Method, computer software, and system for tracking, stabilizing, and reporting motion between vertebrae

US 20030086596A1
Filed: 11/07/2002
Published: 05/08/2003
Est. Priority Date: 11/07/2001
Status: Abandoned Application

First Claim

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1. A method for processing medical images via an information handling system to identify and track motion between vertebrae of a spine, comprising:

identifying one or more vertebra in each of at least two medical images accessed via the information handling system;

acquiring tracking data as a function of a position of the respective identified vertebrae from the at least two medical images; and

processing a sequence of the at least two medical images as a function of the tracking data to track a motion between the vertebrae of the spine in the sequence.

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Abstract

A method for processing medical images via an information handling system for identifying and tracking motion between vertebrae of a spine includes identifying one or more vertebra in each of at least two medical images and acquiring tracking data as a function of a position of the respective identified vertebrae from the at least two medical images. The method also includes processing a sequence of the at least two medical images as a function of the tracking data to track a motion between the vertebrae of the spine in the sequence. Computer software and an information handling system are also disclosed.

Citations

185 Claims

1. A method for processing medical images via an information handling system to identify and track motion between vertebrae of a spine, comprising:
- identifying one or more vertebra in each of at least two medical images accessed via the information handling system;
  
  acquiring tracking data as a function of a position of the respective identified vertebrae from the at least two medical images; and
  
  processing a sequence of the at least two medical images as a function of the tracking data to track a motion between the vertebrae of the spine in the sequence.
- View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50)
- - 2. The method of claim 1, wherein identifying the vertebrae in each of the medical images includes identifying an individual vertebra.
  - 3. The method of claim 1, further comprising:
    - enhancing an image quality of the medical images prior to acquiring the tracking data.
  - 4. The method of claim 1, further comprising:
    - displaying the sequence of the at least two medical images as a function of the tracking data subsequent to processing the sequence, wherein the displayed sequence provides a visualization of motion between vertebrae of the spine as a function of the tracking data.
  - 5. The method of claim 1, further comprising:
    - calculating motion data representative of the motion between the vertebrae of the spine of the at least two medical images.
  - 6. The method of claim 5, further comprising:
    - preparing a report of the motion between the vertebrae of the spine of the at least two medical images as a function of the calculated motion data.
  - 7. The method of claim 6, wherein the report includes one selected from the group consisting of a softcopy report and a hardcopy report.
  - 8. The method of claim 1, further comprising:
    - resealing the medical images to a substantially similar magnification scale as a function of differences in magnification between images prior to identifying the vertebrae in the medical images.
  - 9. The method of claim 8, wherein the medical images include one selected from the group consisting of electronic image data and softcopy image data.
  - 10. The method of claim 8, wherein the medical images include data files, each data file containing image data and pixel size information of the image data, and wherein resealing further includes resealing the medical images as a function of the pixel size information of respective images.
  - 11. The method of claim 8, wherein resealing includes obtaining pixel size information, measured in pixels, from a measurement of a distance between landmarks in a respective medical image, and adjusting the pixel size information based upon a known distance between the landmarks, and wherein resealing further includes resealing the medical images as a function of the pixel size information of respective images.
  - 12. The method of claim 11, wherein obtaining pixel size information further includes automated landmark identification and measurement of distances by analyzing an object of known length in a field of view of a respective image.
  - 13. The method of claim 8, wherein resealing further includes resealing the medical images as a function of a pixel size of respective images.
  - 14. The method of claim 3, wherein enhancing the image quality further includes altering a relative intensity of pixel values of respective medical images.
  - 15. The method of claim 14, wherein altering the relative intensity of pixel values includes at least one selected from the group consisting of image filtering, thresholding, histogram stretching, and histogram equalization.
  - 16. The method of claim 15, wherein histogram equalization includes equalization by one selected from the group consisting of a user selected range of gray-scale values and weighted intensity values to compensate for specific image artifacts.
  - 17. The method of claim 15, wherein histogram stretching includes stretching by one selected from the group consisting of a user selected range of gray-scale values and weighted intensity values to compensate for specific image artifacts.
  - 18. The method of claim 15, wherein image filtering includes filtering by one selected from the group consisting of smoothing, gamma correction, and common convolution kernels.
  - 19. The method of claim 15, further comprising:
    - averaging a sub-sequence of images to reduce noise in the sequence of images, wherein the sub-sequence includes images having a tracked motion that is less than a user-defined motion threshold amount.
  - 20. The method of claim 3, wherein enhancing the image quality further includes performing, on respective medical images for the purpose of detecting vertebrae, at least one selected from the group consisting of edge detection and edge enhancement.
  - 21. The method of claim 20, wherein edge detection and edge enhancement include one selected from the group consisting of gradient operators, Laplacian derivatives, and sharpening spatial filters.
  - 22. The method of claim 1, wherein identifying the vertebrae in each of the at least two medical images includes identifying the vertebrae to be tracked and identifying a frame of reference for relative motion calculations.
  - 23. The method of claim 22, wherein the frame of reference is defined by at least one selected from the group consisting of:
    - a user-selection of at least three (3) landmarks to define a Cartesian coordinate system, and a user-selection of at least (2) lines for defining a Cartesian or Polar coordinate system.
  - 24. The method of claim 22, wherein identifying the vertebrae to be tracked includes computing the vertebrae to be tracked from user-identified anatomic landmark points.
  - 25. The method of claim 22, wherein identifying the vertebrae to be tracked includes defining a region of interest (ROI) in at least one of the images of the sequence of images.
  - 26. The method of claim 25, wherein defining the ROI includes a manual definition of the ROI by at least one selected from the group consisting of tracing boundaries of the ROI, and defining one of a box, a circle, and a simple geometric shape.
  - 27. The method of claim 25, wherein defining the ROI includes identifying an entire region of interest as a function of a user-defined point in or near the vertebrae and the use of a segmentation algorithm.
  - 28. The method of claim 27, wherein the segmentation algorithm includes at least one selected from the group consisting of:
    - thresholding, seed growing, and snakes.
  - 29. The method of claim 25, wherein identifying the ROI includes template matching for automatically identifying the region of interest.
  - 30. The method of claim 29, wherein template matching includes pattern matching via at least one selected from the group consisting of gray scale correlation, geometric correlation.
  - 31. The method of claim 29, wherein template matching includes selecting a template from a predefined library of templates for use as a basis for the region of interest.
  - 32. The method of claim 25, further comprising masking out an undesired area from the region of interest.
  - 33. The method of claim 1, wherein processing the sequence includes automated tracking with use of at least one selected from the group consisting of an automated tracking algorithm and a manual tracking algorithm.
  - 34. The method of claim 33, wherein the automated tracking algorithm includes at least one selected from the group consisting of:
    - (a) automatically using a gray scale correlation and optionally enhancing the gray scale correlation via user-masked out pixels that may adversely affect the tracking;
      
