System and method of registration of three-dimensional data sets including anatomical body data

• US 5,531,520 A
• Filed: 09/01/1994
• Issued: 07/02/1996
• Est. Priority Date: 09/01/1994
• Status: Expired due to Term

• Current Assignee: Engility Corp. (Science Applications International Corporation)
• Original Assignee: Brigham and Women's Hospital Incorporated, Massachusetts Institute of Technology, TASC Incorporated
• Inventors: White, Steven J., Ettinger, Gil J., Grimson, W. Eric L., Lozano-Perez, Tomas, Wells, William M. III, Kikinis, Ronald
• Primary Examiner(s): Boudreau, Leo
• Assistant Examiner(s): Johns, Andrew W.
• Application Number:
  US08/299,378
• Time in Patent Office: 670 Days
• Field of Search: 382/100, 382/131, 382/154, 382/284, 382/293, 382/294, 382/318, 348/77, 364/413.13, 364/413.14, 364/413.19, 356/376, 128/653.1, 128/653.2, 128/659, 128/665
• US Class Current: 382/131
• CPC Class Codes: A61B 5/0064 Body surface scanning
• CPC Class Codes: A61B 90/13 guided by light, e.g. laser pointers
• CPC Class Codes: G01B 11/25 by projecting a pattern, e.g. one or more lines, moiré fringes on the object G01B11/255 takes precedence ; image analysis for depth or shape recovery G06T7/50
• CPC Class Codes: G06T 3/14 Transformations for image registration, e.g. adjusting or mapping for alignment of images
• CPC Class Codes: G16H 30/40 for processing medical images, e.g. editing

Abstract

The present invention provides an image data registration system and method of storing a first data set of three-dimensional image data associated with a predetermined portion of an object with reference to a first coordinate frame; obtaining and storing a second data set of three-dimensional image data associated with a surface of the predetermined portion of the object with reference to a second coordinate frame; and registering the first data set and the second data set to generate a matched image data set in which the first coordinate frame is aligned with the second coordinate frame. In an alternative embodiment, the present invention provides a method of registering three-dimensional data sets, comprising generating a first data set of image data with reference to a first coordinate frame; generating a second data set of image data with reference to a second coordinate frame; selecting a predetermined subset of data points from the first data set; matching the subset of data points to all possible corresponding subsets of data points associated with the second data set and producing a set of hypothesized transformation data sets; and sequentially mapping said second data set to each of the hypothesized transformation data sets to form a solution data set, the solution data set representative of a highly accurate transformation of the second data into the first coordinate frame associated with the first data set.

Claims

1. An image data registration system comprising:

an image data storage unit for storing a first data set of three-dimensional image data associated with a predetermined portion of an anatomical body with reference to a first coordinate frame;

an image data acquisition and storage device for obtaining and storing a second data set of three-dimensional image data associated with a surface of said predetermined portion of said object with reference to a second coordinate frame, said image data acquisition and storage device comprises a surface sensing unit for sensing the outer skin surface of said predetermined portion of the body so as to obtain said second data set of three-dimensional image data; and

an image data processor for registering said first and second data sets to generate a matched image data set in which said first coordinate frame is relatively aligned with said second coordinate frame.

2. The system of claim 1, wherein said first data set of three-dimensional image data comprises three-dimensional anatomy image data.

3. The system of claim 1, wherein said image data processor is operable for selecting a predetermined subset of data points from said second data set.

4. The system of claim 3, wherein said image data processor is further operable for matching said subset of data points to all possible corresponding subsets of data points associated with said first data set which results in a set of hypothesized transformation data sets.

5. The system of claim 4, wherein said image data processor is further operable for sequentially mapping said first data set to each of said hypothesized transformation data sets to form a solution data set, said solution data set representative of a highly accurate transformation of said first data set into the second coordinate frame associated with said second data set.

6. The system of claim 1 further comprising:

an imaging device for providing a real-time image of said predetermined portion of the object relative to a third coordinate frame; and

an image output device for producing an output image corresponding to a combination of said matched image data set and said real-time image.

7. The system of claim 6, wherein said image data processor is further operable for calibrating said real-time image with said matched data set so that said third coordinate frame is aligned with said second coordinate frame.

8. The system of claim 7, wherein said image data processor is further operable for compensating for movements associated with the object in order to maintain the alignment of said matched image data set and said real-time image in said output image.

9. The system of claim 7, wherein said image data processor is further operable for compensating for movements associated with said real-time imaging means in order to maintain the alignment of said matched image data set and said real-time image in said output image.

