Apparatus and method for registration of images to physical space using a weighted combination of points and surfaces

• US 6,560,354 B1
• Filed: 02/16/1999
• Issued: 05/06/2003
• Est. Priority Date: 02/16/1999
• Status: Expired due to Fees

• Current Assignee: University of Rochester
• Original Assignee: University of Rochester
• Inventors: Maurer, Calvin R. Jr., Fitzpatrick, J. Michael, Maciunas, Robert J.
• Primary Examiner(s): Mehta, Bhavesh
• Assistant Examiner(s): DESIRE, GREGORY M
• Application Number:
  US09/250,267
• Time in Patent Office: 1,540 Days
• Field of Search: 382/131-132, 382/145, 382/174, 378/65, 378/207, 600/410, 600/424-426, 128/922
• US Class Current: 382/131
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/10081 Computed x-ray tomography [CT]
• CPC Class Codes: G06T 2207/30008 Bone
• CPC Class Codes: G06T 2207/30016 Brain
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 7/33 using feature-based methods
• CPC Class Codes: Y10S 128/922 including image analysis

Abstract

An image of a patient taken through X-ray computed tomography or the like is registered to physical measurements taken on the patient'"'"'s body. Different parts of the patient'"'"'s body are given different numerical weights; for example, if bone measurements are deemed to be more accurate than skin measurements, the bones can be given a higher weight than the skin. The weights are used in an iterative registration process to determine a rigid body transformation function. The transformation function is used in robot-assisted surgical procedures, stereotactic procedures or the like.

Claims

1. A method of registering an image taken from a patient to a physical space in which the image is taken, the method comprising:

(a) taking the image;

(b) segmenting the image to obtain features of the image;

(c) taking a plurality of measurements on the patient;

(d) assigning weights to the features obtained in step (b), wherein not all of said weights are equal;

(e) using the weights assigned in step (d), registering the features obtained in step (b) with the measurements taken in step (c) to obtain a transformation function; and

(f) using the transformation function obtained in step (e), controlling a surgical procedure performed on the patient.

2. The method of claim 1, wherein step (d) comprises assigning the weights to the features in accordance with estimated measurement errors of the features such that the weights increase as the estimated measurement errors decrease.

3. The method of claim 2, wherein:

the measurements define a plurality of shapes ρ

_i, each shape ρ

_i of the plurality of shapes defining a point set {p_ij}; and

each point p_ij corresponds to a weight w_ij=u_iv_ij, where u_i is a weight of said shape ρ

_i among said plurality of shapes and wherein v_ij is a weight of said point p_ij within said shape ρ

_i.

4. The method of claim 3, wherein the measurements are taken from two or more of said shapes ρ

_i, not all of said weights u_i are equal, and for each i, all values of v_ij are equal.

5. The method of claim 1, wherein:

the measurements comprise measurements of a plurality of points p_ij;

the features of the image comprise a plurality of shapes χ

_i; and

step (e) comprises;

(i) selecting an initial transformation Γ

₀ and calculating p_ij1=Γ

₀(p_ij);

(ii) for an iteration index k, beginning with k=1, calculating y_ijk as a closest point in χ

_i to p_ijk using a closest point operator, determining a transformation Γ

_k between {p_ij} and {y_ijk}, and calculating p_ij,k+1=Γ

_k(p_ijk);

(iii) determining whether a cost function of Γ

_k has converged to within a predetermined tolerance;

(iv) if the cost function has converged to within the predetermined tolerance, taking Γ

_k to be the transformation function of step (e); and

(v) if the cost function has not converged to within the predetermined tolerance, incrementing k and carrying out steps (e)(ii) and (e)(iii) with the incremented k.

6. The method of claim 5, wherein at least some of the measurements are taken with a probe having a tip with a radius, and wherein the cost function and the closest point operator are corrected in accordance with the radius of the tip.

7. The method of claim 5, wherein step (e) further comprises selecting a plurality of initial transformations and carrying out steps (e)(i)-(e)(v) for each of the plurality of initial transformations to avoid finding a local minimum of the cost function.

8. The method of claim 1, wherein at least some of the measurements are taken by applying a hand-held probe to the patient and detecting locations of the hand-held probe.

9. The method of claim 8, wherein the measurements taken with the hand-held probe comprise measurements taken on the patient'"'"'s skin.

10. The method of claim 9, wherein the measurements taken with the hand-held probe further comprise measurements taken on a bone surface of the patient.

