Method and system for registering 3D models of anatomical regions with projection images of the same

• US 7,327,872 B2
• Filed: 10/13/2004
• Issued: 02/05/2008
• Est. Priority Date: 10/13/2004
• Status: Active Grant

• Current Assignee: APN Health, LLC, General Electric Company
• Original Assignee: General Electric Company, Jasbir S. Sra
• Inventors: Vaillant, Régis, Cousty, Jean, Kotian, François, Sra, Jasbir Singh
• Primary Examiner(s): COUSO, YON JUNG
• Application Number:
  US10/964,429
• Publication Number:
  US 20060078195A1
• Time in Patent Office: 1,210 Days
• Field of Search: 382/128, 382/130, 382/131, 382/132, 382/154, 382/285, 382/293, 382/294, 382/295, 382/296, 600/424, 600/427, 600/425, 345/419, 345/619, 345/630, 345/634, 345/653, 345/664, 345/679
• US Class Current: 382/154
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 5/7289 Retrospective gating, i.e. associating measured signals or images with a physiological event after the actual measurement or image acquisition, e.g. by simultaneously recording an additional physiological signal during the measurement or image acquisition
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/466 adapted to display 3D data
• CPC Class Codes: A61B 6/503 for diagnosis of the heart
• CPC Class Codes: A61B 6/5235 combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT
• CPC Class Codes: A61B 6/5247 combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
• CPC Class Codes: A61B 6/5288 involving retrospective matching to a physiological signal
• CPC Class Codes: A61B 6/541 involving acquisition triggered by a physiological signal
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: G06T 5/50 using two or more images, e.g. averaging or subtraction

Abstract

An imaging system for use in a medical intervention procedure is disclosed. A first image acquisition system of a first modality employing a catheter at an anatomical region of a patient is configured to produce a first image of the anatomical region using fluoroscopy, the first image comprising a set of fluoroscopy projection images. A second image acquisition system of a second different modality is configured to generate a 3D model of the anatomical region. An anatomical reference system is common to both the first and second image acquisition systems. A processing circuit is configured to process executable instructions for registering the 3D model with the fluoroscopy image in response to the common reference system and discernible parameters associated with the catheter in both the first and second image acquisition systems.

Claims

1. An imaging system for use in a medical intervention procedure, comprising:

a first image acquisition system of a first modality employing a catheter at an anatomical region of a patient and configured to produce a first image of the anatomical region using fluoroscopy, the first image comprising a set of fluoroscopy projection images;

a second image acquisition system of a second different modality configured to generate a 3D model of the anatomical region;

an anatomical reference system common to both the first and second image acquisition systems; and

a processing circuit configured to process executable instructions for registering the 3D model with the fluoroscopy image in response to the common reference system and discernible parameters associated with the catheter in both the first and second image acquisition systems.

2. The imaging system of claim 1, wherein the processing circuit is further configured to process executable instructions for:

generating a translation factor for translating the 3D mode with respect to the fluoroscopy image;

optionally registering the 3D model and the fluoroscope image in the same phase of a cardiac cycle;

optionally rotating the 3D model about an axis perpendicular to the projection plane of the fluoroscopy projection image;

and

generating a scaling factor for adjusting the scale of the 3D model with respect to the fluoroscopy image, the scaling factor being dependent on a discernable feature of the catheter.

3. The imaging system of claim 2, wherein:

the anatomical region is a heart of the patient; and

the processing circuit is further configured to process executable instructions for registering the 3D model with the fluoroscopy image in synchronization with cyclical movement of the heart using a catheter placed in the heart.

4. The imaging system of claim 3, wherein the anatomical region comprises a heart, and the cyclical movement of the anatomical region comprises a heart beat.

5. The imaging system of claim 2, wherein the catheter has a known actual diameter, and wherein the processing circuit is further configured to process executable instructions for:

determining the apparent diameter of the catheter in the fluoroscopy image, comparing the apparent diameter of the catheter with the known actual diameter of the catheter, determining in response thereto an actual dimension of an anatomical structure in the anatomical region in the fluoroscopy image, matching the anatomical structure in the fluoroscopy image with the same anatomical structure in the 3D model, comparing the actual and apparent sizes of the same anatomical structure in the 3D model, and generating therefrom a scaling factor between the first and second image acquisition systems.

