System and method of navigating an object in an imaged subject

• US 7,899,226 B2
• Filed: 04/03/2007
• Issued: 03/01/2011
• Est. Priority Date: 04/03/2007
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: General Electric Company
• Inventors: Pescatore, Jeremie, Grimaud, Michel F., Beauregard, Gerald L.
• Primary Examiner(s): Tabatabai; Abolfazl
• Application Number:
  US11/695,808
• Publication Number:
  US 20080247616A1
• Time in Patent Office: 1,428 Days
• Field of Search: 382/128, 382/129, 382/130, 382/131, 382/132, 382/133, 382/134, 378/4, 378/21, 378 23- 27, 378/40, 378/62, 378/63, 378/87, 378/98.6, 378/98.7, 378/901, 600/407, 600/410, 600/425, 600/426, 128/916, 128/920, 128/922, 701/200
• 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 2090/364 Correlation of different images or relation of image positions in respect to the body
• 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 2207/30004 Biomedical image processing
• CPC Class Codes: G06T 2207/30021 Catheter; Guide wire
• CPC Class Codes: G06T 7/248 involving reference images or patches
• CPC Class Codes: G16H 20/40 relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 30/40 for processing medical images, e.g. editing
• CPC Class Codes: G16H 50/50 for simulation or modelling of medical disorders

Abstract

A system to navigate an image-guided object traveling in an area of interest of an imaged subject in relation to an acquired image of the imaged subject as created by an imaging system is provided. The system includes a navigation system to track movement of the object in the imaged subject in spatial relation to a navigation coordinate system, and a controller. The controller is operable in detecting an image of the object in the at least one image of the imaged subject, calculating a spatial relation between the location of the image of the object and a tracked location of the object, and modifying the spatial relation of the image coordinate system relative to the navigation coordinate system so as to reduce the difference between the location of the image of the object and the tracked location of the object by the navigation system.

Claims

1. A system to navigate an image-guided object traveling in an area of interest of an imaged subject in relation to an acquired image of the imaged subject as created by an imaging system, a spatial relation of the at least one image defined with respect to an image coordinate system, comprising:

a navigation system operable to track movement of the object in the imaged subject, the object tracked in spatial relation to a navigation coordinate system; and

a controller electrically connected in communication with the imaging system and the navigation system, the controller having a processor operable to execute a plurality of program instructions stored in a memory, the plurality of program instructions comprising;

registering a spatial relation of the imaging coordinate system relative to the navigation coordinate system,

detecting an image of the object in the at least one image of the imaged subject, calculating a spatial relation between the location of the image of the object and a tracked location of the object, and

modifying the spatial relation of the image coordinate system relative to the navigation coordinate system so as to reduce the difference between the location of the image of the object and the tracked location of the object by the navigation system relative to the image.

2. The system of claim 1, wherein detecting includes identifying a region of interest in the at least one image having increased likelihood of a location of the image of the object.

3. The system of claim 2, wherein detecting includes applying a filter to increase a contrast of the image of the object in relation to a contrast of image of an anatomical structure in the at least one image.

4. The system of claim 1, the plurality of programmable instructions further comprising:

displaying the spatial relation relative a predetermined threshold.

5. The system of claim 1, the plurality of programmable instructions further comprising:

displaying the spatial relation between the location of the image of the object and the tracked location of the object.

6. The system of claim 5, wherein displaying includes superimposing the image of the object and a representation of the tracked location of the object.

7. The system of claim 5, wherein displaying includes superimposing a first representation of the location of the image of the object and a second representation of the tracked location of the object.

8. The system of claim 1, wherein modifying includes adjusting the spatial relation of the image coordinate system relative to the navigation coordinate system by a predetermined percentage of the spatial relation.

9. The system of claim 1, wherein the spatial relation includes one or more of the group consisting of rotation and translation.

10. A method of navigating an object through an area of interest of an imaged subject, the method comprising the steps of:

registering a spatial relation of an imaging coordinate system relative to a navigation coordinate system, the imaging coordinate system definitive of a spatial relation of at least one image of the imaged subject as acquired by an imaging system, the navigation coordinate system defined by a navigation system configured to track a location of the object in the imaged subject;

detecting an image of the object in at least one image of the imaged subject;

registering a location of the image of the object relative to the image coordinate system,

comparing the location of the image of the object with a tracked location of the object relative to the image as measured by the navigation system, and

displaying a spatial relation between the location of the image of the object and the tracked location of the object relative to the image.

11. The method of claim 10, wherein the detecting step includes identifying a region of interest in the at least one image having increased likelihood of a location of the image of the object.

12. The method of claim 10, wherein the detecting step includes applying a filter to increase a contrast of the image of the object in relation to a contrast of image of an anatomical structure in the at least one image.

13. The method of claim 10, the method further including the step of:

modifying the spatial relation of the image coordinate system relative to the navigation coordinate system so as to reduce the spatial relation between the location of the image of the object and the tracked location of the object by the navigation system.

14. The method of claim 10, wherein the displaying step includes superimposing the image of the object and a representation of the tracked location of the object.

15. The method of claim 10, wherein the displaying step includes superimposing a first representation of the location of the image of the object and a second representation of the tracked location of the object.

16. The method of claim 10, further comprising the step of displaying the spatial relation relative a predetermined threshold.

17. A system to navigate an image-guided object traveling in an area of interest of an imaged subject, comprising:

an imaging system operable to acquire at least one image of the imaged subject, a spatial relation of the at least one image defined with respect to an image coordinate system;

a navigation system operable to track movement of the object in the imaged subject, the object tracked in spatial relation to a navigation coordinate system; and

a controller electrically connected in communication with the imaging system and the navigation system, the controller having a processor operable to execute a plurality of program instructions stored in a memory, the plurality of program instructions comprising;

registering a spatial relation of the imaging coordinate system relative to the navigation coordinate system,

detecting an image of the object in the at least one image of the imaged subject, registering a location of the image of the object relative to the image coordinate system,

comparing the location of the image of the object with a tracked location of the object relative to the image as measured by the navigation system, and

modifying the spatial relation of the image coordinate system relative to the navigation coordinate system so as to reduce the difference between the location of the image of the object and the tracked location of the object by the navigation system relative to the image.

18. The system of claim 17, wherein detecting includes:

identifying a region of interest in the at least one image having increased likelihood of a location of the image of the object, and

filtering the region of interest to increase a contrast of the image of the object in relation to a contrast of image of an anatomical structure in the at least one image.

19. The system of claim 17, the plurality of program instructions comprising:

displaying the spatial relation between the location of the image of the object and the tracked location of the object.

20. The system of claim 19, wherein displaying includes superimposing a first representation of the location of the image of the object and a second representation of the tracked location of the object.