Method and apparatus for correlating a body with an image of the body

• US 5,951,571 A
• Filed: 09/19/1996
• Issued: 09/14/1999
• Est. Priority Date: 09/19/1996
• Status: Expired due to Term

• Current Assignee: Brainlab AG
• Original Assignee: Surgical Navigation Specialist Inc (International Business Machines Corporation)
• Inventors: Audette, Michel Albert
• Primary Examiner(s): Buiz, Michael
• Assistant Examiner(s): LEWIS, WILLIAM W
• Application Number:
  US08/718,160
• Time in Patent Office: 1,090 Days
• Field of Search: 606/130, 128/653.1, 128/665, 128/653.2, 364/413.13, 324/318, 324/305
• US Class Current: 606/130
• CPC Class Codes: G06T 2207/30004 Biomedical image processing
• CPC Class Codes: G06T 7/33 using feature-based methods
• CPC Class Codes: G06V 10/757 Matching configurations of points or features

Abstract

The present invention provides a system and process for correlating points on a spatial body to corresponding points on a data-base body formed from pre-acquired images of the spatial body. The system and process involves matching the spatial points with the corresponding data-base points using relative positional information between the spatial points and the data-base points. Symmetric false matches are detected and discarded by fitting the spatial points and data-base points to a first and second closed body, respectively, and comparing the orientation of the spatial points and the data-base points projected onto the closed bodies. In a preferred embodiment, the orientations of the spatial points and data-base points are compared by calculating, with respect to a matched spatial point, the longitudinal coordinates of the spatial points neighbouring the matched spatial point and calculating, with respect to the matched data-base point, the longitudinal co-ordinates of the data-base points neighbouring the matched data-base point, and comparing the difference in longitude between the points. If the difference in longitude of the spatial points corresponds to the difference in longitude of the data-base points, the match of the matched spatial point to the matched data-base point will be validated. Otherwise, the match will be considered a symmetric false match and discarded. Once at least three spatial points have been matched to corresponding data-base points, and the matches have been confirmed not to be false matches, a registration procedure is performed registering the spatial body to the data-base body by calculating a transformation mapping using the three matched pairs.

Claims

1. A process for identifying points on a spatial body which correspond to points on a data-base body comprising previously acquired images of the spatial body, comprising the steps of:

(a) selecting at least four data-base points on the data-base body;

(b) determining relative positional information between the data-base points;

(c) selecting at least four spatial points on the spatial body;

(d) determining relative positional information between the spatial points;

(e) matching a first spatial point to a corresponding data-base points by determining which of the spatial points have relative positional information which correspond to the relative positional information between the data-base points; and

(f) testing the first matched spatial point to determine if the first matched spatial point is a symmetric false match of the corresponding data-base point.

2. The process according to claim 1 wherein step (f) comprises the steps of:

I. fitting at least four of the data-base points to a first closed body having a shape and a first surface such that the data-base points are projected onto the first surface in a first orientation;

II. fitting at least four of the spatial points to a second closed body having the same shape as the first closed body and a second surface such that the spatial points are projected onto the second surface in a second orientation;

III. comparing the second orientation of the spatial points on the second surface to the first orientation of the data-base points on the first surface;

wherein the first matched spatial point is not a symmetric false match of the corresponding data-base point if the second orientation of the spatial points on the second surface corresponds to the first orientation of the data-base points on the first surface.

3. The process according to claim 2 comprising the further step of:

(g) if the first matched spatial point is a symmetric false match of the corresponding data-base point, repeating steps (e) and (f) but excluding the match of the first matched spatial point and the corresponding data-base point from consideration.

4. The process according to claim 3 comprising the further steps of:

(h) for each spatial point by matching a spatial point to a corresponding data-base point by determining which of the spatial points have relative positional information which corresponds to the relative positional information between the data-base points; and

(i) repeating steps (f) and (g) for each matched spatial point.

5. The process according to claim 4 comprising the further step of repeating steps (a) to (i) until at least three spatial points are matched to corresponding data-base points, and, the at least three matched spatial points are not symmetric false matches of the corresponding data-base points.

6. The process according to claim 5 comprising the further step of registering the spatial body to the data-base body based on the at least three matched spatial points and the corresponding data-base points wherein the matched spatial points are not symmetric false matches of the corresponding data-base points.

7. The process according to claim 6 wherein the first closed body and the second closed body are spherical.

8. The process according to claim 7 wherein, for each matched spatial point, the second orientation of the spatial points on the second surface is compared to the first orientation of the data-base points on the first surface by calculating longitudinal coordinates of the spatial points with respect to the matched spatial point about the second surface and calculating longitudinal coordinates of the data-base points with respect to the corresponding data-base point about the first surface, and comparing differences in longitude between the spatial points with differences in longitude between the data-base points;

and

wherein the matched spatial point is not a symmetric false match of the corresponding data-base point if the differences in longitude between the spatial points correspond to the differences in longitude between the data-base points.

