example an ablation catheter) due to the known relationships between the coordinate system of the CT scanner and the coordinate system of the X-ray C-arm or between the coordinate system of the X-ray C-arm and the coordinate system of the electro-physiological mapping system.

Die Führung erfolgt in einer kombinierten (beispielsweise überlagerten) Visualisierung bestehend aus präoperativen 3D-Bilddaten und 3D-Mapping-Daten. Mapping-Daten werden bekanntermaßen durch eine Elektrode an einem mit Positionssensor ausgestatteten Katheter aufgenommen, mit der eine elektro-physiologische Oberflächenstruktur (beispielsweise einer Herzkammer) abgetastet wird.The guide takes place in a combined (for example superimposed) visualization consisting of preoperative 3D image data and 3D mapping data. Mapping data is known to be through an electrode on a position sensor-equipped catheter recorded with an electro-physiological surface structure (for example, a heart chamber) is scanned.

Auch die Gesamt-Kombination von 2D-Durchleuchtungsbildern, präoperativen 3D-Bilddaten, magnetischer Navigation und elektrophysiologischem Mapping ist durch die lediglich einmalig durchgeführte Kalibrierung ohne Registrierung möglich. So kann ein Ablations- oder Mapping-Katheter mit Hilfe eines aktiven magnetischen Navigationssystems relativ zu dreidimensionalen elektrophysiologischen Mapping-Daten oder aber relativ zu kombinierten 3D-Bilddaten und 3D-Mapping-Daten geführt werden.Also the overall combination of 2D fluoroscopic images, preoperative 3D image data, magnetic navigation and electrophysiological Mapping is by the only once performed calibration without registration possible. So can an ablation or mapping catheter with the help of an active magnetic navigation system relative to three-dimensional electrophysiological Mapping data or relative to combined 3D image data and 3D mapping data will be guided.

Zusammengefasst ergeben sich durch das erfindungsgemäße Verfahren folgende Vorteile: Durch die mechanische Kombination eines CT- oder MRT-Systems mit einem Röntgen-C-Bogen-System wird auf Basis einer einmaligen System-Kalibrierung eine Registrierung von 2D-(Echtzeit-)Durchleuchtungsbildern mit präoperativen 3D-Bildern ermöglicht, und zwar ohne die Notwendigkeit, Registrierungsalgorithmen verwenden zu müssen, wodurch die genannten Nachteile vermieden werden.Summarized arise by the method according to the invention the following advantages: By the mechanical combination of a CT or MRI system with a X-ray C-arm system is registration based on a one-time system calibration 2D (real-time) fluoroscopic images with preoperative 3D images, and without the need to use registry algorithms to have to, whereby the mentioned disadvantages are avoided.

Wird zusätzlich ein aktives magnetisches Navigationssystem mit dem Röntgen-C-Bogen-System kalibriert, kann die aktive Navigation basierend auf den präoperativen 3D-Bilddaten erfolgen, ohne eine Registrierung vornehmen zu müssen.Becomes additionally an active magnetic navigation system with the X-ray C-arm system calibrated, the active navigation can be based on the preoperative 3D image data is done without having to register.

Wird alternativ oder zusätzlich ein elektrophysiologisches Mapping-System mit dem Röntgen-C-Bogen-System kalibriert, können die 3D-Mapping-Daten ebenfalls ohne Registrierung mit den präoperativen 3D-Bilddaten kombiniert werden. In einer solchen zusätzlichen Daten-Kombination kann dann auch aktiv mittels aktivem magnetischen Navigationssystem navigiert werden.Becomes alternatively or additionally an electrophysiological mapping system with the X-ray C-arm system calibrated, can the 3D mapping data also without registration with the preoperative 3D image data combined. In such an additional Data combination can then also be active by means of active magnetic Navigation system to be navigated.

Claims (5)

Verfahren zur Kombination präoperativer 3D-Bilddatensätze mit intraoperativen 2D-Bilddatensätzen, gekennzeichnet durch folgende Schritte: S1: Messen eines 3D-Bilddatensatzes mit einer 3D-Bildgebungsmodalität, S2: Messen eines 2D-Bilddatensatzes mit einem Röntgen-C-Bogen, S3: Fusionieren des 2D-Bilddatensatzes mit dem 3D-Bilddatensatz auf Basis einer Kalibrierung zwischen den Koordinatensystemen der 3D-Bildgebungsmodalität und des Röntgen-C-Bogens, wobei die Kalibrierung auf einem definierten Positionswechsel der Patientenliege zwischen dem Messen des 3D-Bilddatensatzes und dem Messen des 2D-Bilddatensatzes basiert.Method for combining preoperative 3D image data sets with intraoperative 2D image data sets, marked through the following steps: S1: Measuring a 3D image data set with a 3D imaging modality, S2: Measuring a 2D image data set with an X-ray C-arm, S3: merging the 2D image data set with the 3D image data set based on a calibration between the Coordinate systems of the 3D imaging modality and the X-ray C-arm, where the calibration on a defined change of position of the patient bed between measuring the 3D image data set and measuring the 2D image data set based. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass zu dem Röntgen-C-Bogen und/oder zu der 3D-Bildgebungsmodalität ein aktives magnetisches Navigationssystem kalibriert wird.Method according to claim 1, characterized in that that to the x-ray C-arm and / or to the 3D imaging modality an active magnetic Navigation system is calibrated. Verfahren nach einem der Ansprüche 1 bis 2, dadurch gekennzeichnet, dass zu dem Röntgen-C-Bogen und/oder zu der 3D-Bildgebungsmodalität ein elektro-physiologisches Mapping-System kalibriert wird.Method according to one of claims 1 to 2, characterized that to the x-ray C-arm and / or to the 3D imaging modality electro-physiological Mapping system is calibrated. Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die 3D-Bildgebungsmodalität ein Computertomographie-Gerät oder ein Magnetresonanztomographie-Gerät darstellt.Method according to one of claims 1 to 3, characterized that the 3D imaging modality represents a computed tomography device or a magnetic resonance tomography device. Vorrichtung welche zur Durchführung des Verfahrens nach einem der vorhergehenden Ansprüche geeignet ist.Apparatus which for carrying out the method according to a of the preceding claims is.
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