10. A surgical image registration system comprising:

a first storage device for storing three-dimensional anatomy image data associated with a predetermined portion of a patient'"'"'s body with reference to a first coordinate frame;

a surface scanning unit for scanning the skin surface of said predetermined portion of the patient'"'"'s body so as to obtain three-dimensional surface image data;

a second storage device for storing said three-dimensional surface image data with reference to a second coordinate frame; and

an image data processor operable for registering said anatomy image data and said surface image data to produce a matched image data set in which said first coordinate frame is relatively aligned with said second coordinate frame.

11. The system of claim 10 further comprising:

an imaging device for providing a real-time image of said predetermined portion of the patient'"'"'s body relative to a third coordinate frame; and

an image output device for producing an output image corresponding to a combination of said matched image data set and said real-time image.

12. The system of claim 11, wherein said image data processor is further operable for calibrating said real-time image with said matched data set so that said third coordinate frame is aligned with said second coordinate frame.

13. The system of claim 12, wherein said image data processor is further operable for compensating for movements associated with the patient'"'"'s body in order to maintain the alignment of said matched image data set and said real-time image in said output image.

14. The system of claim 12, wherein said image data processor is further operable for compensating for movements associated with said real-time imaging means in order to maintain the alignment of said matched image data set and said real-time image in said output image.

15. The system of claim 11, wherein said real-time imaging device comprises a real-time video camera.

16. The system of claim 11, wherein said image output device comprises a video display monitor.

17. The system of claim 11, wherein said image output device comprises a head-mounted display device.

18. The system of claim 11, wherein said image output device comprises a surgical microscope having a video projection overlay feed.

19. The system of claim 11, wherein said image output device comprises a transparent projection screen.

20. The system of claim 10, wherein said three-dimensional anatomy image data comprises prerecorded magnetic resonance imaging (MRI) data.

21. The system of claim 10 wherein said three-dimensional anatomy image data comprises prerecorded computed tomography (CT) data.

22. The system of claim 10, wherein said three-dimensional anatomy image data is segmented into tissue types.

23. The system of claim 10, wherein said surface scanning unit comprises a device for illuminating and reading a sequence of laser lines across the skin surface of said predetermined portion of the patient'"'"'s body.

24. The system of claim 10, wherein said image data processor is operable for selecting a predetermined subset of data points from said surface image data.

25. The system of claim 24, wherein said image data processor is further operable for matching said subset of data points to all possible corresponding subsets of data points associated with said anatomy image data which results in a set of hypothesized transformation data sets.

26. The system of claim 25, wherein said image data processor is further operable for sequentially mapping said anatomy image data to each of said hypothesized transformation data sets to form a solution data set, said solution data set representative of a highly accurate transformation of said model data into the second coordinate frame associated with said surface image data.

27. A method of registering three-dimensional image data sets in a surgical imaging system, comprising:

storing three-dimensional anatomy image data associated with a predetermined portion of a patient'"'"'s body with reference to a first coordinate frame;

scanning the skin surface of said predetermined portion of the patient'"'"'s body so as to obtain three-dimensional surface image data;

storing said three-dimensional surface image data with reference to a second coordinate frame;

registering said anatomy data and said surface image data to produce a matched image data set in which said first coordinate frame is relatively aligned with said second coordinate frame;

generating a real-time image of said predetermined portion of the patient'"'"'s body relative to a third coordinate frame; and

producing an output image corresponding to a combination of said matched image data set and said real-time image.

28. The method of claim 27, wherein said scanning further comprises illuminating and reading a sequence of laser lines across the skin surface of said predetermined portion of the patient'"'"'s body.

29. The method of claim 27, wherein said registering further comprises selecting a predetermined subset of data points from said surface image data.

30. The method of claim 29, wherein said registering further comprises matching said subset of data points to all possible corresponding subsets of data points associated with said anatomy image data and producing a set of hypothesized transformation data sets.

31. The method of claim 30, wherein said registering further comprises sequentially mapping said anatomy image data to each of said hypothesized transformation data sets to form a solution data set, said solution data set representative of a highly accurate transformation of said anatomy image data into the second coordinate frame associated with said surface image data.

32. The method of claim 31, wherein said sequential mapping further comprises performing a least-squares minimization between said anatomy image data and said surface image data.

33. The method of claim 32, wherein said sequential mapping further comprises randomly perturbing said solution data set and repeating said least-squares minimization in order to avoid local minima and solve for a global minima.

34. The method of claim 27 further comprising calibrating said real-time image with said matched data set so that said third coordinate frame is aligned with said second coordinate frame.

