Apparatus and methods of brain shift compensation and applications of the same

• US 7,072,705 B2
• Filed: 11/15/2004
• Issued: 07/04/2006
• Est. Priority Date: 09/08/2003
• Status: Active Grant

• Current Assignee: Vanderbilt University
• Original Assignee: Vanderbilt University
• Inventors: Chen, Chun-Cheng R., Miga, Michael I., Dumpuri, Prashanth
• Primary Examiner(s): SULLIVAN, JULIANNE M
• Application Number:
  US10/988,982
• Publication Number:
  US 20050101855A1
• Time in Patent Office: 596 Days
• Field of Search: 600/410, 600/425, 600/437, 600/411, 600/427, 382128-131, 382168-170, 324/309, 324/318
• US Class Current: 600/411
• CPC Class Codes: A61B 2017/00694 with means correcting for movement of or for synchronisation with the body
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/256 having a database of accessory information, e.g. including context sensitive help or scientific articles
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/373 using light, e.g. by using optical scanners
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: G06T 7/35 using statistical methods
• CPC Class Codes: G06T 7/38 Registration of image sequences
• CPC Class Codes: G06V 10/757 Matching configurations of points or features
• CPC Class Codes: G06V 10/758 Involving statistics of pixels or of feature values, e.g. histogram matching
• CPC Class Codes: G06V 20/653 by matching three-dimensional models, e.g. conformal mapping of Riemann surfaces
• CPC Class Codes: G06V 2201/031 of internal organs

Abstract

A method of compensation for intra-operative brain shift of a living subject. In one embodiment, the method includes the steps of pro-operatively acquiring brain images of the living subject, constructing a statistical atlas of brain displacements of the living subject from the pro-operatively acquired brain images, intra-operatively measuring brain displacements of the living subject, deriving an intra-operative displacement atlas from the intra-operatively measured brain displacements and the statistical atlas, obtaining intra-operative brain shift at least from the intra-operative displacement atlas, and compensating for the intra-operative brain shift.

Claims

1. A method of compensation for intra-operative brain shift of a living subject, comprising the steps of:

a. pro-operatively acquiring brain images of the living subject;

b. constructing a statistical atlas, [E], of brain displacements of the living subject from the pro-operatively acquired brain images, wherein [E] comprises a distribution of brain shift solutions corresponding to a pre-operative surgical plan and is in the form of an n×

m matrix with n, m being integers;

c. intra-operatively measuring brain displacements, {f}, of the living subject, wherein {f} is in the form of a n×

1 matrix;

d. deriving an intra-operative displacement atlas, [X_f], from the intra-operatively measured brain displacements {f} and the statistical atlas [E];

e. obtaining intra-operative brain shift at least from the intra-operative displacement atlas [X_f]; and

f. compensating for the intra-operative brain shift.

2. The method of claim 1, wherein the pro-operatively acquired brain images of the living subject comprise image data with respect to the brain surface geometry.

3. The method of claim 2, wherein the image data with respect to the brain surface geometry is obtained through the use of at least one of positron emission tomography device, electroencephalography device, computer tomography device, functional magnetic resonance imaging device, magnetic resonance imaging device, and ultrasound imaging device.

4. The method of claim 1, wherein the step of constructing the statistical atlas [E] of brain displacements of the living subject comprises the steps of:

a. obtaining m model solutions corresponding to the pre-operative surgical plan for the living subject using a finite element mesh having n nodes, and

b. generating the statistical atlas [E] in the form of an n×

m matrix with each model solution, E, which is in the form of a n×

1 matrix, forming a column of the matrix.

5. The method of claim 4, wherein the pre-operative surgical plan provides a range of orientations of the head of the living subject with respect to the direction of gravity and amounts of cerebrospinal fluid drainage of the brain of the living subject.

6. The method of claim 5, wherein the model solutions are obtained by solving the equations of:

$\begin{array}{cc}\nabla <br><br>·<br><br>G<br><br>\nabla <br><br>U+\nabla <br><br>\frac{G}{1-2<br><br>v}<br><br>\left(\nabla <br><br>·<br><br>U\right)-\mathrm{\alpha <br><br>}<br><br><br><br>\nabla <br><br>p+\left({\mathrm{\rho <br><br>}}_t-{\mathrm{\rho <br><br>}}_f\right)<br><br>g=0;<br><br>\mathrm{and}& \left(i\right).\\ \mathrm{\alpha <br><br>}<br><br>\frac{\partial <br><br>}{\partial <br><br>t}<br><br>\left(\nabla <br><br>·<br><br>U\right)+\frac{1}{S}<br><br>\frac{\partial <br><br>p}{\partial <br><br>t}-\nabla <br><br>·<br><br>k<br><br>\nabla <br><br>p=0,& \left(\mathrm{ii}\right).\end{array}$

wherein U is a displacement vector, G is a shear modulus, ν

is a Poisson'"'"'s ratio, p is an interstitial fluid pressure, α

is a ratio of fluid volume extracted to volume change of the tissue under compression, k is a hydraulic conductivity, 1/S is an amount of fluid forced into the tissue under constant volume, ρ

_t is the density of tissue, ρ

_f is the density of fluid, and g is the gravitational acceleration vector.

