System and method for image based sensor calibration
First Claim
1. A system for registering probe space to image space, comprising:
- an image collection platform operatively connected to the probe, the probe having a tracking marker affixed thereon;
a calibration jig containing at least one calibration pattern and having a tracking marker affixed thereon;
a three-dimensional position tracker operatively coupled to the image collection platform, comprising;
a processor;
a three-dimensional position sensor operatively coupled to the processor;
a memory coupled to the processor, storing;
an image of at least one calibration pattern;
first instructions that when executed by the processor generate and store an image space reference position in the probe space,second instructions to locate an intersection point in each of a plurality of slices of an image from the image collection platform associated with the calibration pattern for each of the plurality of slices and extract a calibration point therefrom, identify an orientation of the intersection points in a first slice of the plurality of slices, compute a position component of the calibration point in calibration jig space by comparing distances from a center of one of the intersection points near each of the plurality of slices edges to the centers of the other two intersection points for each of the plurality of slices, and transform the positions of the calibration points described in calibration jig space to positions described in probe space.
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Abstract
Apparatus and methods are disclosed for the calibration of a tracked imaging probe for use in image-guided surgical systems. The invention uses actual image data collected from an easily constructed calibration jig to provide data for the calibration algorithm. The calibration algorithm analytically develops a geometric relationship between the probe and the image so objects appearing in the collected image can be accurately described with reference to the probe. The invention can be used with either two or three dimensional image data-sets. The invention also has the ability to automatically determine the image scale factor when two dimensional data-sets are used.
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Citations
64 Claims
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1. A system for registering probe space to image space, comprising:
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an image collection platform operatively connected to the probe, the probe having a tracking marker affixed thereon; a calibration jig containing at least one calibration pattern and having a tracking marker affixed thereon; a three-dimensional position tracker operatively coupled to the image collection platform, comprising; a processor; a three-dimensional position sensor operatively coupled to the processor; a memory coupled to the processor, storing; an image of at least one calibration pattern; first instructions that when executed by the processor generate and store an image space reference position in the probe space, second instructions to locate an intersection point in each of a plurality of slices of an image from the image collection platform associated with the calibration pattern for each of the plurality of slices and extract a calibration point therefrom, identify an orientation of the intersection points in a first slice of the plurality of slices, compute a position component of the calibration point in calibration jig space by comparing distances from a center of one of the intersection points near each of the plurality of slices edges to the centers of the other two intersection points for each of the plurality of slices, and transform the positions of the calibration points described in calibration jig space to positions described in probe space. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A system for registering probe space to image space, comprising:
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a tracking system operable to track a position of a calibration jig and a position of a probe; the probe operable to collect a plurality of images of at least one calibration pattern of the calibration jig; and a processor operable to execute instructions to; locate an intersection point in image space associated with the at least one calibration pattern for each of the plurality of images and extracting a calibration point therefrom; determine a position for at least one calibration point in probe space for each of the plurality of images; relate the positions of the calibration points in image space and the positions of said calibration points in probe space; and determine an image space reference position in probe space. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32)
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33. A system for registering a probe space to image space, comprising:
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a tracking system to track a position of a calibration jig and a position of a probe; an imaging system to collect a three-dimensional image data of at least one calibration pattern of the calibration jig; an image processor operable to extract a two-dimensional slice from the three-dimensional image data and locate an intersection point in two-dimensional slice space associated with at least one calibration pattern for the two-dimensional slice to extract a calibration point therefrom; wherein the probe is operable to generate the three-dimensional image data of the least one calibration pole of the calibration jig; a probe processor operable to determine the position for at least one calibration point in probe space for each of the plurality of slices and relate the positions of the calibration points in two-dimensional slice space and the positions of said calibration points in probe space; and a reference processor operable to determine a reference position of the three-dimensional image data in probe space. - View Dependent Claims (34, 35, 36, 37, 38, 39, 40, 41, 42)
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43. A system to register probe space to image space, comprising:
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an imaging probe operable to define probe space that is imaged by the imaging probe; a calibration system operable to be imaged by the imaging probe; a tracking system operable to track the imaging probe and the calibration system; and a processor operable to determine a reference point in the probe space based in part upon image data produced by the imaging probe of the calibration system. - View Dependent Claims (44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64)
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Specification