Method and apparatus for image registration

• US 6,553,152 B1
• Filed: 04/27/1999
• Issued: 04/22/2003
• Est. Priority Date: 07/10/1996
• Status: Expired due to Term

• Current Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Original Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Inventors: Miller, Michael I., Joshi, Sarang C., Christensen, Gary E., Grenander, Ulf
• Primary Examiner(s): Patel, Jayanti K.
• Assistant Examiner(s): AZARIAN, SEYED H
• Application Number:
  US09/299,567
• Time in Patent Office: 1,456 Days
• Field of Search: 382/131, 382/151, 382/141, 382/128, 382/294, 382/287, 382/296, 382/216, 382/278, 382/298, 382/224, 382/291, 382/219, 382/220, 382/226, 382/227, 382/229, 382/230, 382/231, 382/293, 382/295
• US Class Current: 382/294
• CPC Class Codes: G06T 3/153 using elastic snapping
• CPC Class Codes: G06T 7/33 using feature-based methods
• CPC Class Codes: G06V 10/24 Aligning, centring, orientation detection or correction of the image
• CPC Class Codes: G06V 10/754 involving a deformation of the sample pattern or of the reference pattern; Elastic matching

Abstract

An apparatus and method for image registration involves computing a first transform based on landmark manifolds, using a distance measure, computing a second transform from the distance measure and the first transform. Registering the images is accomplished by applying the second transform.

Claims

1. A method for registering images comprising the steps of:

selecting a first image with one or more landmarks;

selecting a second image containing image data elements, wherein one or more of said image data elements correspond to said one or more landmarks in said first image; and

registering said first image and said second image using a registration function that incorporates said one or more landmarks in said first image and said one or more corresponding image data elements in said second image.

2. The method of claim 1, wherein said step of registering said first image and said second image using a registration function includes the substep of:

computing a registration function that fuses a first transform that uses said one or more landmarks in said first image with a distance measure relating said one or more landmarks in said first image and said one or more corresponding image data elements in said second image.

4. The method of claim 1, wherein said first image is a template image and said second image is a target image, and wherein said step of registering said first image and said second image using a registration function includes the substep of:

computing a registration function having at least a first distance term for comparing a target image data element value to a transformed template image element value and a second distance term for comparing said template image and said target image at said one or more landmarks.

3. A method for registering images comprising the steps of:

selecting a first image with one or more landmarks, wherein said first image is a template image;

selecting a second image containing image data elements, wherein one or more of said image data elements correspond to said one or more landmarks in said first image and wherein said second image is a target image; and

registering said first image and said second image using a registration function that incorporates said one or more landmarks in said first image and said one or more corresponding image data elements in said second image, wherein the registering includes the substep of computing a registration function using a transform of the form;

$\hat{u}=\arg <br><br>\text{\hspace{1em}<br><br>}<br><br>\underset{u}{\min }<br><br>\text{\hspace{1em}<br><br>}<br><br>{\mathrm{\gamma <br><br>D}}_1<br><br>\left(T<br><br>\left(x-u<br><br>\left(x\right)\right),S<br><br>\left(x\right)\right)+\mathrm{\lambda <br><br>}<br><br>\underset{i=1}{\overset{N}{\sum <br><br>}}<br><br>\text{\hspace{1em}<br><br>}<br><br>D_2<br><br>\left(y_i,x_i-u<br><br>\left(x_i\right)\right)+p<br><br>\left(u\right)$

 

where D₁ is a first distance measure between a transformed template image and said target image, D₂ is a second distance measure between said one or more landmarks in said target image and said one or more corresponding image data elements in said transformed template image, p(u) is a regularization energy, which can be zero, N is the number of landmarks, x_i is the i-th landmark in said target image, y_i is a landmark in said template image corresponding to x_i, x represents an image data element position in said target image, T(x) is the template image, S(x) is the target image, γ

is a first scale factor, and λ

is a second scale factor.

5. An apparatus for registering images comprising:

means for selecting a first image with one or more landmarks;

means for selecting a second image containing image data elements, wherein one or more of said image data elements correspond to said one or more landmarks in said first image; and

means for registering said first image and said second image using a registration function that incorporates said one or more landmarks in said first image and said one or more corresponding image data elements in said second image.

6. The apparatus of claim 5, wherein said means for registering said first image and said second image using a registration function includes:

means for computing a registration function that fuses a first transform that uses said one or more landmarks in said first image with a distance measure relating said one or more landmarks in said first image and said one or more corresponding image data elements in said second image.

