System and methods for the reduction and elimination of image artifacts in the calibration of X-ray imagers

• US 6,118,845 A
• Filed: 06/29/1998
• Issued: 09/12/2000
• Est. Priority Date: 06/29/1998
• Status: Expired due to Term

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Inventors: Simon, David A., Smith, Kurt R.
• Primary Examiner(s): BRUCE, DAVID VERNON
• Application Number:
  US09/106,109
• Time in Patent Office: 806 Days
• Field of Search: 378/4, 378/8, 378/62, 378/98, 378/207, 378/901
• US Class Current: 378/62
• CPC Class Codes: A61B 6/5252 removing objects from field of view, e.g. removing patient table from a CT image
• CPC Class Codes: A61B 6/583 using calibration phantoms

Abstract

Image processing operations are used to improve images that include visual artifacts generated by calibration markers used in intrinsic calibration of an x-ray image. Artifacts introduced by opaque or semi-transparent calibration markers may be completely or partially removed from the image. More particularly, artifacts caused by opaque calibration markers are removed by changing the pixels corresponding to the projections of the calibration markers to blend in with pixels surrounding the calibration markers. Artifacts may also be generated with semi-transparent calibration markers. These artifacts may be eliminated from the image, while leaving intact the underlying image, by subtracting a constant offset from each marker projection.

Claims

1. A medical imaging system comprising:

an x-ray source for generating x-rays;

calibration markers positioned in a path of the x-rays;

an x-ray receiving device for receiving the generated x-rays and deriving a digital image representing objects through which the generated x-rays have passed, the digital image including representations of the calibration markers; and

a processor coupled to the x-ray receiving device for performing image processing operations on the digital image, the image processing operations de-emphasizing the visual presence of the representations of the calibration markers.

2. The system of claim 1, wherein the x-ray receiving device further comprises an image intensifier and a charge coupled device (CCD) array for deriving the digital image from the x-rays.

3. The system of claim 1, wherein the calibration markers are opaque to the x-rays.

4. The system of claim 1, wherein the calibration markers are semi-transparent to the x-rays.

5. The system of claim 3, wherein the processor further includes means for identifying pixels in the digital image that surround the calibration markers and means for modifying the representations of the calibration markers based on the values of the pixels that surround the representations of the calibration markers.

6. The system of claim 5, wherein the processor further includes means for adding a constant offset to the modified representations of the calibration markers to enhance the visibility of the representations.

7. The system of claim 4, wherein the processor further includes means for acquiring an offset value corresponding to an intensity of one of the calibration marker representations in which the x-rays have not traversed the objects.

8. The system of claim 7, wherein the processor further includes means for subtracting the offset value from each of the calibration marker representations.

9. The system of claim 8, wherein the processor further includes means for refining the subtracted versions of the calibration marker representations by using an estimator algorithm that optimizes a criterion function.

10. The system of claim 1, wherein the processor de-emphasizes the visual presence of the representations of the calibration markers using a maximum likelihood estimator that maximizes a criterion function.

11. The system of claim 10, wherein the maximum likelihood estimator is an Expectation Maximizing algorithm.

12. A method of creating an image of an object comprising the steps of:

transmitting x-rays in a path including a target object and calibration markers arranged in a predetermined pattern;

receiving the transmitted x-rays;

deriving a digital image representing the object and the calibration markers; and

de-emphasizing the representations of the calibration markers in the digital image.

13. The method of claim 12, wherein the step of transmitting the x-rays further includes the substep of transmitting the x-rays through semi-transparent calibration markers arranged in the predetermined pattern.

14. The method of claim 13, wherein the step of de-emphasizing the representations of the calibration markers includes the substep of eliminating the representations of the calibration markers by subtracting an offset from pixels in the digital image that comprise the calibration marker representations.

15. The method of claim 12, wherein the step of transmitting the x-rays further includes the substep of transmitting the x-rays to calibration markers opaque to the x-rays.

