The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 15, 2026
Filed:
Mar. 29, 2023
Ecential Robotics, Gieres, FR;
ECENTIAL ROBOTICS, Gieres, FR;
Abstract
The invention relates to a method for registering a 3D medical image obtained by an X-ray imaging system with a registration phantom (), wherein the registration phantom () is positioned onto the patient and comprises a set of radiopaque fiducials () having a known position in a coordinate system of said registration phantom (), said set of radiopaque fiducials not being detectable in the 3D image, the method comprising the steps of: —obtaining at least one 2D X-ray image acquired by the X-ray imaging system wherein at least three radiopaque fiducials () of the registration phantom () is detectable in each 2D image; —for each of said at least one 2D image, registering the 2D X-ray image with the registration phantom () by detecting and determining the position of the at least three radiopaque fiducials () in the respective 2D image; —registering each of said at least one 2D X-ray image with the 3D medical image based on the determined position of said radiopaque fiducials in each 2D image and on a projection matrix of the X-ray imaging system, and determining the position of said radiopaque fiducials in the 3D medical image; —registering the registration phantom () with the 3D medical image using said positions of the at least three radiopaque fiducials in the 3D medical image.