Registration of three dimensional image data with patient in a projection imaging system
First Claim
1. A method for registration of a previously acquired three-dimensional image data set of an organ of interest in a patient, to the patient positioned in a projection imaging system, comprising the steps of:
- (a) identifying landmark points on a set of projections acquired in the projection imaging system;
(b) identifying surface contour points for the organ of interest in the three-dimensional image;
(c) projecting the surface contour points of step (b) in the geometry of the projection imaging system;
(d) defining as a registration figure-of-merit a distance between projected contour points of step (c) and landmark points of step (a); and
(e) calculating a translation vector that when applied to the three-dimensional image data set minimizes the registration figure-of-merit of step (d), whereby registration of the previously acquired three-dimensional data set of an organ of interest to the patient positioned in a projection imaging system is achieved with a degree of efficiency by applying the translation vector of step (d) to the three-dimensional data set.
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Abstract
A method for determining a translation of a three-dimensional pre-operative image data set to obtain a registration of the three-dimensional image data with a patient positioned in a projection imaging system. In one embodiment the user identifies an initial three-dimensional organ center from projections and extreme contour landmark points of the object on a set of projections. A set of contour points for the image object in each of a plurality of three-dimensional cross-section planes; is obtained and the points projecting nearest to the user-identified landmark points are selected. A three-dimensional grid having a predetermined number of intervals at a predetermined interval spacing centered at the user-identified organ center is defined. The three-dimensional image data contour points as centered onto each grid point are projected for evaluation and selection of the grid point leading to contour points projecting nearest to the user-identified landmark points. This selection leads to the iterative definition of a series of improved estimated three-dimensional organ centers, and associated translation vectors. Registration of a three dimensional image data to the patient positioned in a projection imaging system will allow, among other things, overlay of a visual representation of a pre-operative image object onto a projection image plane that can serve as a visual tool and a surgical navigation aid. In particular, the position and orientation of a medical device can be shown with respect to the three-dimensional image data and thus enable quicker, safer, and less invasive navigation of the medical device to and within an organ of interest.
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Citations
20 Claims
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1. A method for registration of a previously acquired three-dimensional image data set of an organ of interest in a patient, to the patient positioned in a projection imaging system, comprising the steps of:
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(a) identifying landmark points on a set of projections acquired in the projection imaging system;
(b) identifying surface contour points for the organ of interest in the three-dimensional image;
(c) projecting the surface contour points of step (b) in the geometry of the projection imaging system;
(d) defining as a registration figure-of-merit a distance between projected contour points of step (c) and landmark points of step (a); and
(e) calculating a translation vector that when applied to the three-dimensional image data set minimizes the registration figure-of-merit of step (d), whereby registration of the previously acquired three-dimensional data set of an organ of interest to the patient positioned in a projection imaging system is achieved with a degree of efficiency by applying the translation vector of step (d) to the three-dimensional data set. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for registration of a previously acquired three-dimensional image data set of an organ of interest in a patient, to the patient positioned in a projection imaging system, comprising the steps of:
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(a) identifying an initial three-dimensional center point estimate for the three-dimensional organ of interest from projections acquired in the projection imaging system;
(b) identifying at least two extreme landmark points on a set of at least one projection acquired in the projection imaging system and defining a set of landmark-associated projections;
(c) defining a plurality of cross-section planes with respect to the three-dimensional data, and automatically obtaining by segmentation of the three-dimensional image data a set of contour points for a plurality of lines on each of the plurality of cross-section planes;
(d) defining a plurality of three-dimensional grid points for an initial set of grid parameters, and centering the three-dimensional grid on the initial estimate of the organ center obtained in step (a);
(e) centering the three-dimensional image data set on a point of the grid defined in step (d) and for each of the projection in the projection set of step (b), performing a projection of every contour point in a first subset of the cross-section plane set obtained in step (c), and selecting from the cross-section plane subset the extreme cross-section plane with the contour point projecting nearest to the user-identified landmark point of step (b), and retaining the distance from the projection of that extreme contour point to the identified landmark projection point as an additive component to a figure-of-merit;
(f) defining a refined set of sampling parameters for the cross-section plane set of step (c), and an associated second subset of cross-section planes in the neighborhood of the extreme plane identified in step (e), and iterating over step (e);
(g) calculating the figure-of-merit as the sum over the projection set of step (b) of the additive figure-of-merit components of step (f);
(h) iterating steps (e) to (g) for each grid point of the grid defined in step (d) in turn by placing the center of the three-dimensional image set on the grid point, and selecting as the new three-dimensional organ center estimate the grid point that minimizes the figure-of-merit; and
(i) iterating step (h) over a series of three-dimensional grids replacing the grid of step (d) and defining successively finer samplings of the three-dimensional volume in a neighborhood of the three-dimensional organ center estimate obtained in step (h), and obtaining a final three-dimensional organ center estimate from which to calculate a translation vector, whereby registration of the previously acquired three-dimensional data set of an organ of interest to the patient positioned in the projection imaging system is achieved with a degree of efficiency by applying the translation vector of step (i) to the three-dimensional data set. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification