Apparatus and method for detection and localization of a biopsy needle or similar surgical tool in a radiographic image

• US 5,930,329 A
• Filed: 09/22/1997
• Issued: 07/27/1999
• Est. Priority Date: 09/22/1997
• Status: Expired due to Term

• Current Assignee: Siemens Medical Solutions USA Incorporated (Siemens AG)
• Original Assignee: Siemens Corporate Research Incorporated (Siemens AG)
• Inventors: Navab, Nassir
• Primary Examiner(s): Porta, David P.
• Assistant Examiner(s): Bruce, David Vernon
• Application Number:
  US08/935,269
• Time in Patent Office: 673 Days
• Field of Search: 378/62, 378/98, 378/12, 600/424
• US Class Current: 378/98.12
• CPC Class Codes: A61B 17/3403 Needle locating or guiding means guides for suture needles A61B17/0482; guiding or tracking by nuclear magnetic resonance G01R33/285
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

A method for the detection and localization of a surgical tool in a radiographic image, including an image of a surgical device and an anatomical background image, includes the steps of generating a radiographic reference image, including an image of a surgical device and an anatomical background image and applying an oscillating movement to the device. The method further includes the steps of generating a number k of radiographic images during the oscillating movement; subtracting each image from the reference image, so as to generate a difference image; and deriving the mathematical intersection of all of the reference images, whereby a resulting image results including only the image of the device on the radiographic reference image and substantially without the anatomical background image.

Claims

1. A method for detection and localization of a surgical tool in a radiographic image, comprising the steps of:

generating a radiographic reference image I_p, including an image of a surgical device and an anatomical background image;

applying an oscillating movement to said device;

generating a number k of radiographic images I_k during said oscillating movement;

subtracting each image I_k from a preceding reference image I_p so as to generate a difference image (I_k -I_p); and

deriving said mathematical intersection of all of said reference images (I_k -I_p), whereby a resulting image results including only said image of said device on said radiographic reference image I_p and substantially without said anatomical background image.

2. A method for detection and localization of a surgical tool in a radiographic image, in accordance with claim 1, wherein said steps of subtracting each image I_k from said reference image I_p and of deriving said mathematical intersection are performed on digitized versions of said respective images.

3. A method for detection and localization of a surgical tool in a radiographic image, in accordance with claim 1, wherein said step of generating a radiographic reference image I_p, including an image of a surgical device is carried out on a biopsy needle.

4. A method for detection and localization of a surgical tool in a radiographic image in accordance with claim 1, wherein said step of applying an oscillating movement I_k to said device is performed no faster than a rate at which acquisition can be effected of two successive distinct radiographic images of said surgical tool.

5. A method for detection and localization of a positioning device in a radiographic image in the presence of anatomical background images, comprising the steps of:

generating a radiographic reference image I_p, including an image of said positioning device and an anatomical background image;

applying an oscillating movement to said device;

generating a number k of radiographic images I_k during said oscillating movement;

subtracting each image I_k from a preceding reference image I_p. so as to generate a difference image (I_k -I_p); and

deriving said mathematical intersection of all of said reference images (I_k -I_p), whereby a resulting image results including only said image of said device on said radiographic reference image I_p and substantially without said anatomical background image.

6. A method for detection and localization of a surgical tool in a radiographic image, in accordance with claim 5, wherein said steps of subtracting each image I_k from said reference image I_p and of deriving said mathematical intersection are performed on digitized versions of said respective images.

7. A method for detection and localization of a surgical tool in a radiographic image, in accordance with claim 5, wherein said step of generating a radiographic reference image I_p, including an image of a surgical device is carried out on a biopsy needle.

8. A method for detection and localization of a surgical tool in a radiographic image in accordance with claim 5, wherein said step of applying an oscillating movement I_k to said device is performed no faster than a rate at which acquisition can be effected of two successive distinct radiographic images of said surgical tool.

9. A method for tracking a positioning device in a sequence of consecutive radiographic images, said positioning device exhibiting a change of position from one radiographic image to the next, said method comprising the steps of:

generating a radiographic reference image I_p, including an image of a positioning device and an anatomical background image;

applying an oscillating movement to said device;

generating a number k of radiographic images I_k during said oscillating movement;

subtracting each image I_k from a preceding reference image I_p so as to generate a difference image (I_k -I_p); and

deriving said mathematical intersection of all of said reference images (I_k -I_p), whereby a resulting image results including only said image of said device on said radiographic reference image I_p and substantially without said anatomical background image.

10. A method for detection and localization of a surgical tool in a radiographic image, in accordance with claim 9, wherein said steps of subtracting each image I_k from said reference image I_p and of deriving said mathematical intersection are performed on digitized versions of said respective images.

11. A method for detection and localization of a surgical tool in a radiographic image, in accordance with claim 9, wherein said step of generating a radiographic reference image I_p, including an image of a surgical device is carried out on a biopsy needle.

12. A method for detection and localization of a surgical tool in a radiographic image in accordance with claim 9, wherein said step of applying an oscillating movement I_k to said device is performed no faster than a rate at which acquisition can be effected of two successive distinct radiographic images of said surgical tool.

13. Apparatus for detection and localization of a positioning device in a radiographic image in the presence of anatomical background images, comprising:

means for generating a radiographic reference image I_p, including an image of said positioning device and an anatomical background image;

means for applying an oscillating movement to said device;

means for generating a number k of radiographic images I_k during said oscillating movement;

means for subtracting each image I_k from a preceding reference image I_p so as to generate a difference image (I_k -I_p); and

means for deriving said mathematical intersection of all of said reference images (I_k -I_p), whereby a resulting image results including only said image of said device on said radiographic reference image I_p and substantially without said anatomical background image.

14. Apparatus for tracking a positioning device in a sequence of consecutive radiographic images, said positioning device exhibiting a change of position from one radiographic image to the next, said apparatus comprising:

means for generating a radiographic reference image I_p, including an image of a positioning device and an anatomical background image;

means for applying an oscillating movement to said device;

means for generating a number k of radiographic images I_k during said oscillating movement;

means for subtracting each image I_k from a preceding reference image I_p so as to generate a difference image (I_k -I_p); and

means for deriving said mathematical intersection of all of said reference images (I_k -I_p), whereby a resulting image results including only said image of said device on said radiographic reference image I_p and substantially without said anatomical background image.

15. Apparatus for detection and localization of a surgical tool in a radiographic image, for use in conjunction with radiographic equipment or the like imaging equipment, said apparatus comprising:

means for applying an oscillating movement to said device;

means for generating a radiographic reference image I_p, including an image of a surgical device and an anatomical background image, and for generating a number k of radiographic images I_k during said oscillating movement;

means for subtracting each image I_k from a preceding reference image I_p so as to generate a difference image (I _k -I_p); and

means for deriving said mathematical intersection of all of said reference images (I_k -I_p).

16. Apparatus for detection and localization of a surgical tool in a radiographic image, as recited in claim 15 wherein said means for subtracting each image I_k from said reference image I_p and of deriving said mathematical intersection utilizes digitized versions of said respective images.

17. Apparatus for detection and localization of a surgical tool in a radiographic image, as recited in claim 15, wherein said image of a surgical device is an image of a biopsy needle.

18. Apparatus for detection and localization of a surgical tool in a radiographic image, as recited in claim 15, wherein said means for applying an oscillating movement to said device causes said oscillating movement to be at a rate no faster than a rate that allows unblurred images to be made.