      (b) automatically resizing a search area of an image in response to a detection of a sudden jump in motion in the sequence, further for enhancing an accuracy and reproducibility of the tracking;
      
      (c) automatically predicting a future location of a vertebra in the sequence of images from a prior motion of the vertebra in the sequence, further for enhancing an accuracy and performance of the tracking; and
      
      (d) automatically identifying specific areas that need to be analyzed with a more advanced and time consuming image processing and analysis.
  - 35. The method of claim 33, wherein the automated tracking algorithm includes at least one geometric or template matching algorithm selected from the group consisting of:
    - a parameterization of vertebral boundaries needed for geometric tracking based on a generic pattern of points, lines and curves that fit average or typical vertebral geometries, and a generalized Hough Transform used to account for an irregular shape of a vertebra.
  - 36. The method of claim 35, further wherein a shape of the average or typical vertebra geometries are defined by at least one selected from the group consisting of a manual, a semiautomatic, or an automatic analysis of a number of images, and further wherein the generalized Hough Transform includes at least one selected from the group consisting of (a) performing a neighborhood operation in a Hough parameter space to minimize detection of edges that are not actual parts of the tracked vertebra and (b) using data describing a path that a vertebra was following to narrow a range of Hough parameters to be searched.
  - 37. The method of claim 33, further comprising correcting errors encountered during a current tracking process with the use of data obtained from prior successful tracking processes.
  - 38. The method of claim 33, wherein tracking is further performed by at least one selected from the group consisting of computer assisted manual methods and a manual fine-tuning process.
  - 39. The method of claim 38, wherein the fine-tuning process includes stabilizing the sequence of images by aligning a frame of reference for each image for enhancing a visualization of a relative motion between the images during a display of the sequence of images.
  - 40. The method of claim 39, wherein the visualization includes at least one selected from the group consisting of:
    - (a) alternately displaying the images in rapid succession, (b) placing anatomic markers that remain fixed with an aligned reference system, and (c) simultaneously displaying two images, with each image in a different color shade to enable a visualization of differences between the images.
  - 41. The method of claim 38, wherein the fine-tuning process includes displaying landmarks and/or regions of interest defining the vertebra on each image using the realigned frame of reference.
  - 42. The method of claim 4, wherein displaying further includes displaying stabilized vertebrae so that a relative motion adjacent to a specific vertebra can be visualized for the purpose of at least one selected from the group consisting of assessing errors in tracking and assessing abnormalities in relative motion.
  - 43. The method of claim 42, further including an option for flipping back-and-forth between images, alternately displaying images in the sequence at a predefined rate, so that the primary object is stabilized while a remainder of the content of the medical image frame scene moves.
  - 44. The method of claim 42, further including simultaneously displaying multiple images, wherein each image is displayed in a different color band, to enhance a visualization of differences between the images.
  - 45. The method of claim 42, further including displaying a reference object fixed in the frame of reference so that a user can visualize a relative motion of each image frame, further wherein the reference object includes an object of known dimensions so that a magnitude of motion between objects in the images can be assessed.
  - 46. The method of claim 1, further comprising:
    - calculating and reporting parameters configured to describe a relative motion between vertebra.
  - 47. The method of claim 46, wherein a description of the relative motion includes a rotation between reference frames of successive images in the sequence.
  - 48. The method of claim 46, wherein a description of the relative motion includes a shear or translation of one vertebrae in a direction defined by an endplate of an adjacent vertebra.
  - 49. The method of claim 46, wherein a description of the relative motion includes a change in an anterior, posterior, or average height of an intervertebral disc space between vertebrae.
  - 50. The method of claim 46, wherein a description of the relative motion includes an instantaneous center of rotation of vertebrae.

