System for two-dimensional and three-dimensional imaging of tubular structures in the human body

• US 6,928,314 B1
• Filed: 01/23/1998
• Issued: 08/09/2005
• Est. Priority Date: 01/23/1998
• Status: Expired due to Term

• Current Assignee: Mayo Foundation For Medical Education And Research (Mayo Clinic)
• Original Assignee: Mayo Foundation For Medical Education And Research (Mayo Clinic)
• Inventors: Johnson, Charles D., Reed, Judd E.
• Primary Examiner(s): Shaw, Shawna J.
• Application Number:
  US09/355,075
• Time in Patent Office: 2,755 Days
• Field of Search: 600/407, 600/416, 128/920, 128/922, 382/128, 382/294, 378/20, 345/419
• US Class Current: 600/407
• CPC Class Codes: G06T 15/08 Volume rendering
• CPC Class Codes: G06T 19/003 Navigation within 3D models or images
• CPC Class Codes: G06T 2207/30028 Colon; Small intestine
• CPC Class Codes: G06T 2207/30172 Centreline of tubular or elongated structure
• CPC Class Codes: G06T 2210/41 Medical
• CPC Class Codes: G06T 2219/021 Flattening
• CPC Class Codes: G06T 2219/028 Multiple view windows (top-side-front-sagittal-orthogonal)
• CPC Class Codes: G06T 7/66 of image moments or centre of gravity
• CPC Class Codes: Y10S 128/92 Computer assisted medical diagnostics

Abstract

This invention is a system, method, and article of manufacture for imaging tubular structures of the human body, such as the digestive tract of a living person, with a medical imaging device such as a computed tomography (CT) scanner and a computer work station. The system comprises receiving a first image data set representative of a portion of the colon in a prone position and a second image data set representative of a portion of the colon in a supine position, at a series of viewpoints. At each of the viewpoints, an image is generated of the colon in the prone and supine positions. The prone and supine images of the colon are simultaneously displayed on a screen display in a dual view mode.

Claims

1. A method for operating, in a dual display mode, a digital computer system of the type having a processor and a screen display, to provide diagnostic images of a tubular structure of a human body at a series of viewpoints along the structure, comprising:

receiving a first image data set representative of a portion of the body including at least the tubular structure and generated by a medical imaging device with the tubular structure in a first position;

receiving a second image data set representative of a portion of the body including at least the tubular structure and generated by a medical imaging device with the tubular structure in a second position which is different than the first position;

generating from the first image data set, at each of the viewpoints, a first position image of the body including at least the tubular structure in the first position;

generating from the second image data set, at each of the viewpoints, a second position image of the body including at least the tubular structure in the second position; and

simultaneously displaying or the screen display in a dual view mode the corresponding;

a) first position images of the body, and b) second position images of the body, at the viewpoints.

2. The method of claim 1 wherein:

generating the first position mages includes generating, at each of the viewpoints, a first position two dimensional image of the body including at least the tubular structure in the first position;

generating the second position images includes generating, at each of the viewpoints, a second position two dimensional image of the body including at least the tubular structure in the second position; and

simultaneously displaying the images includes simultaneously displaying the corresponding;

a) first position two dimensional images of the body, and b) second position two dimensional images of the body, at the viewpoints.

3. The method of claim 2 for operating a computer system of the type also including an operator-actuated input device, wherein:

the method further includes receiving information representative of a sequence of operator-controlled viewpoints along a navigated path in the structure; and

the step of displaying the images includes updating the displayed images to simultaneously display the corresponding images at the operator-controlled viewpoints along the navigated path.

4. The method of claim 3 wherein the step of receiving information representative of viewpoints along a navigated path includes receiving information representative of viewpoints controlled by an operator through use of a mouse.

