Method and apparatus for virtual digital subtraction angiography

• US 6,990,368 B2
• Filed: 04/04/2002
• Issued: 01/24/2006
• Est. Priority Date: 04/04/2002
• Status: Expired due to Term

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Inventors: Foley, Kevin, Simon, David A., Hunter, Mark
• Primary Examiner(s): ROBINSON, DANIEL LEON
• Application Number:
  US10/116,631
• Publication Number:
  US 20030191394A1
• Time in Patent Office: 1,391 Days
• Field of Search: 600/425, 600/408, 600/411, 600/415, 600/416, 600/417, 600/419, 600/426, 600/427, 600/428, 600/429, 378/21, 378/23, 378/25, 382/128
• US Class Current: 600/425
• CPC Class Codes: A61B 5/1127 using markers
• CPC Class Codes: A61B 6/481 involving the use of contrast agents
• CPC Class Codes: A61B 6/504 for diagnosis of blood vessels, e.g. by angiography
• CPC Class Codes: A61B 6/5264 due to motion
• CPC Class Codes: A61B 6/547 involving tracking of position of the device or parts of the device
• CPC Class Codes: A61B 6/583 using calibration phantoms

Abstract

A medical imaging system is provided that detects any change in relative position between the patient and the imaging device and corrects the image data for any motion that occurs. The medical imaging system includes: an imaging device for capturing two or more image data sets representative of a patient; a tracking subsystem for capturing patient position data that is indicative of the position of the patient and device position data that is indicative of the position of the imaging device; an image subtraction subsystem for performing a digital subtraction operation between at least two image data sets; and a motion correction subsystem configured to detect a change in the relative position between the patient and the imaging device and, upon detecting a change in the relative position, compensate in at least one of the first image data set and the second image data set for the change in relative position prior to performing the digital subtraction operation.

Claims

1. A medical imaging system, comprising:

an imaging device operable to capture two or more image data sets representative of a patient;

a tracking subsystem operable to detect patient position data corresponding to each image data set and device position data corresponding to each image data set, where the patient position data is indicative of the position of the patient and the device position data is indicative of the position of the imaging device;

a motion correction subsystem adapted to receive patient position data corresponding to the first and second image data set and device position data corresponding to the first and second image data set, and the motion correction subsystem is operable to detect a change in relative position between the patient and the imaging device; and

an image subtraction subsystem adapted to receive at least a first image data set and a second image data set from the imaging device, the image subtraction subsystem is operable to perform a digital subtraction operation between the first image data set and the second image data set when no substantial change occurs in the relative position between the patient and the imaging device.

2. The medical imaging system of claim 1 wherein the imaging device includes an image source operable to emanate radiation towards the patient and an image receiver positioned to receive radiation from the image source.

3. The medical imaging system of claim 1 wherein the imaging device is selected from the group consisting of an x-ray imaging device, a computed tomography imaging device and a magnetic resonance imaging device.

4. The medical imaging system of claim 1 wherein the tracking subsystem is further defined as an infrared tracking sensor.

5. The medical imaging system of claim 1 wherein the imaging device further includes a plurality of tracking targets that are detectable by the tracking subsystem.

6. The medical imaging system of claim 1 further comprises a reference frame marker positioned in a fixed location relative to the patient, where the reference frame marker includes tracking targets that are detectable by the tracking subsystem.

7. The medical imaging system of claim 6 wherein the reference frame marker is physically attached to a portion of the patient.

8. The medical imaging system of claim 1 wherein the motion correction subsystem is further operable to generate an operator alarm upon detection of a change in the relative position between the patient and the imaging device.

9. The medical imaging system of claim 1 further comprising a surgical instrument having tracking targets that are detectable by the tracking subsystem, such that the tracking subsystem detects in real-time instrument position data indicative of the position of the surgical instrument.

10. The medical imaging system of claim 9 wherein the motion correction subsystem is adapted to receive instrument position data from the tracking subsystem and operable to compensate for a change in the position of the surgical instrument in at least one of the first image data set and the second image data set.