51. A method for processing medical images via an information handling system to identify and track motion between vertebrae of a spine, comprising:
- identifying one or more vertebra in each of at least two medical images accessed via the information handling system;
  
  acquiring tracking data as a function of a position of the respective identified vertebrae from the at least two medical images;
  
  processing a sequence of the at least two medical images as a function of the tracking data to track a motion between the vertebrae of the spine in the sequence; and
  
  calculating motion data representative of the motion between the vertebrae of the spine of the at least two medical images.
- View Dependent Claims (52, 53, 54, 55, 56, 57, 58, 59, 60)
- - 52. The method of claim 51, further comprising:
    - displaying the sequence of the at least two medical images as a function of the tracking data subsequent to processing the sequence, wherein the displayed sequence provides a visualization of motion between vertebrae of the spine as a function of the tracking data; and
      
      preparing a report of the motion between the vertebrae of the spine of the at least two medical images as a function of the calculated motion data.
  - 53. The method of claim 51, further comprising:
    - enhancing an image quality of the medical images prior to acquiring the tracking data.
  - 54. The method of claim 53, wherein enhancing the image quality further includes altering a relative intensity of pixel values of respective medical images.
  - 55. The method of claim 51, further comprising:
    - resealing the medical images to a substantially similar magnification scale as a function of differences in magnification between images prior to identifying the vertebrae in the medical images.
  - 56. The method of claim 55, wherein resealing further includes resealing the medical images as a function of a pixel size of respective images.
  - 57. The method of claim 51, wherein identifying the vertebrae in each of the at least two medical images includes identifying the vertebrae to be tracked and identifying a frame of reference for relative motion calculations.
  - 58. The method of claim 57, wherein identifying the vertebrae to be tracked includes defining a region of interest (ROI) in at least one of the images of the sequence of images.
  - 59. The method of claim 51, wherein processing the sequence includes automated tracking with use of at least one selected from the group consisting of an automated tracking algorithm and a manual tracking algorithm.
  - 60. The method of claim 51, further comprising:
    - reporting the calculated motion data in a format for conveying relative motion between the vertebrae.

61. A computer program stored on a computer readable medium and processable by a processor of an information handling system for processing medical images to identify and track motion between vertebrae of a spine, comprising:
- instructions for identifying one or more vertebra in each of at least two medical images accessed via the information handling system;
  
  instructions for acquiring tracking data as a function of a position of the respective identified vertebrae from the at least two medical images; and
  
