Image processing system for use with a patient positioning device

• US 20060079757A1
• Filed: 09/23/2005
• Published: 04/13/2006
• Est. Priority Date: 09/24/2004
• Status: Active Grant

• Current Assignee: Vision RT Limited
• Original Assignee: Vision RT Limited
• Inventors: Meir, Ivan Daniel, Smith, Norman Ronald
• Granted Patent: US 7,348,974 B2
• Time in Patent Office: Days
• US Class Current: 600/416
• CPC Class Codes: A61N 2005/1059 using cameras imaging the patient
• CPC Class Codes: A61N 5/1049 for verifying the position of the patient with respect to the radiation beam
• CPC Class Codes: A61N 5/1069 Target adjustment, e.g. moving the patient support
• CPC Class Codes: G06T 15/06 Ray-tracing
• CPC Class Codes: G06T 17/20 Finite element generation, e.g. wire-frame surface description, tesselation
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 2207/30004 Biomedical image processing
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 2207/30208 Marker matrix
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 2210/21 Collision detection, intersection
• CPC Class Codes: G06T 7/66 of image moments or centre of gravity
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06T 7/75 involving models
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
• CPC Class Codes: G06T 7/85 Stereo camera calibration

Abstract

An image processing system (1-5) is provided which obtains images of a patient (8) from multiple view points and which then generates positioning instructions for a mechanical couch (7) to vary the position of a patient. A number of techniques are disclosed in order to calibrate the image processing system so as to enable the image processing system to identify the iso centre of radiation beams generated by a treatment apparatus (6). Techniques for processing generated 3 dimensional models to monitor a patient'"'"'s breathing are also disclosed.

Claims

1. A method of processing a wire mesh computer model of a surface comprising a plurality of triangles defined by vertices connected by edges to generate data identifying a set of points of intersection of said wire mesh model with a plane, the method comprising:

(i) identifying pairs of vertices connected by edges at the boundary of said wire mesh model which lie on opposite sides of said plane;

(ii) selecting one of said identified boundary edges as an initial edge for processing;

(iii) storing data identifying the point of intersection of the selected edge with said plane;

(iv) identifying the vertex of said wire mesh model connected to both of the vertices of said selected edge;

(v) determining which of said vertices of said selected edge lies on the opposite side of said plane to said identified vertex;

(vi) selecting as the next edge to process the edge of the triangle connecting said identified vertex and the vertex of said processed edge lying on the opposite side of said plane; and

(vii) determining whether said newly selected edge corresponds to an edge identified as a boundary edge and if not repeating steps (iii)-(vi).

2. The method in accordance with claim 1 wherein identifying pairs of vertices connected by edges at the boundary of said wire mesh model which lie on opposite sides of said plane comprises:

storing data identifying co-ordinates of pairs of vertices corresponding to boundary edges of a wire mesh computer model; and

identifying as boundary edges pairs of vertices of which lie on opposite sides of said plane by identifying pairs of vertices where the dot product of the difference between the co-ordinates of an identified point on the plane and co-ordinates of said vertices and a vector normal to said plane are of different signs.

3. The method in accordance with claim 1 wherein determining which of said vertices of said selected edge lies on the opposite side of said plane to said identified vertex comprises identifying the vertex for which the dot product of a normal vector to said plane and the difference between the co-ordinates of an identified point on the plane and co-ordinates of said vertex has different sign to the dot product of a normal vector to said plane and the difference between the co-ordinates of an identified point on the plane and co-ordinates of said identified vertex.