35. The method of claim 34, wherein said calibrating further comprises compensating for movements associated with the patient'"'"'s body in order to maintain the alignment of said matched image data set and said real-time image in said output image.

36. The method of claim 34, wherein said calibrating further comprises compensating for movements associated with said real-time imaging means in order to maintain the alignment of said matched image data set and said real-time image in said output image.

37. The method of claim 27, wherein said three-dimensional anatomy image data comprises prerecorded magnetic resonance imaging (MRI) data.

38. The method of claim 27, wherein said three-dimensional anatomy image data comprises prerecorded computed tomography (CT) data.

39. The method of claim 27, wherein said three-dimensional anatomy image data is segmented into tissue types.

40. A method of registering image data, comprising the steps of:

storing a first data set of three-dimensional image data associated with a predetermined portion of an object with reference to a first coordinate frame;

obtaining and storing a second data set of three-dimensional image data associated with a surface of said predetermined portion of said object with reference to a second coordinate frame; and

registering said first data set and said second data set to generate a matched image data set in which said first coordinate frame is relatively aligned with said second coordinate frame, wherein

said registering comprises;

generating a first data set of image data with reference to a first coordinate frame;

generating a second data set of image data with reference to a second coordinate frame;

selecting a predetermined subset of data points from said first data set;

matching said subset of data points to all possible corresponding subsets of data points associated with said second data set and producing a set of hypothesized transformation data sets; and

sequentially mapping said second data set to each of said hypothesized transformation data sets to form a solution data set, said solution data set representative of a highly accurate transformation of said second data into the first coordinate frame associated with said first data set, wherein

said sequential mapping further comprises performing a least-squares minimization between said first and second data sets, and randomly perturbing said solution data set and repeating said least-squares minimization in order to avoid local minima and solve for a global minima.

41. A method of registering three-dimensional data sets, comprising:

generating a first data set of image data with reference to a first coordinate frame;

generating a second data set of image data with reference to a second coordinate frame;

selecting a predetermined subset of data points from said first data set;

matching said subset of data points to all possible corresponding subsets of data points associated with said second data set and producing a set of hypothesized transformation data sets; and

sequentially mapping said second data set to each of said hypothesized transformation data sets to form a solution data set, said solution data set representative of a highly accurate transformation of said second data into the first coordinate frame associated with said first data set, wherein

said sequential mapping further comprises performing a least-squares minimization between said first and second data sets, and randomly perturbing said solution data set and repeating said least-squares minimization in order to avoid local minima and solve for a global minima.

42. A system for registering three-dimensional data sets, comprising:

means for generating a first data set of image data with reference to a first coordinate frame;

means for generating a second data set of image data with reference to a second coordinate frame;

means for selecting a predetermined subset of data points from said first data set;

means for matching said subset of data points to all possible corresponding subsets of data points associated with said second data set and producing a set of hypothesized transformation data sets; and

means for sequentially mapping said second data set to each of said hypothesized transformation data sets to form a solution data set, said solution data set representative of a highly accurate transformation of said second data into the first coordinate frame associated with said first data set, wherein

said sequential mapping means further comprises means for performing a least-squares minimization between said first and second data sets, and means for randomly perturbing said solution data set and repeating said least-squares minimization in order to avoid local minima and solve for a global minima.

43. An image data registration system comprising:

an image data storage unit for storing a first data set of three-dimensional image data associated with a predetermined portion of an object with reference to a first coordinate frame;

an image data acquisition and storage device for obtaining and storing a second data set of three-dimensional image data associated with a surface of said predetermined portion of said object with reference to a second coordinate frame; and

an image data processor for registering said first and second data sets to generate a matched image data set in which said first coordinate frame is relatively aligned with said second coordinate frame, wherein said image data processor comprises;

means for generating a first data set of image data with reference to a first coordinate frame;

means for generating a second data set of image data with reference to a second coordinate frame;

means for selecting a predetermined subset of data points from said first data set;

means for matching said subset of data points to all possible corresponding subsets of data points associated with said second data set and producing a set of hypothesized transformation data sets; and

means for sequentially mapping said second data set to each of said hypothesized transformation data sets to form a solution data set, said solution data set representative of a highly accurate transformation of said second data into the first coordinate frame associated with said first data set, wherein

said sequential mapping means further comprises means for performing a least-squares minimization between said first and second data sets, and means for randomly perturbing said solution data set and repeating said least-squares minimization in order to avoid local minima and solve for a global minima.