7. The method of claim 6, wherein the statistical atlas [E] is in the form of

$\left[E\right]=\left\{E_{\mathrm{ij}}\right\}=[\begin{array}{ccc}{U}_1^1& U_1^2& \cdots \end{array}$

⋯

U 1 m U 2 1 U 2 2 ⋯

⋯

U 2 m ⋯

⋯

⋯

⋯

⋯

⋯

⋯

⋯

⋯

⋯

U n 1 U n 2 ⋯

⋯

U n m ] ,

wherein E_ij=U_i^j is a brain displacement value for i-th nodal position on the finite element mesh at the j-th orientation and cerebrospinal fluid drainage level, and wherein 1≦

i≦

n, and 1≦

j≦

m.

8. The method of claim 7, wherein the step of obtaining the intra-operative brain shift comprises the steps of:

a. minimizing the function ∥

[E]{x}−

{f}∥

subject to {x}≧

0, so as to obtain regression coefficients {x}, wherein the sum of the regression coefficients {x} is subject to unity; and

b. calculating the intra-operative brain shift of the living subject from the following relation;

{Intra-operative brain shift}=[X_f]*{x},

wherein {x} are the regression coefficients obtained in step (a).

9. The method of claim 8, wherein the minimizing step is performed with a least-squares regression algorithm.

10. The method of claim 6, wherein the equations (i) and (ii) are solved further with boundary conditions corresponding to specific structures of the brain of the living subject.

11. The method of claim 10, wherein the specific structures of the brain of the living subject comprise at least one of a falx cerebri, tentorium cerebelli, lateral ventricle, white matter, gray matter, tumor, and any combination thereof.

12. The method of claim 11, wherein the specific structures of the brain of the living subject comprise at least one of edema-induced swelling, mannitoi-induced shrinking, and any combination thereof.

13. The method of claim 1, wherein the step of measuring intra-operative brain displacements is performed with an optical device that is capable of obtaining frequency, intensity and geometric data with respect to the cortical surface of the living subject simultaneously.

14. The method of claim 13, wherein the optical device is a laser range scanner.

15. The method of claim 1, wherein the compensating step comprises the step of updating the pre-operatively acquired images of the living subject with the intra-operatively measured brain displacements.

16. A system of compensation for intra-operative brain shift of a living subject, comprising:

a. an imaging acquiring device for pro-operatively acquiring brain images of the living subject;

b. a scanning device for intra-operatively measuring brain displacements of the living subject; and

c. at least one computer coupled with the image acquiring device and the scanning device and adapted for performing the steps of;

i). constructing a statistical atlas of brain displacements of the living subject from the pro-operatively acquired brain images, wherein the statistical atlas comprises a distribution of brain shift solutions corresponding to a pre-operative surgical plan;

ii). deriving an intra-operative displacement atlas from the intra-operatively measured brain displacements and the statistical atlas;

iii). obtaining intra-operative brain shift at least from the intra-operative displacement atlas; and

iv). compensating for the intra-operative brain shift.

17. The system of claim 16, further comprising a display device coupled to the at least one computer for displaying the brain shift dynamically to facilitate the diagnostic or surgical procedure.

18. The system of claim 16, wherein the imaging acquiring device comprises at least one of positron emission tomography device, electroencephalography device, computer tomography device, functional magnetic resonance imaging device, magnetic resonance imaging device, and ultrasound imaging device.

19. The system of claim 16, wherein the scanning device comprises a laser range scanner that is capable of obtaining frequency, intensity and geometric data with respect to the cortical surface of the living subject simultaneously.

20. The system of claim 16, wherein the scanning device comprises an ultrasound imaging device.

21. The system of claim 16, wherein the step of constructing the statistical atlas of brain displacements of the living subject comprises the steps of:

a. obtaining m model solutions corresponding to the pre-operative surgical plan for the living subject using a finite element mesh having n nodes, wherein m, n being integers; and

b. generating the statistical atlas in the form of an n×

m matrix, [E], with each model solution, E, which is in the form of a n×

1 matrix, forming a column of the matrix.