4. A method of identifying the intersection of a vector with a wire mesh model comprising a plurality of triangles defined by vertices connected by edges, the method comprising:

processing a wire mesh computer model of a surface to generate data identifying a set of points of intersection of said wire mesh model with a first plane including said vector by;

(i) identifying the pairs of vertices connected by edges at the boundary of said wire mesh model which lie on opposite sides of said first plane;

(ii) selecting one of said identified boundary edges as an initial edge for processing;

(iii) storing data identifying the point of intersection of said selected edge with said first plane;

(iv) identifying the vertex of said wire mesh model connected to both of the vertices of said selected edge;

(v) determining which of said vertices of said selected edge lies on the opposite side of said first plane to said identified vertex;

(vi) selecting as the next edge to process the edge of said triangle connecting said identified vertex and the vertex of said processed edge lying on the opposite side of said first plane; and

(vii) determining whether said newly selected edge corresponds to an edge identified as a boundary edge and if not repeating steps (iii)-(vi);

processing said wire mesh computer model of a surface to generate data identifying a set of points of intersection of said wire mesh model with a second plane including said vector by;

(i) identifying the pairs of vertices connected by edges at the boundary of said wire mesh model which lie on opposite sides of said second plane;

(ii) selecting one of said identified boundary edges as an initial edge for processing;

(iii) storing data identifying the point of intersection of said selected edge with said second plane;

(iv) identifying the vertex of said wire mesh model connected to both of the vertices of said selected edge;

(v) determining which of said vertices of said selected edge lies on the opposite side of said second plane to said identified vertex;

(vi) selecting as the next edge to process the edge of said triangle connecting said identified vertex and the vertex of said processed edge lying on the opposite side of said second plane; and

(vii) determining whether said newly selected edge corresponds to an edge identified as a boundary edge and if not repeating steps (iii)-(vi); and

determining the closest point of intersection of a set of edges connecting consecutive points in said generated sets of points for said first and second planes.

5. The method in accordance with claim 4 further comprising:

determining the distance between said determined closest point of intersection and a predetermined point and outputting data identifying said distance.

6. A method of generating data representative of the extent to which a beam of radiation irradiates the surface of a patient comprising:

generating a wire mesh model of the surface of a patient;

determining for a plurality of vectors identifying expected paths of a modelled beam of radiation, the points of intersection of said vectors with said generated surface in accordance with claim 4;

and

determining the area of said modelled surface enclosed by a boundary connecting said determined points of intersection.

7. The method in accordance with claim 6 further comprising:

determining the extent radiation of a patient at a plurality of different times during a treatment; and

generating a model representing the sum of the extent of radiation throughout said period.

8. The method in accordance with claim 7 further comprising:

determining an estimate of dose of radiation at each of said times wherein said generated model identifies the estimated total dose of radiation in said areas of extent.

9. The method in accordance with claim 7 comprising generating a texture rendered representation of said surface texture rendered utilising said generated data representing the sum of the extent of radiation throughout said period.

10. An apparatus for processing a wire mesh computer model of a surface comprising a plurality of triangles defined by vertices connected by edges to generate data identifying a set of points of intersection of said wire mesh model with a plane comprising:

a model store storing co-ordinate data representing a wire mesh model;

a surface processor operable to process stored model data to identify the pairs of vertices connected by edges at the boundary of said wire mesh model which lie on opposite sides of a plane;

a vertex processor operable sequentially process pairs of vertices corresponding to edges in a wire mesh model by;

identifying the point of intersection of a selected edge with a plane;

identifying the vertex of said wire mesh model connected to both of the vertices of said selected edge;

determining which of said vertices of said selected edge lies on the opposite side of said plane to said identified vertex; and

selecting as the next edge to process the edge of the triangle connecting said identified vertex and the vertex of said processed edge lying on the opposite side of said plane.

11. The apparatus in accordance with claim 10 wherein a surface processor operable to process stored model data comprises:

a data store operable to store data identifying co-ordinates of pairs of vertices corresponding to boundary edges of a wire mesh computer model; and

a processor operable to identify as boundary edges the vertices of which lie on opposite sides of said plane by identifying pairs of vertices where the dot product of the difference between the co-ordinates of an identified point on the plane and the co-ordinates of said vertices and a vector normal to said plane are of different signs.