6. The imaging system of claim 2, wherein:

the catheter is disposed at a known anatomical structure in the anatomical region at a location defined by the intersection of a horizontal plane and the line joining the focal point of the fluoroscopy system to the projection of the catheter, the horizontal plane being defined by an elevation h above the anatomical reference system to the known anatomical structure in the fluoroscopy system, thereby establishing a known location of the catheter in the first and second image acquisition systems; and

the processing circuit is further configured to process executable instructions for;

determining the actual size of the same anatomical structure in the 3D model in response to the known location of the catheter in the 3D model and the elevation h, comparing the actual and apparent sizes of the anatomical structure in the 3D model, and generating therefrom a scaling factor between the first and second image acquisition systems.

7. The imaging system of claim 2, wherein:

the first image acquisition system is further configured to produce a second set of fluoroscopy projection images, the first and second sets of projection images being generated by at least two different x-ray projections separated by an angle sufficient to produce discernibly different projection images of the anatomical region, the catheter being disposed at a known anatomical structure in the anatomical region; and

the processing circuit is further configured to process executable instructions for;

determining the location of the catheter in the 3D model with respect to the focal point of the fluoroscopy system to define a dimension b by analyzing the two sets of projection images using a triangulation approach; and

determining the actual size of the same anatomical structure in the 3D model in response to the known location of the catheter in the 3D model and the dimension b, comparing the actual and apparent sizes of the anatomical structure in the 3D model, and generating therefrom a scaling factor between the first and second image acquisition systems.

8. The imaging system of claim 1, wherein:

the anatomical region comprises a heart, a heart chamber, a pulmonary vein, or any combination comprising at least one of the foregoing.

9. The imaging system of claim 5, wherein:

the anatomical structure comprises a coronary sinus, a mitral valve, a pulmonary vein ostia, a junction into an atria a junction into a ventricle, a ventricle, or any combination comprising at least one of the foregoing.

10. The imaging system of claim 1, wherein:

the first image acquisition system comprises an interventional fluoroscopy system; and

the second image acquisition system comprises at least one of a CT system, a MR system, an Ultrasound system, a 3D fluoroscopy system, and a PET system.

11. The imaging system of claim 1, further comprising:

an electrocardiogram (ECG) in signal communication with the patient'"'"'s heart; and

a patient interface unit configured to synchronize movement of the catheter disposed at a coronary sinus with the ECG to determine the heart cycle phase of each frame from the second image acquisition system;

wherein the coronary sinus catheter movement is used to enable registration of the 3D model in the same phase as a reconstruction of the anatomical structure from the second image acquisition system.

12. A method of registering a 3D model of an anatomical region of a patient with projection images of the same from an interventional fluoroscopy system, the method comprising:

generating a fluoroscopy image of the anatomical region from the fluoroscopy system, the anatomical region including a catheter;

generating a 3D model of the anatomical region from a second image acquisition system of a different modality;

analyzing the fluoroscopy image and the 3D model with respect to a common anatomical reference system; and

registering the 3D model with the fluoroscopy image in response to the common reference system and discernible parameters associated with the catheter in both the fluoroscopy system and the second image acquisition system.

13. The method of claim 12, further comprising:

generating a translation factor for translating the 3D model with respect to the fluoroscopy image;

optionally rotating the 3D model about an axis perpendicular to the projection plane of the fluoroscopy projection image; and

generating a scaling factor for adjusting the scale of the 3D model with respect to the fluoroscopy image, the scaling factor being dependent on a discernable feature of the catheter.

14. The method of claim 12, wherein the registering comprises:

registering the 3D model with the fluoroscopy image in synchronization with cyclical movement of the anatomical region.

15. The method of claim 14, wherein the anatomical region comprises a heart, and the cyclical movement of the anatomical region comprises a heart beat.