22. The system of claim 21, wherein the pre-operative surgical plan provides a range of orientations of the head of the living subject with respect to the direction of gravity and amounts of cerebrospinal fluid drainage of the brain of the living subject.

23. The system of claim 22, wherein the model solutions are obtained by solving the equations of:

$\begin{array}{cc}\nabla <br><br>·<br><br>G<br><br>\nabla <br><br>U+\nabla <br><br>\frac{G}{1-2<br><br>v}<br><br>\left(\nabla <br><br>·<br><br>U\right)-\mathrm{\alpha <br><br>}<br><br><br><br>\nabla <br><br>p+\left({\mathrm{\rho <br><br>}}_t-{\mathrm{\rho <br><br>}}_f\right)<br><br>g=0;<br><br>\mathrm{and}& \left(i\right).\\ \mathrm{\alpha <br><br>}<br><br>\frac{\partial <br><br>}{\partial <br><br>t}<br><br>\left(\nabla <br><br>·<br><br>U\right)+\frac{1}{S}<br><br>\frac{\partial <br><br>p}{\partial <br><br>t}-\nabla <br><br>·<br><br>k<br><br>\nabla <br><br>p=0,& \left(\mathrm{ii}\right).\end{array}$

wherein U is a displacement vector, G is a shear modulus, ν

is a Poisson'"'"'s ratio, p is an interstitial fluid pressure, α

is a ratio of fluid volume extracted to volume change of the tissue under compression, k is a hydraulic conductivity, 1/S is an amount of fluid forced into the tissue under constant volume, ρ

_t is the density of tissue, ρ

_f is the density of fluid, and g is the gravitational acceleration vector.

24. The system of claim 23, wherein the statistical atlas [E] is in the form of

$\left[E\right]=\left\{E_{\mathrm{ij}}\right\}=[\begin{array}{ccc}{U}_1^1& U_1^2& \cdots \end{array}$

⋯

U 1 m U 2 1 U 2 2 ⋯

⋯

U 2 m ⋯

⋯

⋯

⋯

⋯

⋯

⋯

⋯

⋯

⋯

U n 1 U n 2 ⋯

⋯

U n m ] ,

wherein E_ij=U_i^j is a brain displacement value for i-th nodal position on the finite element mesh at the j-th orientation and cerebrospinal fluid drainage level, and wherein 1≦

i≦

n, and 1≦

j≦

m.

25. The system of claim 24, wherein the step of obtaining the intra-operative brain shift comprises the steps of:

a. minimizing the function ∥

[E]{x}−

{f}∥

subject to {x}≧

0, so as to obtain regression coefficients {x}, wherein the sum of the regression coefficients {x} is subject to unity; and

b. calculating the intra-operative brain shift of the living subject from the following relation;

{Intra-operative brain shift}=[X_f]*{x},

wherein {x} are the regression coefficients obtained in step (a).

26. The system of claim 25, wherein the minimizing step is performed with a least-squares regression algorithm.

27. The system of claim 23, wherein the equations (i) and (ii) are solved further with boundary conditions corresponding to specific structures of the brain of the living subject.

28. The system of claim 27, wherein the specific structures of the brain of the living subject comprise at least one of a falx cerebri, tentorium cerebelli, lateral ventricle, white matter, gray matter, tumor, and any combination thereof.

29. The system of claim 27, wherein the specific structures of the brain of the living subject comprise at least one of edema-induced swelling, mannitoi-induced shrinking, and any combination thereof.

30. The system of claim 16, wherein the compensating step comprises the step of updating the pre-operatively acquired images of the living subject with the intra-operatively measured brain displacements.

31. A method of compensation for intra-operative brain shift of a living subject, comprising the steps of:

a. constructing a statistical atlas from pre-operatively acquired brain images of the living subject, wherein the statistical atlas comprises a distribution of brain shift solutions corresponding to a pre-operative surgical plan;

b. calculating brain displacements of the living subject from the statistical atlas for a given set of the living subject'"'"'s orientation and amount of cerebrospinal fluid drainage;

c. intra-operatively measuring brain displacements of the living subject;

d. obtaining the intra-operative brain shift from the calculated brain displacements and the measured brain displacements; and

e. compensating for the intra-operative brain shift.

32. The method of claim 31, wherein the intra-operative brain shift may be corresponding to distributed loading conditions that are associated with gravity, edema-induced swelling, and mannitoi-induced shrinking.

33. The method of claim 31, wherein the intra-operative brain shift may be corresponding to surface-based loading conditions that are associated with tissue retraction, tissue resection.