9. The process according to claim 8 wherein step (b) comprises the step of testing the data-base points to determine if the data-base points are coplanar or nearly coplanar, and, if the data-base points are coplanar or nearly coplanar, selecting additional data-base points on the data-base body until the data-base points are not coplanar.

10. The process according to claim 9 wherein step (d) comprises the step of testing the spatial points to determine if the spatial points are coplanar or nearly coplanar, and, if the spatial points are coplanar or nearly coplanar, selecting additional spatial points on the spatial body until the spatial points are not coplanar.

11. The process according to claim 8 wherein the first matched spatial point is a symmetric false match of the corresponding data-base point if the differences in longitude between the spatial points does not correspond to the differences in longitude between the corresponding data-base points.

12. The process according to claim 11 wherein the differences in longitude between the spatial points correspond to the differences in longitude between the corresponding data-base points if the differences are less than a predetermined threshold value.

13. The process according to claim 10 wherein step (b) comprises the step of calculating relative distances between each pair of the data-base points, relative angles and distances between each group of three data-base points, tetrahedral volumes between each group of four data-base points and differences in normals of planes formed from each group of three data-base points;

and

wherein step (d) comprises the step of calculating relative distances between each pair of the spatial points, relative angles and distances between each group of three spatial points, tetrahedral volumes of each group of four spatial points and differences in normals of planes formed from each group of three spatial points.

14. The process according to claim 12 comprising the further step of minimizing errors between each spatial point and the corresponding value determined by registering by using a root-mean-square analysis to exclude faulty data.

15. The process according to claim 8 wherein the spatial body is an anatomical body;

and

comprising the further step of displaying a region of the data-base body corresponding to a portion of the anatomical body near the probe, the region being derived from a plurality of images of the data-base body.

16. A method for visualizing internal regions of an anatomical body in relation to a probe employing a data-base body of previously acquired images of the anatomical body, the method comprising the steps of:

(a) selecting at least four data-base points on the data-base body;

(b) determining relative positional information between the data-base points;

(c) selecting at least four spatial points on the anatomical body;

(d) determining relative positional information between the spatial points;

(e) matching at least three of the spatial points to corresponding data-base points by determining which of the spatial points have relative positional information with respect to each other spatial point which correspond to the relative positional information between the data-base points;

(f) fitting the data-base points to a first closed body having a regular shape and a first surface such that the data-base points are projected onto the first surface in a first orientation;

(g) fitting the spatial points to a second closed body having the same shape as the first closed body and a second surface such that the spatial points are projected onto the second surface in a second orientation;

(h) for each matched spatial point, comparing the matched spatial point with its corresponding data-base point to determine if the matched spatial point is a symmetric false match of the corresponding data-base point by comparing the orientation of the spatial points with respect to the matched spatial point on the second surface to the orientation of the data-base points with respect to the corresponding data-base point on the first surface, wherein the matched spatial point is not a symmetric false match of the corresponding data-base point if the orientation of the spatial points on the second surface corresponds to the orientation of the data-base points on the first surface; and

(i) registering the spatial body to the data-base body based on at least three matched spatial points and the corresponding data-base points which have been determined not to be symmetric false matches.

17. The process according to claim 16 comprising the further step of:

(j) selecting additional data-base points and/or spatial points until at least three spatial points are matched to corresponding data-base points and the at least three matched spatial points are not symmetric false matches of the corresponding data-base points.

18. The process according to claim 17 comprising the further step of:

(k) displaying a region of the data-base body corresponding to a portion of the anatomical body near the probe, the region being derived from a plurality of images of the data-base body.

19. The process according to claim 18 wherein markings are made on the anatomical body prior to acquiring the images such that the markings appear on the images;

wherein the markings appear on the anatomical body when the spatial points are selected; and

wherein the at least four data-base points selected on the data base body correspond to markings appearing on the images, and, the at least four spatial points selected on the anatomical body correspond to markings appearing on the anatomical body.

20. The process according to claim 19 wherein, for each matched spatial point, the second orientation of the spatial points on the second surface is compared to the first orientation of the data-base points on the first surface by calculating longitudinal coordinates of the spatial points with respect to the matched spatial point about the second surface and calculating longitudinal coordinates of the data-base points with respect to the corresponding data-base point about the first surface, and comparing differences in longitude between the spatial points with differences in longitude between the data-base points;

and

wherein the matched spatial point is not a symmetric false match of the corresponding data-base point if the differences in longitude between the spatial points correspond to the differences in longitude between the data-base points.

21. The process according to claim 20 comprising the further step of minimizing errors between each spatial point and a corresponding value determined by registration by using a root-mean-square analysis to exclude faulty data.