16. The method of claim 13, wherein the catheter has a known actual diameter, and the generating a scaling factor comprises:

determining the apparent diameter of the catheter in the fluoroscopy image, comparing the apparent diameter of the catheter with the known actual diameter of the catheter, determining in response thereto an actual dimension of an anatomical structure in the anatomical region in the fluoroscopy image, matching the anatomical structure in the fluoroscopy image with the same anatomical structure in the 3D model, comparing the actual and apparent sizes of the same anatomical structure in the 3D model, and generating therefrom a scaling factor between the fluoroscopy system and the second image acquisition system.

17. The method of claim 13, wherein the catheter is disposed at a known anatomical structure in the anatomical region at a location defined by the intersection of a horizontal plane and the line joining the focal point of the fluoroscopy system to the projection of the catheter, the horizontal plane being defined by an elevation h above the anatomical reference system to the known anatomical structure in the fluoroscopy system, thereby establishing a known location of the catheter in the first and second image acquisition systems, and wherein the generating a scaling factor comprises:

determining the actual size of the same anatomical structure in the 3D model in response to the known location of the catheter in the 3D model and the elevation h, comparing the actual and apparent sizes of the anatomical structure in the 3D model, and generating therefrom a scaling factor between the fluoroscopy system and the second image acquisition system.

18. The method of claim 13, further comprising:

generating a second fluoroscopy image of the anatomical region, the first and second fluoroscopy images being generated by at least two different x-ray projections separated by an angle sufficient to produce discernibly different sets of projection images of the anatomical region, the catheter being disposed at a known anatomical structure in the anatomical region;

determining the location of the catheter in the 3D model with respect to the focal point of the fluoroscopy system to define a dimension b by analyzing the two sets of projection images using a triangulation approach; and

determining the actual size of the same anatomical structure in the 3D model in response to the known location of the catheter in the 3D model and the dimension b, comparing the actual and apparent sizes of the anatomical structure in the 3D model, and generating therefrom a scaling factor between the fluoroscopy system and the second image acquisition system.

19. The method of claim 16, wherein the anatomical structure comprises a coronary sinus, a mitral valve, a pulmonary vein ostia, a junction into an atria, a junction into a ventricle, or any combination comprising at least one of the foregoing.

20. The method of claim 12, wherein the second image acquisition system comprises at least one of a CT system, a MR system, an Ultrasound system, a 3D fluoroscopy system, and a PET system.

21. The method of claim 12, further comprising:

localizing at least one of a catheter and a lead over the registered image, thereby enabling a check of the accuracy of the registration.

22. The method of claim 12, further comprising:

injecting contrast in an anatomical structure, thereby enabling a check of the accuracy of the registration.

23. A computer program product for registering a 3D model of an anatomical region of a patient with projection images of the same from an interventional fluoroscopy system, the product comprising:

a storage medium, readable by a processing circuit, storing instructions for execution by the processing circuit for;

generating a fluoroscopy image of the anatomical region from the fluoroscopy system, the anatomical region including a catheter;

generating a 3D model of the anatomical region from a second image acquisition system of a different modality;

analyzing the fluoroscopy image and the 3D model with respect to a common anatomical reference system;

registering the 3D model with the fluoroscopy image in response to the common reference system and discernible parameters associated with the catheter in both the fluoroscopy system and the second image acquisition system; and

registering the 3D model with the fluoroscopy image in synchronization with cyclical movement of the anatomical region;

wherein the registering comprises generating a translation factor for translating the 3D model with respect to the fluoroscopy image, generating a rotational factor, and generating a scaling factor for adjusting the scale of the 3D model with respect to the fluoroscopy image, the scaling factor being dependent on a discernable feature of the catheter.

