Registration of Anatomical Data Sets
First Claim
1. A computer-implemented method of registering information associated with a first data set to a second data set, the method comprising the steps:
- collecting a first data set of an anatomical structure with an imaging device;
developing additional information for the first data set, wherein the additional information has a unique identifiable spatial relationship to the structure of the first data set;
establishing a first arbitrary reference frame for the first data set, wherein the first reference frame is established without reference to any pre-selected landmark on the structure and the first reference frame has a unique spatial relationship to the first data set;
collecting a second data set of the anatomical structure with an imaging device;
establishing a second arbitrary reference frame for the second data set;
transforming the first reference frame to the second reference by matching a unique spatial parameter of the first data set with the same unique spatial parameter of the second data set; and
registering the additional information with the second data set.
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Accused Products
Abstract
Methods and systems are disclosed for relating additional spatial information associated with one volume data set of an anatomical structure with another volume data set of the anatomical structure where the spatial information is not available. A unique spatial characteristic of the volume data set is identified, such as an image moment of inertia, and an arbitrary reference frame is assigned to the volume data set and correlated with the unique spatial characteristic. The additional spatial information is also correlated with the arbitrary reference frame. The additional spatial information is then correlated to a second volume data set of the anatomical structure by registering the first and second volume data sets based on the unique spatial characteristic. The methods and systems allow registration of different volume data sets of the same anatomical structure and transfer of the additional spatial information without establishing a local reference frame based on predefined landmarks.
57 Citations
38 Claims
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1. A computer-implemented method of registering information associated with a first data set to a second data set, the method comprising the steps:
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collecting a first data set of an anatomical structure with an imaging device; developing additional information for the first data set, wherein the additional information has a unique identifiable spatial relationship to the structure of the first data set; establishing a first arbitrary reference frame for the first data set, wherein the first reference frame is established without reference to any pre-selected landmark on the structure and the first reference frame has a unique spatial relationship to the first data set; collecting a second data set of the anatomical structure with an imaging device; establishing a second arbitrary reference frame for the second data set; transforming the first reference frame to the second reference by matching a unique spatial parameter of the first data set with the same unique spatial parameter of the second data set; and registering the additional information with the second data set. - View Dependent Claims (2, 3, 4, 5)
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6. A computer-implemented method of associating spatial information related to a first volume data set of an anatomical structure with a second volume data set of the anatomical structure, comprising the steps of:
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obtaining a first volume data set of the anatomical structure with a computer surgical navigation system; assigning a first arbitrary reference frame to the first volume data set; calculating an inherent feature in the first volume data set, wherein the inherent feature has a unique position and orientation in relation to the anatomical structure that can be identified from any reference position; correlating the inherent feature to the first arbitrary reference frame; associating additional spatial information with the first volume data set, wherein the additional spatial information has a unique spatial relationship correlated with the first arbitrary reference frame; obtaining a second volume data set of the anatomical structure with a computer surgical navigation system; assigning a second arbitrary reference frame to the second volume data set; identifying the inherent feature in the second volume data set; correlating the inherent feature to the second arbitrary reference frame; registering the first volume data set with the second volume data set based on the inherent feature, wherein the registering step is performed by a computer; correlating the additional spatial information to the second volume data set in registration therewith; and displaying the additional spatial information in registration with the second volume data set on a display device. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A system for collecting and manipulating a volume data set of an anatomical structure, comprising:
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means for obtaining a first volume data set of an anatomical structure of a patient and a second volume data set of the anatomical structure; means for calculating an inherent feature of the first volume data set and the second volume data set, wherein the inherent feature has a unique position and orientation in relation to the anatomical structure that can be identified from any reference position; means for assigning a first arbitrary reference frame to the first volume data set and a second arbitrary reference frame to the second volume data set; means for correlating the inherent feature to the first arbitrary reference frame; means for associating additional spatial information with the first volume data set, wherein the additional spatial information has a unique spatial relationship correlated with the first arbitrary reference frame; means for registering the first volume data set with the second volume data set based on the inherent feature; and means for correlating the additional spatial information to the second volume data set in registration therewith. - View Dependent Claims (24, 25, 26, 27, 28, 29, 30, 31)
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32. A method of establishing a position a portion of a bone that has been altered from a normal shape, comprising the steps of:
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collecting a first volume data set for a first bone that is unaltered, wherein the first volume data set includes volume data for first and second portions of the first bone; identifying a first unique spatial characteristic of the volume data for the first portion of the first bone; establishing a first arbitrary reference frame for the first volume data set correlated with the first unique spatial characteristic; identifying a unique spatial relation between the first arbitrary reference frame and the second portion of the first bone; identifying a second bone that normally mirrors the first bone about a centerline, wherein the second bone includes a first portion and a second portion that correspond as substantially mirror structures to the first and second portions of the first bone, respectively, and wherein the second bone has been altered from a normal shape such that the first portion of the second bone is in an altered position with regard to the second portion of the second bone; collecting a second volume data set of the first the first portion of the second bone; identifying a second unique spatial characteristic of the second volume data set, wherein the second unique spatial characteristic substantially mirrors the first unique spatial characteristic; registering in mirrored correlation the first volume data set with the second volume data by correlating the first unique spatial characteristic with the second unique spatial characteristic; and re-establishing the normal position of the second portion of the second bone to coincide with the position of the second portion of the first bone as related to the registered position of the first portion of the first bone. - View Dependent Claims (33, 34, 35, 36, 37, 38)
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Specification