12. The apparatus in accordance with claim 10 wherein said vertex processor is operable to determine which of said vertices of a selected edge lie on the opposite side of said plane to said identified vertex by identifying the vertex for which the dot product of a normal vector to said plane and the difference between the co-ordinates of an identified point on the plane and the co-ordinates of vertex has different sign to the dot product of a normal vector to said plane and the difference between the co-ordinates of an identified point on the plane and the co-ordinates of identified vertex.

13. An apparatus for identifying the intersection of a vector with a wire mesh model comprising:

a model store storing co-ordinate data representing a wire mesh model;

a surface processor operable to process model data stored in said data store to identify the pairs of vertices connected by edges at the boundary of said wire mesh model which lie on opposite sides of a plane;

a vertex processor operable sequentially process pairs of vertices corresponding to edges in a wire mesh model by;

identifying the point of intersection of a selected edge with a plane;

identifying the vertex of said wire mesh model connected to both of the vertices of the selected edge;

determining which of the vertices of the selected edge lies on the opposite side of said plane to said identified vertex; and

selecting as the next edge to process the edge of the triangle connecting said identified vertex and the vertex of said processed edge lying on the opposite side of said plane; and

an intersection determination module operable to determine the closest point of intersection of a set of edges connecting consecutive points in for sets of points of intersection determined by said vertex processor for a first and a second plane.

14. The apparatus in accordance with claim 13 further comprising:

a distance determination module operable to determine the distance between said determined closest point of intersection determined by said intersection determination module and a predetermined point and outputting data identifying said distance.

15. An apparatus for generating data representative of the extent to which a beam of radiation irradiates the surface of a patient comprising:

a model generator operable to generate a wire mesh model of the surface of a patient;

a model store storing co-ordinate data representing a wire mesh model;

a surface processor operable to process stored model data to identify the pairs of vertices connected by edges at the boundary of said wire mesh model which lie on opposite sides of a plane;

a vertex processor operable sequentially process pairs of vertices corresponding to edges in a wire mesh model by;

identifying the point of intersection of a selected edge with a plane;

identifying the vertex of said wire mesh model connected to both of the vertices of said selected edge;

determining which of said vertices of said selected edge lies on the opposite side of said plane to said identified vertex; and

selecting as the next edge to process the edge of the triangle connecting said identified vertex and the vertex of said processed edge lying on the opposite side of said plane;

an intersection determination module operable to determine the closest point of intersection of a set of edges connecting consecutive points in for sets of points of intersection determined by said vertex processor for a first and a second plane.; and

an area calculation module operable to determine the area of said modelled surface enclosed by a boundary connecting a set of determined points of intersection determined by said intersection determination module.

16. The apparatus in accordance with claim 15 wherein said:

area calculation module is operable to determine the extent radiation of a patient at a plurality of different times during a treatment said model generator further being operable to generate a model representing the sum of the extent of radiation throughout said period utilising said calculations of area made by said area calculation module.

17. The apparatus in accordance with claim 16 wherein said model generator is operable to generate a texture rendered representation of said surface texture rendered utilising said calculated data representing the sum of the extent of radiation throughout said period.

18. A computer readable medium storing computer interpretable process steps which when interpreted by a programmable computer storing a wire mesh computer model of a surface comprising a plurality of triangles defined by vertices connected by edges, cause the programmable computer to perform a method to generate data identifying a set of points of intersection of said wire mesh model with a plane, the method comprising:

(i) identifying pairs of vertices connected by edges at the boundary of said wire mesh model which lie on opposite sides of said plane;

(ii) selecting one of said identified boundary edges as an initial edge for processing;

(iii) storing data identifying the point of intersection of the selected edge with said plane;

(iv) identifying the vertex of said wire mesh model connected to both of the vertices of said selected edge;

(v) determining which of said vertices of said selected edge lies on the opposite side of said plane to said identified vertex;

(vi) selecting as the next edge to process the edge of the triangle connecting said identified vertex and the vertex of said processed edge lying on the opposite side of said plane; and

(vii) determining whether said newly selected edge corresponds to an edge identified as a boundary edge and if not repeating steps (iii)-(vi).