  instructions for processing a sequence of the at least two medical images as a function of the tracking data to track a motion between the vertebrae of the spine in the sequence.
- View Dependent Claims (62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110)
- - 62. The computer program of claim 61, wherein identifying the vertebrae in each of the medical images includes identifying an individual vertebra.
  - 63. The computer program of claim 61, further comprising:
    - instructions for enhancing an image quality of the medical images prior to acquiring the tracking data.
  - 64. The computer program of claim 61, further comprising:
    - instructions for displaying the sequence of the at least two medical images as a function of the tracking data subsequent to processing the sequence, wherein the displayed sequence provides a visualization of motion between vertebrae of the spine as a function of the tracking data.
  - 65. The computer program of claim 61, further comprising:
    - instructions for calculating motion data representative of the motion between the vertebrae of the spine of the at least two medical images.
  - 66. The computer program of claim 65, further comprising:
    - instructions for preparing a report of the motion between the vertebrae of the spine of the at least two medical images as a function of the calculated motion data.
  - 67. The computer program of claim 66, wherein the report includes one selected from the group consisting of a softcopy report and a hardcopy report.
  - 68. The computer program of claim 61, further comprising:
    - instructions for resealing the medical images to a substantially similar magnification scale as a function of differences in magnification between images prior to identifying the vertebrae in the medical images.
  - 69. The computer program of claim 68, wherein the medical images include one selected from the group consisting of electronic image data and softcopy image data.
  - 70. The computer program of claim 68, wherein the medical images include data files, each data file containing image data and pixel size information of the image data, and wherein resealing further includes resealing the medical images as a function of the pixel size information of respective images.
  - 71. The computer program of claim 68, wherein resealing includes obtaining pixel size information, measured in pixels, from a measurement of a distance between landmarks in a respective medical image, and adjusting the pixel size information based upon a known distance between the landmarks, and wherein resealing further includes resealing the medical images as a function of the pixel size information of respective images.
  - 72. The computer program of claim 71, wherein obtaining pixel size information further includes automated landmark identification and measurement of distances by analyzing an object of known length in a field of view of a respective image.
  - 73. The computer program of claim 68, wherein resealing further includes resealing the medical images as a function of a pixel size of respective images.
  - 74. The computer program of claim 63, wherein enhancing the image quality further includes altering a relative intensity of pixel values of respective medical images.
  - 75. The computer program of claim 74, wherein altering the relative intensity of pixel values includes at least one selected from the group consisting of image filtering, thresholding, histogram stretching, and histogram equalization.
  - 76. The computer program of claim 75, wherein histogram equalization includes equalization by one selected from the group consisting of a user selected range of gray-scale values and weighted intensity values to compensate for specific image artifacts.
  - 77. The computer program of claim 75, wherein histogram stretching includes stretching by one selected from the group consisting of a user selected range of gray-scale values and weighted intensity values to compensate for specific image artifacts.
  - 78. The computer program of claim 75, wherein image filtering includes filtering by one selected from the group consisting of smoothing, gamma correction, and common convolution kernels.
  - 79. The computer program of claim 75, further comprising:
    - instructions for averaging a sub-sequence of images to reduce noise in the sequence of images, wherein the sub-sequence includes images having a tracked motion that is less than a user-defined motion threshold amount.
  - 80. The computer program of claim 63, wherein enhancing the image quality further includes performing, on respective medical images for the purpose of detecting vertebrae, at least one selected from the group consisting of edge detection and edge enhancement.
  - 81. The computer program of claim 80, wherein edge detection and edge enhancement include one selected from the group consisting of gradient operators, Laplacian derivatives, and sharpening spatial filters.
  - 82. The computer program of claim 61, wherein identifying the vertebrae in each of the at least two medical images includes identifying the vertebrae to be tracked and identifying a frame of reference for relative motion calculations.
  - 83. The computer program of claim 82, wherein the frame of reference is defined by at least one selected from the group consisting of:
    - a user-selection of at least three (3) landmarks to define a Cartesian coordinate system, and a user-selection of at least (2) lines for defining a Cartesian or Polar coordinate system.
  - 84. The computer program of claim 82, wherein identifying the vertebrae to be tracked includes computing the vertebrae to be tracked from user-identified anatomic landmark points.
  - 85. The computer program of claim 82, wherein identifying the vertebrae to be tracked includes defining a region of interest (ROI) in at least one of the images of the sequence of images.
  - 86. The computer program of claim 85, wherein defining the ROI includes a manual definition of the ROI by at least one selected from the group consisting of tracing boundaries of the ROI, and defining one of a box, a circle, and a simple geometric shape.
  - 87. The computer program of claim 85, wherein defining the ROI includes identifying an entire region of interest as a function of a user-defined point in or near the vertebrae and the use of a segmentation algorithm.
  - 88. The computer program of claim 87, wherein the segmentation algorithm includes at least one selected from the group consisting of:
    - thresholding, seed growing, and snakes.
  - 89. The computer program of claim 85, wherein identifying the ROI includes template matching for automatically identifying the region of interest.
  - 90. The computer program of claim 89, wherein template matching includes pattern matching via at least one selected from the group consisting of gray scale correlation, geometric correlation.
  - 91. The computer program of claim 89, wherein template matching includes selecting a template from a predefined library of templates for use as a basis for the region of interest.
  - 92. The computer program of claim 85, further comprising masking out an undesired area from the region of interest.
  - 93. The computer program of claim 61, wherein processing the sequence includes automated tracking with use of at least one selected from the group consisting of an automated tracking algorithm and a manual tracking algorithm.
  - 94. The computer program of claim 93, wherein the automated tracking algorithm includes at least one selected from the group consisting of:
    - (a) automatically using a gray scale correlation and optionally enhancing the gray scale correlation via user-masked out pixels that may adversely affect the tracking;
      
      (b) automatically resizing a search area of an image in response to a detection of a sudden jump in motion in the sequence, further for enhancing an accuracy and reproducibility of the tracking;
      
      (c) automatically predicting a future location of a vertebra in the sequence of images from a prior motion of the vertebra in the sequence, further for enhancing an accuracy and performance of the tracking; and
      