11. The method of claim 10, wherein the bone surface is exposed by lifting a skin flap so that the measurements on the bone surface can be taken.

12. The method of claim 1, wherein the surgical procedure comprises navigating within the patient'"'"'s body in accordance with the transformation function.

13. The method of claim 1, wherein the surgical procedure comprises directing radiation at a location within the patient'"'"'s body determined in accordance with the transformation function.

14. The method of claim 1, wherein the surgical procedure comprises a robot-assisted surgical procedure controlled in accordance with the transformation function.

15. The method of claim 1, wherein, in step (c), at least one of the plurality of measurements is taken without affixing a marker or a frame to the patient.

16. The method of claim 1, wherein the measurements are taken from one marker affixed to the patient plus other shapes.

17. The method of claim 1, wherein the measurements are taken from two markers affixed to the patient plus other shapes.

18. The method of claim 1, wherein the measurements are taken from three markers affixed to the patient, and wherein step (d) comprises assigning different weights corresponding to the three markers.

19. The method of claim 1, wherein the measurements are taken from at least four markers affixed to the patient and wherein step (d) comprises assigning different weights corresponding to the four or more markers.

20. The method of claim 1, wherein the measurements are taken from at least three anatomical landmarks on the patient, and wherein step (d) comprises assigning different weights corresponding to the at least three anatomical landmarks.

21. The method of claim 1, wherein the measurements are taken from at least three markers affixed to the patient plus other shapes.

22. The method of claim 1, wherein the measurements are taken from a plurality of points on one surface, and wherein step (d) comprises assigning different weights corresponding to the plurality of points.

23. An apparatus for registering an image taken from a patient to a physical space in which the image is taken, the apparatus comprising:

image taking means for taking the image;

measurement taking means for taking a plurality of measurements on the patient;

processing means for segmenting the image to obtain features of the image, assigning weights to the features, wherein not all of said weights are equal, and using the weights to register the features with the measurements to obtain a transformation function; and

surgical means for using the transformation function to control a surgical procedure performed on the patient.

24. The apparatus of claim 23, wherein the processing means comprises means for assigning the weights to the features in accordance with estimated measurement errors of the features such that the weights increase as the estimated measurement errors decrease.

25. The apparatus of claim 24, wherein:

the measurements define a plurality of shapes ρ

_i, each shape ρ

_i of the plurality of shapes defining a point set {p_ij}; and

each point p_ij corresponds to a weight w_ij=u_iv_ij, where u_i is a weight of said shape ρ

_i among said plurality of shapes and wherein v_ij is a weight of said point p_ij within said shape ρ

_i.

26. The apparatus of claim 25, wherein the measurements are taken from two or more of said shapes ρ

_i, not all of said weights u_i are equal, and for each i, all values of v_ij are equal.

27. The apparatus of claim 23, wherein:

the measurements comprise measurements of a plurality of points p_ij;

the features of the image comprise a plurality of shapes χ

_i; and

the processing means comprises means for;

(i) selecting an initial transformation Γ

₀ and calculating p_ij1=Γ

₀(p_ij);

(ii) for an iteration index k, beginning with k=1, calculating y_ijk as a closest point in χ

_i to p_ijk using a closest point operator, determining a transformation Γ

_k between {p_ij} and {y_ijk}, and calculating p_ij,k+1=Γ

_k(p_ijk);

(iii) determining whether a cost function of Γ

_k has converged to within a predetermined tolerance;

(iv) if the cost function has converged to within the predetermined tolerance, taking Γ

_k to be the transformation function of step (e); and

(v) if the cost function has not converged to within the predetermined tolerance, incrementing k and carrying out steps (e)(ii) and (e)(iii) with the incremented k.

28. The apparatus of claim 27, wherein the measurement taking means comprises a probe having a tip with a radius, and wherein the cost function and the closest point operator are corrected in accordance with the radius of the tip.

29. The apparatus of claim 27, wherein the processing means comprises means for selecting a plurality of initial transformations and carrying out steps (i)-(v) for each of the plurality of initial transformations to avoid finding a local minimum of the cost function.

30. The apparatus of claim 23, wherein the surgical means comprises means for navigating within the patient'"'"'s body in accordance with the transformation function.

31. The apparatus of claim 23, wherein the surgical means comprises means for directing radiation at a location within the patient'"'"'s body determined in accordance with the transformation function.

32. The apparatus of claim 23, wherein the surgical means comprises a robot-assisted surgical device controlled in accordance with the transformation function.