Image guided surgery with dynamic image reconstruction

• US 20090136099A1
• Filed: 11/26/2007
• Published: 05/28/2009
• Est. Priority Date: 11/26/2007
• Status: Active Grant

• Current Assignee: Gearbox LLC (Intellectual Ventures LLC)
• Original Assignee: The Invention Science Fund I, L.L.C. (Intellectual Ventures LLC)
• Inventors: Boyden, Edward S., Wood, Victoria Y.H., Ishikawa, Muriel Y., Smith, Michael A., Weaver, Thomas A., Myhrvold, Nathan P., Wood, Lowell L. JR., Rivet, Dennis J., Hyde, Roderick A., Leuthardt, Eric C.
• Granted Patent: US 9,076,203 B2
• Time in Patent Office: Days
• US Class Current: 382/128
• CPC Class Codes: G06T 2200/04 involving 3D image data
• CPC Class Codes: G06T 2207/10072 Tomographic images
• CPC Class Codes: G06T 2207/30016 Brain
• CPC Class Codes: G06T 2207/30048 Heart; Cardiac
• CPC Class Codes: G06T 2207/30061 Lung
• CPC Class Codes: G06T 2207/30101 Blood vessel; Artery; Vein; Vascular
• CPC Class Codes: G06T 3/02 Affine transformations for image registration G06T3/147; for image mosaicing G06T3/4038
• CPC Class Codes: G06T 3/147 using affine transformations
• CPC Class Codes: G06T 7/0012 Biomedical image inspection
• CPC Class Codes: G06T 7/33 using feature-based methods
• CPC Class Codes: G06V 2201/03 Recognition of patterns in medical or anatomical images

Abstract

A method may include processing two or more fiducials included in a three-dimensional medical image and included in a current image to generate two or more transform coefficients of a transform, and applying the transform to the three-dimensional medical image to form a present image.

Claims

1. A method comprising:

processing two or more fiducials included in a three-dimensional medical image and included in a current image to generate two or more transform coefficients of a transform; and

applying the transform to the three-dimensional medical image to form a present image.

4. The method of claim 1, wherein the processing two or more fiducials included in a three-dimensional medical image and included in a current image to generate two or more transform coefficients of a transform comprises:

selecting the three-dimensional medical image from a volume in three-dimensional space.

6. The method of claim 1, wherein the processing two or more fiducials included in a three-dimensional medical image and included in a current image to generate two or more transform coefficients of a transform comprises:

processing two or more three-dimensional image blood vessel locations included in the three-dimensional medical image and processing two or more current image blood vessel locations included in the current image to generate the two or more transform coefficients.

11. The method of claim 1, wherein the processing two or more fiducials included in a three-dimensional medical image and included in a current image to generate the two or more transform coefficients of a transform comprises:

processing two or more three-dimensional image post locations included in the three-dimensional medical image and processing two or more current image post locations included in the current image to generate the two or more transform coefficients.

14. The method of claim 1, wherein the processing two or more fiducials included in a three-dimensional medical image and included in a current image to generate two or more transform coefficients of a transform comprises:

processing two or more three-dimensional image dot images, formed from a biodegradable marker included in the three-dimensional medical image, and processing two or more current image dot images, formed from the biodegradable marker included in the current image to generate the two or more transform coefficients.

17. The method of claim 1, wherein the processing two or more fiducials included in a three-dimensional medical image and included in a current image to generate two or more transform coefficients of a transform comprises:

processing two or more three-dimensional image dot images, formed from a contrast enhancing material, in a brain image included in the three-dimensional medical image and processing two or more current image dot images, formed from the contrast enhancing material, in a current brain image included in the current image to generate the two or more transform coefficients.

22. The method of claim 1, wherein the processing two or more fiducials included in a three-dimensional medical image and included in a current image to generate two or more transform coefficients of a transform comprises:

processing two or more three-dimensional image fiducial locations formed to substantially outline an anatomical feature included in the three-dimensional medical image and processing two or more current image fiducial locations formed to substantially outline the anatomical feature included in the current image to generate the two or more transform coefficients.