7. The apparatus of claim 5, wherein said first image is a template image and said second image is a target image, and wherein said means for registering said first image and said second image using a registration function includes:

means for computing a registration function using a transform of the form;

$\hat{u}=\arg <br><br>\text{\hspace{1em}<br><br>}<br><br>\underset{u}{\min }<br><br>\text{\hspace{1em}<br><br>}<br><br>{\mathrm{\gamma <br><br>D}}_1<br><br>\left(T<br><br>\left(x-u<br><br>\left(x\right)\right),S<br><br>\left(x\right)\right)+\mathrm{\lambda <br><br>}<br><br>\underset{i=1}{\overset{N}{\sum <br><br>}}<br><br>\text{\hspace{1em}<br><br>}<br><br>D_2<br><br>\left(y_i,x_i-u<br><br>\left(x_i\right)\right)+p<br><br>\left(u\right)$

 

where D₁ is a first distance measure between a transformed template image and said target image, D₂ is a second distance measure between said one or more landmarks in said target image and said one or more corresponding image data elements in said transformed template image, p(u) is a regularization energy, which can be zero, N is the number of landmarks, x_i is the i-th landmark in said target image, y_i is a landmark in said template image corresponding to x_i, x represents an image data element position in said target image, T(x) is the template image, S(x) is the target image, γ

is a first scale factor, and λ

is a second scale factor.

8. The apparatus of claim 5, wherein said first image is a template image and said second image is a target image, and wherein said means for registering said first image and said second image using a registration function includes:

means for computing a registration function having at least a first distance term for comparing a target image data element value to a transformed template image element value and a second distance term for comparing said template image and said target image at said one or more landmarks.

9. An article of manufacture for registering images comprising:

a landmark module configured to cause a computer to select a first image with one or more landmarks;

an image module configured to cause the computer to select a second image containing image data elements, wherein one or more of said image data elements correspond to said one or more landmarks in said first image; and

a registration module configured to cause the computer to register said first image and said second image using a registration function that incorporates said one or more landmarks in said first image and said one or more corresponding image data elements in said second image.

10. The article of manufacture of claim 9, wherein said registration module causes the computer to register said first image and said second image using a fusion module configured to cause the computer to compute a registration function that fuses a first transform that uses said one or more landmarks in said first image with a distance measure relating said one or more landmarks in said first image and said one or more corresponding image data elements in said second image.

12. The article of manufacture of claim 9, wherein said first image is a template image and said second image is a target image, and wherein said registration module includes:

a transform module configured to cause the computer to compute a registration function having at least a first distance term for comparing a target image data element value to a transformed template image element value and a second distance term for comparing said template image and said target image at said one or more landmarks.

11. An article of manufacture for registering images comprising:

a landmark module configured to cause a computer to select a first image with one or more landmarks wherein said first image is a template image;

an image module configured to cause the computer to select a second image containing image data elements, wherein one or more of said image data elements correspond to said one or more landmarks in said first image wherein said second image is a target image; and

a registration module configured to cause the computer to register said first image and said second image using a registration function that incorporates said one or more landmarks in said first image and said one or more corresponding image data elements in said second image and wherein said registration module includes;

a transform module configured to cause a computer to compute a registration function using a transform of the form;

$\hat{u}=\arg <br><br>\text{\hspace{1em}<br><br>}<br><br>\underset{u}{\min }<br><br>\text{\hspace{1em}<br><br>}<br><br>{\mathrm{\gamma <br><br>D}}_1<br><br>\left(T<br><br>\left(x-u<br><br>\left(x\right)\right),S<br><br>\left(x\right)\right)+\mathrm{\lambda <br><br>}<br><br>\underset{i=1}{\overset{N}{\sum <br><br>}}<br><br>\text{\hspace{1em}<br><br>}<br><br>D_2<br><br>\left(y_i,x_i-u<br><br>\left(x_i\right)\right)+p<br><br>\left(u\right)$

 

where D₁ is a first distance measure between a transformed template image and said target image, D₂ is a second distance measure between said one or more landmarks in said target image and said one or more corresponding image data elements in said transformed template image, p(u) is a regularization energy, which can be zero, N is the number of landmarks, x_i is the i-th landmark in said target image, y_i is a landmark in said template image corresponding to x_i, x represents an image data element position in said target image, T(x) is the template image, S(x) is the target image, γ

is a first scale factor, and λ

is a second scale factor.

13. An apparatus for registering images comprising:

a landmark image selector for selecting a first image with one or more landmarks;

an intensity image selector for selecting a second image containing image data elements, wherein one or more of said image data elements correspond to said one or more landmarks in said first image; and

a registration processor for registering said first image and said second image using a registration function that incorporates said one or more landmarks in said first image and said one or more corresponding image data elements in said second image.

14. An apparatus for registering images comprising:

a selector for selecting a reference image;

a selector for selecting an intensity image, wherein one or more image elements contained in said intensity image correspond to one or more image elements in said reference image; and

a registration processor for registering said first image and said second image using a registration function that incorporates said one or more image elements contained in said intensity image and said one or more image elements in said reference image.

15. A method for registering images comprising the steps of:

selecting a reference image;

selecting an intensity image, wherein one or more image elements contained in said intensity image correspond to one or more image elements in said reference image; and

registering said first image and said second image using a registration function that incorporates said one or more image elements contained in said intensity image and said one or more image elements in said reference image.