System and method for detecting status of imaging device

• US 7,835,557 B2
• Filed: 11/28/2006
• Issued: 11/16/2010
• Est. Priority Date: 11/28/2006
• Status: Active Grant

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Inventors: Kendrick, Lance, Bzostek, Andrew, Becker, Dave
• Primary Examiner(s): Strege, John B
• Application Number:
  US11/605,771
• Publication Number:
  US 20080123820A1
• Time in Patent Office: 1,449 Days
• Field of Search: 382/128, 382/132, 382/276, 382/282, 382/283, 382/287, 600/407
• US Class Current: 382/128
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2053 Tracking an applied voltage gradient
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• 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 2090/367 creating a 3D dataset from 2D images using position information
• 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 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61B 5/7285 for synchronising or triggering a physiological measurement or image acquisition with a physiological event or waveform, e.g. an ECG signal A61B6/5205, A61B6/541, A61B8/5207, A61B8/543 take precedence
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/541 involving acquisition triggered by a physiological signal
• CPC Class Codes: A61B 8/543 involving acquisition triggered by a physiological signal
• CPC Class Codes: G06T 1/0014 Image feed-back for automatic industrial control, e.g. robot with camera robots B25J19/023
• CPC Class Codes: G06T 7/60 Analysis of geometric attributes

Abstract

A system for detecting a status of an imaging device for use with a surgical navigation system is provided. The system can comprise a source of at least one image and a mask module that generates a mask array for each received image. The system can also include a background check module that determines a content of the image defined by the mask array and a radiation status module that determines a status of the imaging device based on the content of the image.

Claims

1. A system for detecting a status of an imaging device for use with a surgical navigation system comprising:

a source of at least one image;

a mask module that generates a mask array for each received image;

a background check module that determines a content of non-black pixels in the image defined by the mask array;

a radiation status module that determines a status of the imaging device based on the content of the non-black pixels in the image; and

wherein the status of the imaging device is ON, OFF or UNKNOWN.

2. The system of claim 1, further comprising:

a start-up module that enables communication between the source of at least one image and the mask module upon receipt of a start-up signal.

14. The system of claim 1, further comprising:

a navigation system that navigates a tracking device relative to an anatomy using the imaging device.

15. The system of claim 14, wherein the imaging device is selected from the group comprising an isocentric fluoroscopy device, a bi-plane fluoroscopy device, an ultrasound device, a computed tomography (CT) device, a multi-slice computed tomography (MSCT) device, a magnetic resonance imaging (MRI) device, a high frequency ultrasound (HFU) device, a positron emission tomography (PET) device, an optical coherence tomography (OCT) device, an intra-vascular ultrasound (IVUS) device, an intra-operative CT device, an intra-operative MRI device and combinations thereof.

3. A system for detecting a status of an imaging device for use with a surgical navigation system comprising:

a source of at least one image;

a mask module that generates a mask array for each received image;

a background check module that determines a content of the image defined by the mask array;

a radiation status module that determines a status of the imaging device based on the content of the image; and

wherein the mask module determines a middle of the image and then examines the image from the middle for an n number of black pixels in a row.

4. The system of claim 3, wherein n ranges between 10 to 20 pixels.

5. A system for detecting a status of an imaging device for use with a surgical navigation system comprising:

a source of at least one image;

a mask module that generates a mask array for each received image;

a background check module that determines a content of the image defined by the mask array;

a radiation status module that determines a status of the imaging device based on the content of the image;

wherein the mask module determines the vertical middle, horizontal middle, the farthest top point, farthest bottom point, farthest left point and farthest right point of the image; and

wherein the mask module computes a radius of the mask based on the vertical middle, horizontal middle, the farthest top point, farthest bottom point, farthest left point and farthest right point of the image and generates the mask array to consist of addresses of background lines existing outside of a circle defined by the computed radius.

6. The system of claim 5, wherein the image is a fluoroscopic image and the circle defined by the mask module is equivalent to an x-ray disk defined in the fluoroscopic image.

7. The system of claim 6, wherein the mask module examines each mask array value of the fluoroscopic image if the mask module determines a shift in the x-ray disk defined in the fluoroscopic image.

8. The system of claim 7, wherein the mask module moves each mask array value until the array value indicates an address of a black pixel if the examined mask array value is not the address of a black pixel.

9. A system for detecting a status of an imaging device for use with a surgical navigation system comprising:

a source of at least one image;

a mask module that generates a mask array for each received image;

a background check module that determines a content of the image defined by the mask array;

a radiation status module that determines a status of the imaging device based on the content of the image; and

wherein the background check module computes the number of non-black pixels in a background defined by an area of the image outside of the mask array.

10. The system of claim 9, wherein the background check module determines the average value of the non-black pixels, the average slope of the non-black pixels, the highest value of the non-black pixels and the lowest value of the non-black pixels over a series of n images.

11. The system of claim 10, wherein n ranges from 3 to 10 images.

12. The system of claim 10, wherein the radiation status module sets the radiation status to UNKNOWN if at least one of the average value of the non-black pixels, the average slope of the non-black pixels, the highest value of the non-black pixels and the lowest value of the non-black pixels over the series of n images is outside of predefined limits.