      (d) automatically identifying specific areas that need to be analyzed with a more advanced and time consuming image processing and analysis.
  - 95. The computer program of claim 93, wherein the automated tracking algorithm includes at least one geometric or template matching algorithm selected from the group consisting of:
    - a parameterization of vertebral boundaries needed for geometric tracking based on a generic pattern of points, lines and curves that fit average or typical vertebral geometries, and a generalized Hough Transform used to account for an irregular shape of a vertebra.
  - 96. The computer program of claim 95, further wherein a shape of the average or typical vertebra geometries are defined by at least one selected from the group consisting of a manual, a semiautomatic, or an automatic analysis of a number of images, and further wherein the generalized Hough Transform includes at least one selected from the group consisting of (a) performing a neighborhood operation in a Hough parameter space to minimize detection of edges that are not actual parts of the tracked vertebra and (b) using data describing a path that a vertebra was following to narrow a range of Hough parameters to be searched.
  - 97. The computer program of claim 93, further comprising correcting errors encountered during a current tracking process with the use of data obtained from prior successful tracking processes.
  - 98. The computer program of claim 93, wherein tracking is further performed by at least one selected from the group consisting of computer assisted manual methods and a manual fine-tuning process.
  - 99. The computer program of claim 98, wherein the fine-tuning process includes stabilizing the sequence of images by aligning a frame of reference for each image for enhancing a visualization of a relative motion between the images during a display of the sequence of images.
  - 100. The computer program of claim 99, wherein the visualization includes at least one selected from the group consisting of:
    - (a) alternately displaying the images in rapid succession, (b) placing anatomic markers that remain fixed with an aligned reference system, and (c) simultaneously displaying two images, with each image in a different color shade to enable a visualization of differences between the images.
  - 101. The computer program of claim 98, wherein the fine-tuning process includes displaying landmarks and/or regions of interest defining the vertebra on each image using the realigned frame of reference.
  - 102. The computer program of claim 64, wherein displaying further includes displaying stabilized vertebrae so that a relative motion adjacent to a specific vertebra can be visualized for the purpose of at least one selected from the group consisting of assessing errors in tracking and assessing abnormalities in relative motion.
  - 103. The computer program of claim 102, further including an option for flipping back-and-forth between images, alternately displaying images in the sequence at a predefined rate, so that the primary object is stabilized while a remainder of the content of the medical image frame scene moves.
  - 104. The computer program of claim 102, further including simultaneously displaying multiple images, wherein each image is displayed in a different color band, to enhance a visualization of differences between the images.
  - 105. The computer program of claim 102, further including displaying a reference object fixed in the frame of reference so that a user can visualize a relative motion of each image frame, further wherein the reference object includes an object of known dimensions so that a magnitude of motion between objects in the images can be assessed.
  - 106. The computer program of claim 61, further comprising:
    - instructions for calculating and reporting parameters configured to describe a relative motion between vertebra.
  - 107. The computer program of claim 106, wherein a description of the relative motion includes a rotation between reference frames of successive images in the sequence.
  - 108. The computer program of claim 106, wherein a description of the relative motion includes a shear or translation of one vertebrae in a direction defined by an endplate of an adjacent vertebra.
  - 109. The computer program of claim 106, wherein a description of the relative motion includes a change in an anterior, posterior, or average height of an intervertebral disc space between vertebrae.
  - 110. The computer program of claim 106, wherein a description of the relative motion includes an instantaneous center of rotation of vertebrae.

111. A computer program stored on a computer readable medium and processable by a processor of an information handling system for processing medical images to identify and track motion between vertebrae of a spine, comprising:
- instructions for identifying one or more vertebra in each of at least two medical images accessed via the information handling system;
  
  instructions for acquiring tracking data as a function of a position of the respective identified vertebrae from the at least two medical images;
  
  instructions for processing a sequence of the at least two medical images as a function of the tracking data to track a motion between the vertebrae of the spine in the sequence; and
  
  instructions for calculating motion data representative of the motion between the vertebrae of the spine of the at least two medical images.
- View Dependent Claims (112, 113, 114, 115, 116, 117, 118, 119, 120)
- - 112. The computer program of claim 111, further comprising:
    - instructions for displaying the sequence of the at least two medical images as a function of the tracking data subsequent to processing the sequence, wherein the displayed sequence provides a visualization of motion between vertebrae of the spine as a function of the tracking data; and
      
      instructions for preparing a report of the motion between the vertebrae of the spine of the at least two medical images as a function of the calculated motion data.
  - 113. The computer program of claim 111, further comprising:
    - instructions for enhancing an image quality of the medical images prior to acquiring the tracking data.
  - 114. The computer program of claim 113, wherein enhancing the image quality further includes altering a relative intensity of pixel values of respective medical images.
  - 115. The computer program of claim 111, further comprising:
    - instructions for resealing the medical images to a substantially similar magnification scale as a function of differences in magnification between images prior to identifying the vertebrae in the medical images.
  - 116. The computer program of claim 115, wherein resealing further includes resealing the medical images as a function of a pixel size of respective images.
  - 117. The computer program of claim 111, wherein identifying the vertebrae in each of the at least two medical images includes identifying the vertebrae to be tracked and identifying a frame of reference for relative motion calculations.
  - 118. The computer program of claim 117, wherein identifying the vertebrae to be tracked includes defining a region of interest (ROI) in at least one of the images of the sequence of images.
  - 119. The computer program of claim 111, wherein processing the sequence includes automated tracking with use of at least one selected from the group consisting of an automated tracking algorithm and a manual tracking algorithm.
  - 120. The computer program of claim 111, further comprising:
    - instructions for reporting the calculated motion data in a format for conveying relative motion between the vertebrae.

