Registration of an anatomical image with a position-tracking coordinate system based on visual proximity to bone tissue

• US 10,314,658 B2
• Filed: 04/21/2017
• Issued: 06/11/2019
• Est. Priority Date: 04/21/2017
• Status: Active Grant

• Current Assignee: Biosense Webster Incorporated (Johnson & Johnson)
• Original Assignee: Biosense Webster Incorporated (Johnson & Johnson)
• Inventors: Gliner, Vadim, Mayer, Ram Bernard, Govari, Assaf
• Primary Examiner(s): Goradia, Shefali D
• Application Number:
  US15/493,618
• Publication Number:
  US 20180303557A1
• Time in Patent Office: 781 Days
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/367 creating a 3D dataset from 2D images using position information
• CPC Class Codes: A61B 2090/3762 using computed tomography systems [CT]
• CPC Class Codes: A61B 2576/00 Medical imaging apparatus involving image processing or analysis A61B1/00009, A61B6/52 and A61B8/52 take precedence; image processing per se G06T; details of algorithms for analysing medical images G06T7/0012
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/061 Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body A61B1/00158 takes precedence
• CPC Class Codes: A61B 5/065 Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
• CPC Class Codes: A61B 5/6819 Nose
• CPC Class Codes: A61B 5/6852 Catheters
• CPC Class Codes: A61B 5/70 Means for positioning the patient in relation to the detecting, measuring or recording means
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/501 for diagnosis of the head, e.g. neuroimaging or craniography
• CPC Class Codes: A61M 2025/0166 Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided
• CPC Class Codes: A61M 25/0105 Steering means as part of the catheter or advancing means; Markers for positioning systems for detection of markers A61B
• CPC Class Codes: G06T 2207/10068 Endoscopic image
• CPC Class Codes: G06T 2207/10081 Computed x-ray tomography [CT]
• CPC Class Codes: G06T 2207/10088 Magnetic resonance imaging [MRI]
• CPC Class Codes: G06T 2207/30021 Catheter; Guide wire
• CPC Class Codes: G06T 7/0012 : Biomedical image inspection
• CPC Class Codes: G06T 7/32 : using correlation-based methods
• CPC Class Codes: G06T 7/70 : Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06T 7/73 : using feature-based methods
• CPC Class Codes: G16H 30/40 : for processing medical images, e.g. editing

Abstract

A system and method for improving registration of an anatomical image with a position-tracking coordinate system based on visual proximity to bone tissue is presented. The method can comprise identifying, in a three-dimensional (3d) anatomical image of a patient organ, multiple anatomical points corresponding to respective predefined locations on a skin of the patient organ in a first coordinate system, performing initial registration of the first coordinate system and a second coordinate system by correlating between positions in the first coordinate system and respective anatomical points in the second coordinate system, viewing a position in the first coordinate system using a viewing device, when the position does not match a predetermined location, marking the position and weighting the position, and refining the initial registration of the first and second coordinate systems, by re-correlating between the positions, the marked positions and the respective anatomical points.

Claims

1. A method of registering coordinate systems, comprising:

identifying, in a first three-dimensional (3D) anatomical image of a portion of patient anatomy, multiple anatomical points in a first coordinate system corresponding to predetermined locations on a surface of the portion of patient anatomy;

identifying, in a second coordinate system of a position tracking system, position points corresponding to the predetermined locations on the surface of the portion of patient anatomy in a 3D space;

performing initial registration of the first coordinate system and the second coordinate system by correlating between the anatomical points in the first coordinate system and the position points in the second coordinate system;

displaying, using a viewing device of a medical tool inserted within the portion of patient anatomy, locations within the portion of the patient anatomy;

receiving, for each displayed location within the portion of the patient anatomy, indications of whether or not the displayed location matches one of the position points corresponding to the predetermined locations on the surface; and

refining the initial registration of the first and second coordinate systems, by;

providing more weight to position points corresponding to displayed locations that do not match one of the position points than position points corresponding to displayed locations that do match one of the position points; and

re-correlating between the anatomical points and the position points according to the weighted position points and the anatomical points such that the sum of distances between the correlated anatomical points and the position points is reduced.

2. The method according to claim 1, wherein:

providing more weight comprises iteratively duplicating the position points corresponding to displayed locations that do not match one of the position points at identical positions.

3. The method according to claim 1, wherein the 3D anatomical image comprises a computerized tomography (CT) anatomical image.

4. The method according to claim 1, wherein the portion of patient anatomy comprises a patient head, and the multiple anatomical points and the position points correspond to the predefined locations on the patient head.

5. An apparatus, comprising:

a display device; and

a processor, which is configured to;

identify, in a first three-dimensional (3D) anatomical image of a portion of patient anatomy, multiple anatomical points in a first coordinate system corresponding to predetermined locations on a surface of the portion of patient anatomy;

identify, in a second coordinate system of a position tracking system, position points corresponding to the predetermined locations on the surface of the portion of patient anatomy in a 3D space;

perform initial registration of the first coordinate system and the second coordinate system by correlating between the anatomical points in the first coordinate system and the position points in the second coordinate system;

display on the display device, using a viewing device of a medical tool inserted within the portion of patient anatomy, locations within the portion of the patient anatomy;

receive, for each displayed location within the portion of the patient anatomy, indications of whether or not the displayed location matches one of the position points corresponding to the predetermined locations on the surface; and

refining the initial registration of the first and second coordinate systems, by;

providing more weight to position points corresponding to displayed locations that do not match one of the position points than position points corresponding to displayed locations that do match one of the position points; and

re-correlating between the anatomical points and the position points according to the weighted position points and the anatomical points such that the sum of distances between the correlated anatomical points and the position points is reduced.

6. The apparatus according to claim 5, wherein the processor is configured to:

provide more weight by iteratively duplicating the position points corresponding to displayed locations that do not match one of the position points at identical positions.

7. The apparatus according to claim 5, wherein the 3D anatomical image comprises a computerized tomography (CT) anatomical image.

8. The apparatus according to claim 5, wherein the portion of patient anatomy comprises a patient head, and multiple anatomical points and the position points correspond to the predefined locations on the patient head.

9. The apparatus according to claim 8, wherein the medical tool is a catheter and the video display device is a camera.

10. A non-transitory computer readable storage medium in which computer program instructions are stored, which instructions, when executed by a computer, cause the computer to perform steps of:

identifying, in a first three-dimensional (3D) anatomical image of a portion of patient anatomy, multiple anatomical points in a first coordinate system corresponding to predetermined locations on a surface of the portion of patient anatomy;

identifying, in a second coordinate system of a position tracking system, position points corresponding to the predetermined locations on the surface of the Portion of patient anatomy in a 3D space;

performing initial registration of the first coordinate system and the second coordinate system by correlating between the anatomical points in the first coordinate system and the position points in the second coordinate system;

displaying, using a viewing device of a medical tool inserted within the portion of patient anatomy, locations within the portion of the patient anatomy;

receive, for each displayed location within the portion of the patient anatomy, indications of whether or not the displayed location matches one of the position points corresponding to the predetermined locations on the surface; and

refining the initial registration of the first and second coordinate systems, by;

providing more weight to position points corresponding to displayed locations that do not match one of the position points than position points corresponding to displayed locations that do match one of the position points; and

re-correlating between the anatomical points and the position points according to the weighted position points and the anatomical points such that the sum of distances between the correlated anatomical points and the position points is reduced.

11. The computer readable storage medium according to claim 10, wherein:

providing more weight by iteratively duplicating the position points corresponding to displayed locations that do not match one of the position points at identical positions.