5. The method of claim 3 wherein:

the first and second position two dimensional images are two dimensional axial images of the tubular structure and the surrounding body; and

the method further includes;

generating from the first image data set, at each of the viewpoints, first position two dimensional reformatted detailed images of the tubular structure in the first position;

generating from the second image data set, at each of the viewpoints, second position two dirt tensional reformatted detailed images of the tubular structure in the second position; and

simultaneously displaying on the screen display during operation in the dual view mode the corresponding;

a) first position and second position two dimensional axial images of tubular structure and the surrounding body, and b) the first position and/or second position two dimensional reformatted detailed images of the tubular structure, at the operator-selected viewpoints.

6. The method of claim 5 wherein:

the corresponding first position and second position two dimensional axial images of the tubular structure and the surrounding body, and the first position and/or second position two dimensional reformatted detailed images of the tubular structure are displayed at a first size level during operation in the dual view mode; and

the method further includes;

receiving information representative of an operators desire to operate the system in a single view mode; and

simultaneously displaying on the screen display during operation in the single view mode at a second enlarged size level either;

the corresponding a₁) first position two dimensional axial image of the tubular structure and the surrounding body and a₂) the first position two dimensional reformatted detailed images of the tubular structure, or the corresponding b₁) second position two dimensional axial image of the tubular structure and the surrounding body and b₂) the second position two dimensional reformatted detailed images of the tubular structure, at the operator-selected viewpoints.

7. The method of claim 6 and further including:

generating from the first image data set, at each of the viewpoints, a first position three dimensional detailed image of the tubular structure in the first position;

generating from the second image data set, at each of the viewpoints, a second position three dimensional detailed image of the tubular structure in the second position; and

simultaneously displaying on be screen display during operation in the single view mode at a second enlarged size level either;

the corresponding a₁) first position two dimensional axial image of the tubular structure and the surrounding body, a₂) the first position two dimensional reformatted detailed images of the tubular structure and a₁) the first position three dimensional detailed image of the tubular structure, or the corresponding b₁) second position two dimensional axial image of the tubular structure and the surrounding body, b₂) the second position two dimensional reformatted detailed images of the tubular structure and b₃) the second position three dimensional detailed image of the tubular structure, at the operator-selected viewpoints.

8. The method of claim 7 wherein:

generating the first position three dimensional image includes generating a first position three dimensional Virtual Pathology image of the tubular structure; and

generating the second position three dimensional image includes generating a second position three dimensional Virtual Pathology image of the tubular structure.

9. The method of claim 8 wherein:

generating the first position three dimensional Virtual Pathology image includes generating a first position three dimensional Virtual Pathology image selected from the set including panoramic Virtual Endoscopy, Mercator Virtual Pathology, Cylindrical Virtual Pathology, Planar Virtual Pathology, Axial Planar Virtual Pathology and Curved Cut-Plane Virtual Pathology; and

generating the second position three dimensional Virtual Pathology image includes generating a second position three dimensional Virtual Pathology image selected from the set including panoramic Virtual Endoscopy, Mercator Virtual Pathology, Cylindrical Virtual Pathology, Planar Virtual Pathology, Axial Planar Virtual Pathology and Curved Cut-Plane Virtual Pathology.

10. The method of claim 5 and further including:

generating from the first image data set, at each of the viewpoints, a first position three dimensional detailed image of the tubular structure in the first position;

generating from the second image data set, at each of the viewpoints, a second position three dimensional detailed image of the tubular structure in the second position; and

simultaneously displaying on the screen display during operation in the dual view mode the corresponding;

a) first position and second position two dimensional axial images of tubular structure and the surrounding body, b) the first position and/or second position two dimensional reformatted detailed images of the tubular structure and c) the first position and/or second position three dimensional detailed mages of the tubular structure, at the operator-selected viewpoints.

11. The method of claim 10 wherein:

generating the first position three dimensional image includes generating a first position three dimensional Virtual Pathology image of the tubular structure; and

generating the second position three dimensional image includes generating a second position three dimensional Virtual Pathology image of the tubular structure.