121. An information handling system for processing medical images to identify and track motion between vertebrae of a spine, comprising:
- means for identifying one or more vertebra in each of at least two medical images accessed via the information handling system;
  
  means for acquiring tracking data as a function of a position of the respective identified vertebrae from the at least two medical images; and
  
  a processor for processing a sequence of the at least two medical images as a function of the tracking data to track a motion between the vertebrae of the spine in the sequence.
- View Dependent Claims (122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170)
- - 122. The system of claim 121, wherein identifying the vertebrae in each of the medical images includes identifying an individual vertebra.
  - 123. The system of claim 121, further comprising:
    - means for enhancing an image quality of the medical images prior to acquiring the tracking data.
  - 124. The system of claim 121, further comprising:
    - a display for displaying the sequence of the at least two medical images as a function of the tracking data subsequent to processing the sequence, wherein the displayed sequence provides a visualization of motion between vertebrae of the spine as a function of the tracking data.
  - 125. The system of claim 121, wherein said processor is further for calculating motion data representative of the motion between the vertebrae of the spine of the at least two medical images.
  - 126. The system of claim 125, wherein said processor is further for preparing a report of the motion between the vertebrae of the spine of the at least two medical images as a function of the calculated motion data.
  - 127. The system of claim 126, wherein the report includes one selected from the group consisting of a softcopy report and a hardcopy report.
  - 128. The system of claim 121, further comprising:
    - means for resealing the medical images to a substantially similar magnification scale as a function of differences in magnification between images prior to identifying the vertebrae in the medical images.
  - 129. The system of claim 128, wherein the medical images include one selected from the group consisting of electronic image data and softcopy image data.
  - 130. The system of claim 128, wherein the medical images include data files, each data file containing image data and pixel size information of the image data, and wherein resealing further includes resealing the medical images as a function of the pixel size information of respective images.
  - 131. The system of claim 128, wherein resealing includes obtaining pixel size information, measured in pixels, from a measurement of a distance between landmarks in a respective medical image, and adjusting the pixel size information based upon a known distance between the landmarks, and wherein resealing further includes resealing the medical images as a function of the pixel size information of respective images.
  - 132. The system of claim 131, wherein obtaining pixel size information further includes automated landmark identification and measurement of distances by analyzing an object of known length in a field of view of a respective image.
  - 133. The system of claim 128, wherein resealing further includes resealing the medical images as a function of a pixel size of respective images.
  - 134. The system of claim 123, wherein enhancing the image quality further includes altering a relative intensity of pixel values of respective medical images.
  - 135. The system of claim 134, wherein altering the relative intensity of pixel values includes at least one selected from the group consisting of image filtering, thresholding, histogram stretching, and histogram equalization.
  - 136. The system of claim 135, wherein histogram equalization includes equalization by one selected from the group consisting of a user selected range of gray-scale values and weighted intensity values to compensate for specific image artifacts.
  - 137. The system of claim 135, wherein histogram stretching includes stretching by one selected from the group consisting of a user selected range of gray-scale values and weighted intensity values to compensate for specific image artifacts.
  - 138. The system of claim 135, wherein image filtering includes filtering by one selected from the group consisting of smoothing, gamma correction, and common convolution kernels.
  - 139. The system of claim 135, further comprising:
    - means for averaging a sub-sequence of images to reduce noise in the sequence of images, wherein the sub-sequence includes images having a tracked motion that is less than a user-defined motion threshold amount.
  - 140. The system of claim 123, wherein enhancing the image quality further includes performing, on respective medical images for the purpose of detecting vertebrae, at least one selected from the group consisting of edge detection and edge enhancement.
  - 141. The system of claim 140, wherein edge detection and edge enhancement include use of one selected from the group consisting of gradient operators, Laplacian derivatives, and sharpening spatial filters.
  - 142. The system of claim 121, wherein identifying the vertebrae in each of the at least two medical images includes identifying the vertebrae to be tracked and identifying a frame of reference for relative motion calculations.
  - 143. The system of claim 142, wherein the frame of reference is defined by at least one selected from the group consisting of:
    - a user-selection of at least three (3) landmarks to define a Cartesian coordinate system, and a user-selection of at least (2) lines for defining a Cartesian or Polar coordinate system.
  - 144. The system of claim 142, wherein identifying the vertebrae to be tracked includes computing the vertebrae to be tracked from user-identified anatomic landmark points.
  - 145. The system of claim 142, wherein identifying the vertebrae to be tracked includes defining a region of interest (ROI) in at least one of the images of the sequence of images.
  - 146. The system of claim 145, wherein defining the ROI includes a manual definition of the ROI by at least one selected from the group consisting of tracing boundaries of the ROI, and defining one of a box, a circle, and a simple geometric shape.
  - 147. The system of claim 145, wherein defining the ROI includes identifying an entire region of interest as a function of a user-defined point in or near the vertebrae and the use of a segmentation algorithm.
  - 148. The system of claim 147, wherein the segmentation algorithm includes at least one selected from the group consisting of:
    - thresholding, seed growing, and snakes.
  - 149. The system of claim 145, wherein identifying the ROI includes template matching for automatically identifying the region of interest.
  - 150. The system of claim 149, wherein template matching includes pattern matching via at least one selected from the group consisting of gray scale correlation, geometric correlation.
  - 151. The system of claim 149, wherein template matching includes selecting a template from a predefined library of templates for use as a basis for the region of interest.
  - 152. The system of claim 145, further comprising masking out an undesired area from the region of interest.
  - 153. The system of claim 121, wherein processing the sequence includes automated tracking with use of at least one selected from the group consisting of an automated tracking algorithm and a manual tracking algorithm.
  - 154. The system of claim 153, wherein the automated tracking algorithm includes at least one selected from the group consisting of:
    - (a) automatically using a gray scale correlation and optionally enhancing the gray scale correlation via user-masked out pixels that may adversely affect the tracking;
      
