AUTOMATIC REGISTRATION OF IMAGES FOR IMAGE GUIDED SURGERY
First Claim
1. A method for registering images, comprising:
- obtaining at least one image of a part of the body of the patient in an imaging system;
the imaging system defining an image co-ordinate system;
placing image visible positioning markers at positions on or adjacent the part of the patient so as to be visible in the image;
obtaining a series of location images of one or more elements adjacent part of the patient in an image guidance system for providing location information relating to the elements;
the image guidance system defining a location co-ordinate system;
placing at least one guidance system positioning marker visible in the location image at respective positions on or adjacent the part of the patient so as to be visible in the location image, the image visible positioning markers being located at predetermined known locations relative to said at least one guidance system positioning marker in the image guidance system;
and providing automatic registration between the image co-ordinate system and the location image co-ordinate system by using data relating to the relative positions of the image visible positioning markers and said at least one guidance system positioning marker.
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Accused Products
Abstract
Automatic registration of an MR image is carried out in an image guidance system by placing MR visible markers at known positions relative to markers visible in a camera tracking system. The markers are carried on a common fixture which is attached to a head clamp together with a reference marker which is used when the markers are covered or removed. The tracking system includes a camera with a detection array for detecting visible light a processor arranged to analyze the output from the array. Each object to be detected carries a single marker with a pattern of contrasted areas of light and dark intersecting at a specific single feature point thereon with an array around the specific location to allow the processor is able to detect an angle of rotation of the pattern and to distinguish each marker from the other markers.
210 Citations
30 Claims
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1. A method for registering images, comprising:
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obtaining at least one image of a part of the body of the patient in an imaging system; the imaging system defining an image co-ordinate system; placing image visible positioning markers at positions on or adjacent the part of the patient so as to be visible in the image; obtaining a series of location images of one or more elements adjacent part of the patient in an image guidance system for providing location information relating to the elements; the image guidance system defining a location co-ordinate system; placing at least one guidance system positioning marker visible in the location image at respective positions on or adjacent the part of the patient so as to be visible in the location image, the image visible positioning markers being located at predetermined known locations relative to said at least one guidance system positioning marker in the image guidance system; and providing automatic registration between the image co-ordinate system and the location image co-ordinate system by using data relating to the relative positions of the image visible positioning markers and said at least one guidance system positioning marker. - 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)
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29. A method for registering images, comprising:
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obtaining at least one image of a part of the body of the patient in an imaging system; the imaging system defining an image co-ordinate system; placing image visible positioning markers at positions on or adjacent the part of the patient so as to be visible in the image; obtaining a series of location images of one or more elements adjacent part of the patient in an image guidance system for providing location information relating to the elements; the image guidance system defining a location co-ordinate system; placing at least one guidance system positioning marker visible in the location image at respective positions adjacent the part of the patient so as to be visible in the location image, the image visible positioning markers being located at predetermined known locations relative to said at least one guidance system positioning marker in the image guidance system; and providing registration between the image co-ordinate system and the location image co-ordinate system by using data relating to the relative positions of the image visible positioning markers and said at least one guidance system positioning marker; wherein the imaging is carried out intra-operatively to obtain a new image and registration of the new image with the guidance image is carried out automatically, that is without manual intervention, for each image set acquired
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30. A method for registering images, comprising:
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obtaining at least one image of a part of the body of the patient in an imaging system; the imaging system defining an image co-ordinate system; placing image visible positioning markers at positions adjacent the part of the patient so as to be visible in the image; obtaining a series of location images of one or more elements adjacent part of the patient in an image guidance system for providing location information relating to the elements; the image guidance system defining a location co-ordinate system; placing at least one guidance system positioning marker visible in the location image at respective positions adjacent the part of the patient so as to be visible in the location image, the image visible positioning markers being located at predetermined known locations relative to said at least one guidance system positioning marker in the image guidance system; and providing registration between the image co-ordinate system and the location image co-ordinate system by using data relating to the relative positions of the image visible positioning markers and said at least one guidance system positioning marker; wherein the image visible positioning markers are located in an image of the part of the patient by carrying out at least one separate marker-sensing scan used for locating only which scan is separate from one or more anatomical scans which are used to generate an anatomical image of the part of the patient.
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Specification