16. The method of claim 15, wherein the step of de-emphasizing the representations of the calibration markers includes the substep of identifying pixels in the digital image that surround the calibration markers and modifying the representations of the calibration markers based on the values of the pixels that surround the representations of the calibration markers.

17. The method of claim 16, further including the substep of adding an offset to the modified representations of the calibration markers to enhance the visibility of the representations.

18. A computer readable medium containing computer instructions for causing a processor to perform the steps of:

storing a digital image representing anatomy of a patient, the digital image including representations of calibration markers that at least partially occlude portions of the patient anatomy; and

performing image processing operations on the digital image to de-emphasize the representations of the calibration markers.

19. The computer readable medium of claim 18, wherein the instructions for causing the processor to perform the step of de-emphasizing the representations of the calibration markers further include instructions for eliminating the representations of the calibration markers by subtracting an offset from pixels in the digital image that comprise the calibration marker representations.

20. The computer readable medium of claim 18, wherein the instructions for causing the processor to perform the step of de-emphasizing the representations of the calibration markers further include instructions for identifying pixels in the digital image that surround the calibration markers and modifying the representations of the calibration markers based on the values of the pixels that surround the representations of the calibration markers.

21. The computer readable medium of claim 20, further including instructions for adding an offset to the modified representations of the calibration markers to enhance the visibility of the representations.

22. The computer readable medium of claim 18, wherein the instructions for causing the processor to perform the step of de-emphasizing the representations of the calibration markers further include instructions for de-emphasizing the visual presence of the representations of the calibration markers using a maximum likelihood estimator that maximizes a criterion function.

23. The computer readable medium of claim 22, wherein the maximum likelihood estimator is an Expectation Maximizing algorithm.

24. A computer system comprising:

a first computer memory storing a digital image representing anatomy of a patient, the digital image including representations of calibration markers that at least partially occlude portions of the patient anatomy;

a second memory storing instruction for performing image processing operations on the digital image to de-emphasize the representations of the calibration markers; and

a processor coupled to the first and second memory for executing the instructions stored in the second memory.

25. The computer system of claim 24, wherein the processor further includes means for identifying pixels in the digital image that surround the calibration markers and means for modifying the representations of the calibration markers based on the values of the pixels that surround the representations of the calibration markers.

26. The computer system of claim 25, wherein the processor further includes means for adding a constant offset to the modified representations of the calibration markers to enhance the visibility of the representations.

27. The computer system of claim 24, wherein the processor de-emphasizes the visual presence of the representations of the calibration markers using a maximum likelihood estimator that maximizes a criterion function.

28. The computer system of claim 27, wherein the maximum likelihood estimator is an Expectation Maximizing algorithm.

29. A method for causing a computer processor to perform the steps of:

storing a digital image representing anatomy of a patient, the digital image including representations of calibration markers that at least partially occlude portions of the patient anatomy; and

performing image processing operations on the digital image to de-emphasize the representations of the calibration markers.

30. The method of claim 29, wherein the step of de-emphasizing the representations of the calibration markers includes the substep of eliminating the representations of the calibration markers by subtracting an offset from pixels in the digital image that comprise the calibration marker representations.

31. The method of claim 29, wherein the step of de-emphasizing the representations of the calibration markers includes the substep of identifying pixels in the digital image that surround the calibration markers and modifying the representations of the calibration markers based on the values of the pixels that surround the representations of the calibration markers.

32. The method of claim 31, further including the substep of adding an offset to the modified representations of the calibration markers to enhance the visibility of the representations.

33. A medical imaging system comprising:

an x-ray source for generating x-rays;

semi-transparent calibration markers positioned in a path of the x-rays;

an x-ray receiving device for receiving the generated x-rays and deriving a digital image representing objects through which the generated x-rays have passed, the digital image including representations of the calibration markers; and

a processor coupled to the x-ray receiving device for performing image processing operations on the digital image, the digital processing operations removing distortion from the image by performing intrinsic calibration on the image based on projections of the semi-transparent calibration markers in the image.