      (b) automatically resizing a search area of an image in response to a detection of a sudden jump in motion in the sequence, further for enhancing an accuracy and reproducibility of the tracking;
      
      (c) automatically predicting a future location of a vertebra in the sequence of images from a prior motion of the vertebra in the sequence, further for enhancing an accuracy and performance of the tracking; and
      
      (d) automatically identifying specific areas that need to be analyzed with a more advanced and time consuming image processing and analysis.
  - 155. The system of claim 153, wherein the automated tracking algorithm includes at least one geometric or template matching algorithm selected from the group consisting of:
    - a parameterization of vertebral boundaries needed for geometric tracking based on a generic pattern of points, lines and curves that fit average or typical vertebral geometries, and a generalized Hough Transform used to account for an irregular shape of a vertebra.
  - 156. The system of claim 155, further wherein a shape of the average or typical vertebra geometries are defined by at least one selected from the group consisting of a manual, a semiautomatic, or an automatic analysis of a number of images, and further wherein the generalized Hough Transform includes at least one selected from the group consisting of (a) performing a neighborhood operation in a Hough parameter space to minimize detection of edges that are not actual parts of the tracked vertebra and (b) using data describing a path that a vertebra was following to narrow a range of Hough parameters to be searched.
  - 157. The system of claim 153, further comprising correcting errors encountered during a current tracking process with the use of data obtained from prior successful tracking processes.
  - 158. The system of claim 153, wherein tracking is further performed by at least one selected from the group consisting of computer assisted manual methods and a manual fine-tuning process.
  - 159. The system of claim 158, wherein the fine-tuning process includes stabilizing the sequence of images by aligning a frame of reference for each image for enhancing a visualization of a relative motion between the images during a display of the sequence of images.
  - 160. The system of claim 159, wherein the visualization includes at least one selected from the group consisting of:
    - (a) alternately displaying the images in rapid succession, (b) placing anatomic markers that remain fixed with an aligned reference system, and (c) simultaneously displaying two images, with each image in a different color shade to enable a visualization of differences between the images.
  - 161. The system of claim 158, wherein the fine-tuning process includes displaying landmarks and/or regions of interest defining the vertebra on each image using the realigned frame of reference.
  - 162. The system of claim 124, wherein displaying further includes displaying stabilized vertebrae so that a relative motion adjacent to a specific vertebra can be visualized for the purpose of at least one selected from the group consisting of assessing errors in tracking and assessing abnormalities in relative motion.
  - 163. The system of claim 162, further including an option for flipping back-and-forth between images, alternately displaying images in the sequence at a predefined rate, so that the primary object is stabilized while a remainder of the content of the medical image frame scene moves.
  - 164. The system of claim 162, further including simultaneously displaying multiple images, wherein each image is displayed in a different color band, to enhance a visualization of differences between the images.
  - 165. The system of claim 162, further including displaying a reference object fixed in the frame of reference so that a user can visualize a relative motion of each image frame, further wherein the reference object includes an object of known dimensions so that a magnitude of motion between objects in the images can be assessed.
  - 166. The system of claim 121, wherein said processor is further for calculating and reporting parameters configured to describe a relative motion between vertebra.
  - 167. The system of claim 166, wherein a description of the relative motion includes a rotation between reference frames of successive images in the sequence.
  - 168. The system of claim 166, wherein a description of the relative motion includes a shear or translation of one vertebrae in a direction defined by an endplate of an adjacent vertebra.
  - 169. The system of claim 166, wherein a description of the relative motion includes a change in an anterior, posterior, or average height of an intervertebral disc space between vertebrae.
  - 170. The system of claim 166, wherein a description of the relative motion includes an instantaneous center of rotation of vertebrae.