26. The method of claim 1, wherein the processing two or more fiducials included in a three-dimensional medical image and included in a current image to generate two or more transform coefficients of a transform comprises:

processing two or more three-dimensional fiducial locations substantially defined by two or more enhanced fluorescence bead images included in the three-dimensional medical image and processing two or more current image fiducial locations substantially defined by the two or more enhanced fluorescence bead images included in the current image to generate the two or more transform coefficients.

29. The method of claim 1, wherein the processing two or more fiducials included in a three-dimensional medical image and included in a current image to generate two or more transform coefficients of a transform comprises:

processing two or more three-dimensional fiducial locations substantially defined by two or more tantalum compound bead images included in the three-dimensional medical image and processing two or more current image fiducial locations substantially defined by the two or more tantalum compound bead images included in the current image to generate the two or more transform coefficients.

33. The method of claim 1, wherein the processing two or more fiducials included in a three-dimensional medical image and included in a current image to generate two or more transform coefficients of a transform comprises:

processing two or more three-dimensional fiducial locations substantially defined by two or more enhanced x-ray marker images included in the three-dimensional medical image and processing two or more current image fiducial locations substantially defined by the two or more enhanced x-ray marker images included in the current image to generate the two or more transform coefficients.

41. The method of claim 1, wherein the applying the transform to the three-dimensional medical image to form a present image comprises:

applying the transform including an affine transform to the three-dimensional medical image to form the present image.

44. The method of claim 1, wherein the applying the transform to the three-dimensional medical image to form a present image comprises:

applying the transform including a volume harmonic transform to the three-dimensional medical image to form the present image.

47. The method of claim 1, wherein the applying the transform to the three-dimensional medical image to form a present image comprises:

applying the transform including an elasticity and modulus transform that includes elasticity and modulus information to form the present image.

51. The method of claim 1, wherein the applying the transform to the three-dimensional medical image to form a present image comprises:

applying the transform including substantial minimization of a function of two or more fiducial locations in the three dimensional medical image and two or more fiducial locations in the current image.

53. The method of claim 1, wherein the applying the transform to the three-dimensional medical image to form a present image comprises:

applying the transform including a transform including stress and strain information obtained from observing how an elastic wave moves through the current image to form the present image.

55. The method of claim 1, further comprising:

applying the transform including information related to one or more retractor locations in the current image to the three-dimensional image to form the present image.

56. The method of claim 55, further comprising:

modifying the transform if the two or more fiducial locations in the present image differ from the two or more fiducial locations in the current image.

57. The method of claim 1, further comprising:

forming a time series of images corresponding to two or more instances of the present image; and

extrapolating the time series of images forward to a future time to form a future time image.

58. The method of claim 57, further comprising:

including gravity in the extrapolating the time series of images forward to the future time.

59. The method of claim 57, further comprising:

including dynamics in the extrapolating the time series of images forward to the future time.

60. The method of claim 1, further comprising:

forming a time series of images corresponding to two or more instances of the present image; and

interpolating the time series of images to an intermediate time to form an intermediate time image.

61. The method of claim 1, further comprising:

forming a time series of images corresponding to two or more instances of the present image; and

extrapolating the time series of images backward to a previous time to form a previous time image.

62. The method of claim 1, further comprising:

issuing a command to display the present image.

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63. A method comprising:

processing two or more fiducials included in a three-dimensional tissue image and included in a current tissue image to generate two or more transform coefficients of a transform; and

applying the transform to the three-dimensional tissue image to form a present tissue image.

64. A method comprising:

processing two or more fiducials included in a three-dimensional brain image and included in a current brain image to generate two or more transform coefficients of a transform; and

applying the transform to the three-dimensional tissue image to form a present brain image.

65. A computer readable media including stored executable instructions, which when executed on a computer system cause the computer system to perform a method comprising:

processing two or more fiducials included in a three-dimensional medical image and included in a current image to generate two or more transform coefficients of a transform; and

applying the transform to the three-dimensional medical image to form a present image.

66. An apparatus comprising:

means for processing two or more fiducials included in a three-dimensional medical image and included in a current image to generate two or more transform coefficients of a transform; and

means for applying the transform to the three-dimensional medical image to form a present image.

67. An apparatus comprising:

an image processor to process two or more fiducials included in a three-dimensional medical image and included in a current image to generate two or more transform coefficients of a transform; and

a transform processor to apply the transform to the three-dimensional medical image to form a present image.