11. A medical imaging system, comprising:

an imaging device operable to capture two or more image data sets representative of a patient;

a tracking subsystem operable to detect patient position data corresponding to each of the image data sets and device position data corresponding to each the image data sets, where the patient position data is indicative of the position of the patient and the device position data is indicative of the position of the imaging device;

an image subtraction subsystem adapted to receive at least a first image data set and a second image data set from the imaging device, the image subtraction subsystem operable to perform a digital subtraction operation between the first image data set and the second image data set; and

a motion correction subsystem adapted to receive patient position data corresponding to the first and second image data sets and device position data corresponding to the first and second image data sets, and the motion correction subsystem is operable to measure a change in relative position between the patient and the imaging device and, upon detecting a change in the relative position, compensate in at least one of the first image data set and the second image data set for the change in relative position, prior to performing the digital subtraction operation.

12. The medical imaging system of claim 11 wherein the imaging device includes an image source operable to emanate radiation towards the patient and an image receiver positioned to receive radiation from the image source.

13. The medical imaging system of claim 11 wherein the imaging device is selected from the group consisting of an x-ray imaging device, a computed tomography imaging device and a magnetic resonance imaging device.

14. The medical imaging system of claim 11 wherein the tracking subsystem is further defined as an infrared tracking sensor.

15. The medical imaging system of claim 11 wherein the imaging device further includes a plurality of tracking targets that are detectable by the tracking subsystem.

16. The medical imaging system of claim 11 further comprises a reference frame marker positioned in a fixed location relative to the patient, where the reference frame marker includes tracking targets that are detectable by the tracking subsystem.

17. The medical imaging system of claim 16 wherein the reference frame marker is physically attached to a portion of the patient.

18. The medical imaging system of claim 11 further comprising a surgical instrument having tracking targets that are detectable by the tracking subsystem, such that the tracking subsystem detects in real-time instrument position data indicative of the position of the surgical instrument.

19. The medical imaging system of claim 18 wherein the motion correction subsystem is adapted to receive instrument position data from the tracking subsystem and operable to compensate for a change in the position of the surgical instrument in at least one of the first image data set and the second image data set.

20. A method for performing a digital subtraction operation in a medical imaging device, comprising:

capturing a first image data set representative of a patient;

detecting first patient position data indicative of the position of the patient during acquisition of the first image data set;

detecting first device position data indicative of the position of the imaging device during acquisition of the first image data set;

capturing a second image data set representative of the patient;

detecting second patient position data indicative of the position of the patient during acquisition of the second image data set;

detecting second device position data indicative of the position of the imaging device during acquisition of the second image data set;

determining if a change occurs in the relative position between the patient and the imaging device during a time interval between the acquisition of the first image data set and the acquisition of the second image data set; and

performing a digital subtraction operation between the first image data set and the second image data set, when no substantial change occurs in the relative position between the patient and the imaging device.

21. The method of claim 20 further comprises measuring the change in relative position between the patient and the imaging device, and performing the digital subtraction operation when the measured change in relative position is less than a predetermined threshold value indicative of a maximum acceptable change in the relative position between the patient and the imaging device.

22. The method of claim 20 further comprises compensating at least one of the first image data set and the second image data set for a change in relative position between the patient and the imaging device prior to performing the digital subtraction operation.

23. The method of claim 22 further comprises compensating at least one of the first image data set and the second image data set when the measured change in relative position exceeds a predetermined threshold value indicative of a maximum acceptable change in the relative position between the patient and the imaging device.

24. The method of claim 22 wherein the step of compensating at least one of the first image data set and the second image data set further comprises performing a translational correction to at least one of the image data sets when the change in relative position between the patient and the imaging device is parallel to an image plane of the imaging device.

25. The method of claim 22 wherein the step of compensating at least one of the first image data set and the second image data set further comprises performing a scaled correction to at least one of the image data sets when the change in relative position between the patient and the imaging device is perpendicular to an image plane of the imaging device.

26. The method of claim 22 wherein the step of compensating at least one of the first image data set and the second image data set further comprises performing a rotational correction to at least one of the image data sets when the change in relative position between the patient and the imaging device is rotational to an image plane of the imaging device.