SURGICAL NAVIGATION SYSTEM, MEDICAL IMAGING SYSTEM WITH SURGICAL NAVIGATION FUNCTION, AND REGISTRATION METHOD OF MEDICAL IMAGES FOR SURGICAL NAVIGATION

To perform two-step registration so that a surface shape of a patient in real space can accurately match a surface shape in a medical image, and reduce a burden on a user.SOLUTION: The medical image of the patient is received from an imaging device. For three or more regions on a surface of the patient in real space, position information of a plurality of points in the regions is acquired. One representative position is set for each of the three or more regions. Initial registration is performed using the information of the representative positions of the respective regions to associate the orientation of the patient in real space with the orientation of the patient in the medical image. Detailed registration is performed to further associate a patient position in real space with a position of the medical image so that the surface shape of the patient represented by the positions of the plurality of points in the three or more regions matches the surface shape of the patient image in the medical image.SELECTED DRAWING: Figure 3 【課題】二段階のレジストレーションを行って、実空間の患者の表面形状と医用画像上の表面形状とを精度よく一致させることができ、しかも、ユーザの負担が小さくする。【解決手段】撮像装置から患者の医用画像を受け取り、実空間上の患者の表面の３以上の領域について、領域内の複数の点の位置情報を取得する。３以上の領域ごとに一つの代表位置を設定する。領域ごとの代表位置の情報を用いて、実空間の前記患者の向きと、医用画像における患者の向きとを対応づける初期位置合わせを行う。３以上の領域内の複数の点の位置により表される患者の表面形状と、医用画像内の患者像の表面形状とが一致するように実空間の患者位置と医用画像の位置とをさらに対応づける詳細位置合わせを行う。【選択図】図３