12. The method of claim 11 wherein:

generating the first position three dimensional Virtual Pathology image includes generating a first position three dimensional Virtual Pathology image selected from the set including panoramic Virtual Endoscopy, Mercator Virtual Pathology, Cylindrical Virtual Pathology, Planar Virtual Pathology, Axial Planar Virtual Pathology and Curved Cut-Plane Virtual Pathology; and

generating the second position three dimensional Virtual Pathology image includes generating a second position three dimensional Virtual Pathology image selected from the set including panoramic Virtual Endoscopy, Mercator Virtual Pathology, Cylindrical Virtual Pathology, Planar Virtual Pathology, Axial Planar Virtual Pathology and Curved Cut-Plane Virtual Pathology.

13. The method of claim 3 and further including:

generating from the first image data set, at each of the viewpoints, a first position three dimensional detailed image of the tubular structure in the first position;

generating from the second image data set, at each of the viewpoints, a second position three dimensional detailed image of the tubular structure in the second position; and

simultaneously displaying on the screen display during operation in the dual view mode the corresponding;

a) first position and second position two dimensional images of tubular structure, and b) the first position and/or second position three dimensional detailed images of the tubular structure, at the operator-selected viewpoints.

14. The method of claim 13 wherein:

generating the first position three dimensional image includes generating a first position three dimensional Virtual Pathology image of the tubular structure; and

generating the second position three dimensional image includes generating a second position three dimensional Virtual Pathology image of the tubular structure.

15. The method of claim 14 wherein:

generating the first position three dimensional Virtual Pathology image includes generating a first position three dimensional Virtual Pathology image selected from the set including panoramic Virtual Endoscopy, Mercator Virtual Pathology, Cylindrical Virtual Pathology, Planar Virtual Pathology, Axial Planar Virtual Pathology and Curved Cut-Plane Virtual Pathology; and

generating the second positions three dimensional Virtual Pathology image includes generating a second position three dimensional Virtual Pathology image selected from the set including panoramic Virtual Endoscopy, Mercator Virtual Pathology, Cylindrical Virtual Pathology, Planar Virtual Pathology, Axial Planar Virtual Pathology and Curved Cut-Plane Virtual Pathology.

16. The method of claim 3 wherein:

the first and second position two dimensional images are two dimensional axial images of the tubular structure and the surrounding body; and

the method further includes;

generating from the first image data set, at each of the viewpoints, a first position three dimensional detailed image of the tubular structure in the first position;

generating from the second image data set, at each of the viewpoints, a second position three dimensional detailed image of the tubular structure in the second position; and

simultaneously displaying on the screen display during operation in the dual view mode the corresponding;

a) first position and second position two dimensional axial images of the tubular structure, and b) the first position and/or second position three dimensional detailed images of the tubular structure, at the operator-selected viewpoint.

17. The method of claim 16 wherein:

generating the first position three dimensional image includes generating a first position three dimensional Virtual Pathology image of the tubular structure; and

generating the second position three dimensional image includes generating a second position three dimensional Virtual Pathology image of the tubular structure.

18. The method of claim 17 wherein:

generating the first position three dimensional Virtual Pathology image includes generating a first position three dimensional Virtual Pathology image selected from the set including panoramic Virtual Endoscopy, Mercator Virtual Pathology, Cylindrical Virtual Pathology, Planar Virtual Pathology, Axial Planar Virtual Pathology and Curved Cut-Plane Virtual Pathology; and

generating the second position three dimensional Virtual Pathology image includes generating a second position three dimensional Virtual Pathology image selected from the set including panoramic Virtual Endoscopy, Mercator Virtual Pathology, Cylindrical Virtual Pathology, Planar Virtual Pathology, Axial Planar Virtual Pathology and Curved Cut-Plane Virtual Pathology.

19. The method of claim 16 wherein:

the corresponding first posit on and second position two dimensional axial images of the tubular structure and the surrounding body, and the first position and/or second position three dimensional images of the tubular structure are displayed at a first size level during operation in the dual view mode; and

the method further includes;

receiving information representative of an operators desire to operate the system in a single view mode; and

simultaneously displaying on the screen display during operation in the single view mode at a second enlarged size level either;

the corresponding a₁) first position to dimensional axial image of the tubular structure and the surrounding body and a₂) the first position three dimensional detailed image of the tubular structure, or the corresponding b₁) second position two dimensional axial image of the tubular structure and the surrounding body and b₂) the second position three dimensional detailed image of the tubular structure, at the operator-selected viewpoints.