171. A system for processing medical images to identify and track motion between vertebrae of a spine, comprising:
- means for identifying one or more vertebra in each of at least two medical images accessed via the system;
  
  means for acquiring tracking data as a function of a position of the respective identified vertebrae from the at least two medical images; and
  
  a processor for processing a sequence of the at least two medical images as a function of the tracking data to track a motion between the vertebrae of the spine in the sequence and for calculating motion data representative of the motion between the vertebrae of the spine of the at least two medical images.
- View Dependent Claims (172, 173, 174, 175, 176, 177, 178, 179, 180)
- - 172. The system of claim 171, further comprising:
    - a display for displaying the sequence of the at least two medical images as a function of the tracking data subsequent to processing the sequence, wherein the displayed sequence provides a visualization of motion between vertebrae of the spine as a function of the tracking data, wherein said processor is further for preparing a report of the motion between the vertebrae of the spine of the at least two medical images as a function of the calculated motion data.
  - 173. The system of claim 171, further comprising:
    - means for enhancing an image quality of the medical images prior to acquiring the tracking data.
  - 174. The system of claim 173, wherein enhancing the image quality further includes altering a relative intensity of pixel values of respective medical images.
  - 175. The system of claim 171, further comprising:
    - means for resealing the medical images to a substantially similar magnification scale as a function of differences in magnification between images prior to identifying the vertebrae in the medical images.
  - 176. The system of claim 175, wherein resealing further includes resealing the medical images as a function of a pixel size of respective images.
  - 177. The system of claim 171, wherein identifying the vertebrae in each of the at least two medical images includes identifying the vertebrae to be tracked and identifying a frame of reference for relative motion calculations.
  - 178. The system of claim 177, wherein identifying the vertebrae to be tracked includes defining a region of interest (ROI) in at least one of the images of the sequence of images.
  - 179. The system of claim 171, wherein processing the sequence includes automated tracking with use of at least one selected from the group consisting of an automated tracking algorithm and a manual tracking algorithm.
  - 180. The system of claim 171, wherein said processor is further for reporting the calculated motion data in a format for conveying relative motion between the vertebrae.

181. A report generated by a method for processing medical images via an information handling system to identify and track motion between vertebrae of a spine, including identifying one or more vertebra in each of at least two medical images accessed via the information handling system;
- acquiring tracking data as a function of a position of the respective identified vertebrae from the at least two medical images;
  
  processing a sequence of the at least two medical images as a function of the tracking data to track a motion between the vertebrae of the spine in the sequence; and
  
  calculating motion data representative of the motion between the vertebrae of the spine of the at least two medical images, said report comprising;
  
  an identification of motion study information; and
  
  a motion study summary configured to provide a representation of the motion between the vertebrae of the spine of the at least two medical images as a function of the calculated motion data.
- View Dependent Claims (182, 183, 184, 185)
- - 182. The report of claim 181, wherein said motion study summary further includes at least one selected from the group consisting of:
    - an identification of patient information;
      
      at least two images illustrative of the relative motion between vertebrae; and
      
      a table of quantitative results representative of the relative motion between vertebrae.
  - 183. The report of claim 182, wherein said at least two images include at least two views selected from the group consisting of a neutral view, a flexion view, and an extension view.
  - 184. The report of claim 182, wherein said table of quantitative results include at least one selected from the group consisting of anterior displacement, posterior displacement, shear, and rotation.
  - 185. The report of claim 181, wherein said motion study summary further includes:
    - at least two images illustrative of the relative motion between vertebrae, wherein said at least two images include at least two views selected from the group consisting of a neutral view, a flexion view, and an extension view; and
      
      a table of quantitative results representative of the relative motion between vertebrae, wherein said table of quantitative results include at least one selected from the group consisting of anterior displacement, posterior displacement, shear, and rotation.

Specification

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Current Assignee
Medical Metrics, Inc.
Original Assignee
Medical Metrics, Inc.
Inventors
Hipp, John A., Lamp, Mark L., Wharton, Nicholas, Ziegler, James M.

Application Number

US10/289,895
Publication Number

US 20030086596A1
Time in Patent Office

Days
Field of Search
US Class Current

382/128
CPC Class Codes

G06T 7/0012 Biomedical image inspection

G06T 7/20 Analysis of motion motion e...

Method, computer software, and system for tracking, stabilizing, and reporting motion between vertebrae

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Method, computer software, and system for tracking, stabilizing, and reporting motion between vertebrae

First Claim

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Abstract

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185 Claims

Specification

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