24. An imaging system for use in a medical intervention procedure, comprising

a first image acquisition system of a first modality employing a defibrillation and/or pacing lead at an anatomical region of a patient and configured to produce a first image of the anatomical region using fluoroscopy, the first image comprising a set of fluoroscopy projection images;

a second image acquisition system of a second different modality configured to generate a 3D model of the anatomical region;

an anatomical reference system common to both the first and second image acquisition systems; and

a processing circuit configured to process executable instructions for registering the 3D model with the fluoroscopy image in response to the common reference system and discernible parameters associated with the defibrillation and/or pacing lead in both the first and second image acquisition systems.

25. The imaging system of claim 24, wherein the processing circuit is further configured to process executable instructions for registering the 3D model with the fluoroscopy image in synchronization with cyclical movement of the anatomical region using a defibrillation and/or pacing lead placed in the heart.

26. The imaging system of claim 25, wherein the defibrillation and/or pacing lead has a known actual diameter, and wherein the processing circuit is further configured to process executable instructions for:

determining the apparent diameter of the defibrillation and/or pacing lead in the fluoroscopy image, comparing the apparent diameter of the defibrillation and/or pacing lead with the known actual diameter of the defibrillation and/or pacing lead, determining in response thereto an actual dimension of an anatomical structure in the anatomical region in the fluoroscopy image, matching the anatomical structure in the fluoroscopy image with the same anatomical structure in the 3D model, comparing the actual and apparent sizes of the same anatomical structure in the 3D model, and generating there from a scaling factor between the first and second image acquisition systems.

27. The imaging system of claim 24, wherein:

the defibrillation and/or pacing lead is disposed at a known anatomical structure in the anatomical region at a location defined by the intersection of a horizontal plane and the line joining the focal point of the fluoroscopy system to the projection of the defibrillation and/or pacing lead, the horizontal plane being defined by an elevation h above the anatomical reference system to the known anatomical structure in the fluoroscopy system, thereby establishing a known location of the defibrillation and/or pacing lead in the first and second image acquisition systems; and

the processing circuit is further configured to process executable instructions for;

determining the actual size of the some anatomical structure in the 3D model in response to the known location of the defibrillation and/or pacing lead in the 3D model and the elevation h, comparing the actual and apparent sizes of the anatomical structure in the 3D model, and generating there from a scaling factor between the first and second image acquisition systems.

28. The imaging system of claim 24, wherein:

the first image acquisition system is further configured to produce a second set of fluoroscopy projection images, the first and second sets of projection images being generated by at least two different x-ray projections separated by an angle sufficient to produce discernibly different projection images of the anatomical region, the defibrillation and/or pacing lead being disposed at a known anatomical structure in the anatomical region; and

the processing circuit is further configured to process executable instructions for;

determining the location of the defibrillation and/or pacing lead in the 3D model with respect to the focal point of the fluoroscopy system to define a dimension b by analyzing the two sets of projection images using a triangulation approach; and

determining the actual size of the same anatomical structure in the 3D model in response to the known location of the defibrillation and/or pacing lead in the 3D model and the dimension b, comparing the actual and apparent sizes of the anatomical structure in the 3D model, and generating there from a scaling factor between the first and second image acquisition systems.

29. A computer program product for registering a 3D model of an anatomical region of a patient with projection images of the same from an interventional fluoroscopy system, the product comprising:

a storage medium, readable by a processing circuit, storing instructions for execution by the processing circuit for;

generating a fluoroscopy image of the anatomical region from the fluoroscopy system, the anatomical region including a defibrillation and/or pacing lead;

generating a 3D model of the anatomical region from a second image acquisition system of a different modality;

analyzing the fluoroscopy image and the 3D model with respect to a common anatomical reference system;

registering the 3D model with the fluoroscopy image in response to the common reference system and discernible parameters associated with the defibrillation and/or pacing lead in both the fluoroscopy system and the second image acquisition system; and

registering the 3D model with the fluoroscopy image in synchronization with cyclical movement of the anatomical region;

wherein the registering comprises generating a translation factor for translating the 3D model with respect to the fluoroscopy image, generating a rotational factor, and generating a scaling factor for adjusting the scale of the 3D model with respect to the fluoroscopy image, the scaling factor being dependent on a discernable feature of the defibrillation and/or pacing lead.