20. The method of claim 19 wherein:

generating the first position three dimensional image includes generating a first position three dimensional Virtual Pathology image of the tubular structure; and

generating the second position three dimensional image includes generating a second position three dimensional Virtual Pathology image of the tubular structure.

21. The method of claim 20 wherein:

generating the first position three dimensional Virtual Pathology image includes generating a first position three dimensional Virtual Pathology image selected from the set including panoramic Virtual Endoscopy, Mercator Virtual Pathology, Cylindrical Virtual Pathology, Planar Virtual Pathology, Axial Planar Virtual Pathology and Curved Cut-Plane Virtual Pathology; and

generating the second position three dimensional Virtual Pathology image includes generating a second position three dimensional Virtual Pathology image selected from the set including panoramic Virtual Endoscopy, Mercator Virtual Pathology, Cylindrical Virtual Pathology, Planar Virtual Pathology, Axial Planar Virtual Pathology and Curved Cut-Plane Virtual Pathology.

22. The method of claim 3 wherein:

the first and second position two dimensional images are two dimensional reformatted images of the tubular structure; and

the method further includes;

generating from the first image data set, at each of the viewpoints, a first position three dimensional detailed image of the tubular structure in the first position;

generating from the second image data set, at each of the viewpoints, a second position three dimensional detailed image of the tubular structure in the second position; and

simultaneously displaying on the screen display during operation in the dual view mode the corresponding;

a) first position and second position two dimensional re formatted images of tubular structure and b) the first position and/or second position three dimensional detailed images of the tubular structure, at the operator-selected viewpoint.

23. The method of claim 22 wherein:

generating the first position three dimensional image includes generating a first position three dimensional Virtual Pathology image of the tubular structure; and

generating the second position three dimensional image includes generating a second position three dimensional Virtual Pathology image of the tubular structure.

24. The method of claim 23 wherein:

generating the first position three dimensional Virtual Pathology image includes generating a first position three dimensional Virtual Pathology image selected from the set including panoramic Virtual Endoscopy, Mercator Virtual Pathology, Cylindrical Virtual Pathology, Planar Virtual Pathology, Axial Planar Virtual Pathology and Curved Cut-Plane Virtual Pathology; and

generating the second position three dimensional Virtual Pathology image includes generating a second position three dimensional Virtual Pathology image selected from the set including panoramic Virtual Endoscopy, Mercator Virtual Pathology, Cylindrical Virtual Pathology, Planar Virtual Pathology, Axial Planar Virtual Pathology and Curved Cut-Plane Virtual Pathology.

25. The method of claim 22 wherein:

the corresponding first position and second position two dimensional reformatted images of the tubular structure and the first position and/or second position three dimensional images of the tubular structure are displayed at a first size level during operation in the dual view mode; and

the method further includes;

receiving information representative of an operators desire to operate the system in a single view mode; and

simultaneously displaying on the screen display during operation in the single view mode at 1 second enlarged size level either;

the corresponding a₁) first position two dimensional reformatted image of the tubular structure and a₂) the first position three dimensional detailed image of the tubular structure, or the corresponding b₁) second position two dimensional reformatted image of the tubular structure and b₂) the second position in three dimensional detailed image of the tubular structure, at the operator-selected viewpoints.

26. The method of claim 25 wherein:

generating the first position three dimensional image includes generating a first position three dimensional Virtual Pathology image of the tubular structure; and

generating the second position three dimensional image includes generating a second position three dimensional Virtual Pathology image of the tubular structure.