13. The system of claim 10, wherein the radiation status module determines the radiation status as ON or OFF based on a type of imaging device used and at least one of the average value of the non-black pixels, the average slope of the non-black pixels, the highest value of the non-black pixels and the lowest value of the non-black pixels over the series of n images.

16. A method of detecting a status of an imaging device for use with a surgical navigation system comprising:

providing a source of at least one image;

generating a mask for the image, the mask defining a background area of the at least one image;

determining a content of non-black pixels in the background area of the at least one image; and

determining, based on the content of the non-black pixels in the background area of the at least one image, if the imaging device is ON.

17. The method of claim 16, wherein providing a source of at least one image further comprises:

providing a source of at least one fluoroscopic image.

18. A method of detecting a status of an imaging device for use with a surgical navigation system comprising:

providing a source of at least one fluoroscopic image;

generating a mask for the at least one fluoroscopic image, the mask defining a background area of the at least one fluoroscopic image;

determining a content of the background area of the at least one fluoroscopic image;

determining, based on the background area of the at least one fluoroscopic image, a status of the imaging device; and

wherein determining the mask for the at least one fluoroscopic image further includes;

locating the middle of the at least one fluoroscopic image;

examining the at least one fluoroscopic image from the middle of the at least one fluoroscopic image for a pre-defined number of black pixels in a row; and

generating the mask as an array of addresses associated with the at least one fluoroscopic image, the array of addresses corresponding to a plurality of black pixels that form a circumference of an x-ray disk defined in the at least one fluoroscopic image.

19. The method of claim 18, wherein generating the mask as the array of addresses further comprises:

generating a first integer equivalent to a starting address of a line of pixels in the background area of the at least one fluoroscopic image; and

generating a second integer equivalent to an ending address of the line of pixels in the background area.

20. The method of claim 18, wherein generating the array corresponding to a circumference of the at least one fluoroscopic image further comprises:

determining a vertical middle of the at least one fluoroscopic image;

determining a farthest left point of the at least one fluoroscopic image;

determining a farthest right point of the at least one fluoroscopic image;

determining a horizontal middle of the at least one fluoroscopic image;

determining a farthest top point of the at least one fluoroscopic image;

determining a farthest bottom point of the at least one fluoroscopic image; and

generating the circumference of the at least one fluoroscopic image based on the vertical middle, farthest left point, farthest right point, horizontal middle, farthest top point and farthest bottom point of the at least one fluoroscopic image.

21. The method of claim 18, further comprising:

revising the array if a shift in the circumference of the x-ray disk defined in the at least one fluoroscopic image is observed.

22. The method of claim 21, further comprising:

determining if each address in the array is still associated with the location of a black pixel on the circumference of the at least one fluoroscopic image; and

shifting the address to a black pixel if the address identifies a non-black pixel.

23. A method of detecting a status of an imaging device for use with a surgical navigation system comprising:

providing a source of at least one image;

generating a mask for the image, the mask defining a background area of the image;

determining a content of the background area of the image;

determining, based on the background area of the image, a status of the imaging device;

computing the number of non-black pixels in the background defined by the mask;

determining, based on a series of images, an average value, an average slope, a highest value and a lowest value of non-black pixels in the background area of the image;

determining a type of imaging device employed with the type of imaging device denoting a signature related to the content of non-black pixels in an image during active imaging; and

determining if the imaging device is active based on a comparison between the signature associated with the type of imaging device and the average value, the average slope, the highest value and the lowest value of non-black pixels in the background area of the image.

24. A method of tracking a portion of an anatomy comprising:

providing an imaging device;

coupling a tracking device to at least one of the anatomy or an instrument;

tracking the tracking device relative to the anatomy;

generating at least one image;

generating a mask for the image, the mask defining a background of the image;

detecting a content of non-black pixels in a background of the image; and

determining a status of the imaging device based on the content of non-black pixels in the background and the imaging device used.

25. The method of claim 24, further comprising:

providing a fluoroscopic imaging device; and

generating at least one fluoroscopic image.

26. The method of claim 25, wherein generating the mask for the image further comprises:

locating the middle of the fluoroscopic image;

examining the fluoroscopic image from the middle of the fluoroscopic image for a pre-defined number of black pixels in a row; and

generating the mask as an array of addresses associated with the fluoroscopic image, the array of addresses corresponding to a plurality of black pixels that form a circumference of a x-ray disk defined in the fluoroscopic image.

27. The method of claim 26, wherein generating the mask as the array of addresses further comprises:

generating a first integer equivalent to a starting address of a line of pixels in the background area of the fluoroscopic image; and

generating a second integer equivalent to an ending address of the line of pixels in the background area.

28. The method of claim 26, further comprising:

revising the array if a shift in the circumference of the x-ray disk defined in the fluoroscopic image is observed.

29. The method of claim 28, further comprising:

determining if each address in the array is still associated with the location of a black pixel on the circumference of the fluoroscopic image; and

shifting the address to a black pixel if the address identifies a non-black pixel.

30. The method of claim 24, further comprising:

determining from the image an average value, an average slope, a highest value and a lowest value of non-black pixels in the background area of the image; and

determining if the imaging device is active based on a comparison between a signature associated with the imaging device and the average value, the average slope, the highest value and the lowest value of non-black pixels in the background area of the image.