27. The method of claim 26 wherein:

generating the first position three dimensional Virtual Pathology image includes generating a first posit;

on three dimensional Virtual Pathology image selected from the set including panoramic Virtual Endoscopy, Mercator Virtual Pathology, Cylindrical Virtual Pathology, Planar Virtual Pathology, Axial Planar Virtual Pathology and Curved Cut-Plane Virtual Pathology; and

generating the second position three dimensional Virtual Pathology image includes generating a second position three dimensional Virtual Pathology image selected from the set including panoramic Virtual Endoscopy, Mercator Virtual Pathology, Cylindrical Virtual Pathology, Planar Virtual Pathology, Axial Planar Virtual Pathology and Curved Cut-Plane Virtual Pathology.

28. The method of claim 2 wherein the first position is a supine position and the second position is a prone position.

29. The method of claim 1 wherein:

generating the first position images includes generating, at each of the viewpoints, a first position three dimensional image of the tubular structure in the first position;

generating the second position images includes generating, at each of the viewpoints, a second position three dimensional image of the tubular structure in the second position; and

simultaneously displaying the images includes simultaneously displaying the corresponding;

a) first position three dimensional images of the body, and b) second position three dimensional images of the body, at the viewpoints.

30. The method of claim 29 wherein:

generating the first position three dimensional image includes generating a first position three dimensional Virtual Pathology image of the tubular structure; and

generating the second position three dimensional image includes generating a second position three dimensional Virtual Pathology image of the tubular structure.

31. The method of claim 30 wherein:

generating the first position three dimensional Virtual Pathology image includes generating a first position three dimensional Virtual Pathology image selected from the set including panoramic Virtual Endoscopy, Mercator Virtual Pathology, Cylindrical Virtual Pathology, Planar Virtual Pathology, Axial Planar Virtual Pathology and Curved Cut-Plane Virtual Pathology; and

generating the second position three dimensional Virtual Pathology image includes generating a second position three dimensional Virtual Pathology image selected from the set including panoramic Virtual Endoscopy, Mercator Virtual Pathology, Cylindrical Virtual Pathology, Planar Virtual Pathology, Axial Planar Virtual Pathology and Curved Cut-Plane Virtual Pathology.

32. A method for operating a digital computer system of the type having a processor and a screen display to provide diagnostic images of a tubular structure of a human body at a series of desired viewpoints longitudinally disposed within the structure, comprising:

receiving a first image data set representative of a portion of the body including at least the tubular structure and generated by a medical imaging device;

receiving information representative of the desired viewpoints within the structure;

generating from the first image data set, a three dimensional Virtual Pathology image simultaneously showing the tubular structure from plurality of points within the structure adjacent the viewpoints; and

displaying on the screen display the three dimensional Virtual Pathology images of the body, at the viewpoints.

33. The method of claim 32 wherein generating the three dimensional Virtual Pathology image of the type simultaneously showing the tubular structure from a plurality of viewpoints includes generating a first position three dimensional Virtual Pathology image selected from the set including Cylindrical Virtual Pathology, and Planar Virtual Pathology.

34. The method of claim 32 and further including:

generating from the first image data set, at each of the viewpoints, two dimensional reformatted images of the tubular structure; and

simultaneously displaying on the screen display the corresponding;

a) three dimensional Virtual Pathology images of the tubular structure and b) the two dimensional reformat ed images of the tubular structure, at the viewpoints.

35. The method of claim 32 and further including:

generating from the first image data set, at each of the viewpoints, two dimensional axial images of the tubular structure; and

simultaneously displaying on screen display the corresponding;

a) three dimensional Virtual Pathology images of the tubular structure and b) two dimensional axial images of the tubular structure.

36. The method of claim 32 for operating a computer system of the type also including an operator-actuated input device, and wherein:

the step of receiving information representative of desired viewpoints includes receiving information representative of a sequence of operator-selected viewpoints along a navigated path in the structure; and

the step of displaying the images includes updating the displayed images to simultaneously display the three dimensional images at the operator-selected viewpoints along the navigated path.

37. The method of claim 36 wherein the step of receiving information representative of viewpoints along a navigated path includes receiving information representative of viewpoints selected by an operator through use of a mouse.