Apparatus and method for automatic image guided accuracy verification

• US 7,920,909 B2
• Filed: 04/25/2006
• Issued: 04/05/2011
• Est. Priority Date: 09/13/2005
• Status: Active Grant

• Current Assignee: Veran Medical Technologies, Inc. (Olympus Corporation)
• Original Assignee: Veran Medical Technologies, Inc. (Olympus Corporation)
• Inventors: Lee, Christopher B., Edwards, Jerome R., Austill, Evan Jr., Holsing, Troy L., Lyon, Torsten M.
• Primary Examiner(s): Winakur; Eric F
• Assistant Examiner(s): Gupta; Vani
• Application Number:
  US11/410,143
• Publication Number:
  US 20070060799A1
• Time in Patent Office: 1,806 Days
• Field of Search: 600/411, 600/414, 600/425, 600/426, 600/410, 600/407, 600/424, 600/427, 600/436
• US Class Current: 600/407
• CPC Class Codes: A61B 2017/00699 correcting for movement caused by respiration, e.g. by triggering
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• 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 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• CPC Class Codes: A61B 2090/3966 Radiopaque markers visible in an X-ray image
• CPC Class Codes: A61B 2090/3979 infrared
• CPC Class Codes: A61B 2576/00 Medical imaging apparatus involving image processing or analysis A61B1/00009, A61B6/52 and A61B8/52 take precedence; image processing per se G06T; details of algorithms for analysing medical images G06T7/0012
• 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 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 5/11 Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb for measuring pulse A61B5/02 ;A61B5/1038 takes precedence; motion detection to correct for motion artifacts in physiological signals A61B5/721
• CPC Class Codes: A61B 5/1127 using markers
• CPC Class Codes: A61B 5/6804 Garments; Clothes
• CPC Class Codes: A61B 5/7246 using correlation, e.g. template matching or determination of similarity
• CPC Class Codes: A61B 5/7271 Specific aspects of physiological measurement analysis A61B5/316, A61B5/349 and A61B5/374 take precedence
• CPC Class Codes: A61B 6/00 Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment instruments measuring radiation intensity for application in the field of nuclear medicine, e.g. in vivo counting, G01T1/161; apparatus for taking X-ray photographs G03B42/02
• CPC Class Codes: A61B 6/032 : Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/037 : Emission tomography
• CPC Class Codes: A61B 6/12 : Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/486 : involving generating temporal series of image data
• CPC Class Codes: A61B 6/5217 : extracting a diagnostic or physiological parameter from medical diagnostic data
• 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 6/541 : involving acquisition triggered by a physiological signal
• CPC Class Codes: A61B 6/547 : involving tracking of position of the device or parts of the device
• CPC Class Codes: A61B 90/39 : Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: G06T 11/60 : Editing figures and text; Combining figures or text
• CPC Class Codes: G06T 15/00 : 3D [Three Dimensional] image rendering
• CPC Class Codes: G06T 2200/04 : involving 3D image data
• CPC Class Codes: G06T 2207/10081 : Computed x-ray tomography [CT]
• CPC Class Codes: G06T 2207/30196 : Human being; Person
• CPC Class Codes: G06T 2207/30204 : Marker
• CPC Class Codes: G06T 7/246 : using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06T 7/30 : Determination of transform parameters for the alignment of images, i.e. image registration
• CPC Class Codes: G06T 7/33 : using feature-based methods
• CPC Class Codes: G06T 7/38 : Registration of image sequences
• CPC Class Codes: G06T 7/70 : Determining position or orientation of objects or cameras camera calibration G06T7/80

Abstract

A method includes receiving during a first time interval associated with a path of motion of a dynamic body, image data associated with a plurality of images of the dynamic body. The plurality of images include an indication of a position of a first marker coupled to a garment at a first location, and a position of a second marker coupled to the garment at a second location. The garment is coupled to the dynamic body. During a second time interval, an image from the plurality of images is automatically identified that includes a position of the first marker that is substantially the same as a position of a first localization element relative to the dynamic body and a position of the second marker that is substantially the same as a position of the second localization element relative to the dynamic body.

Claims

1. A method, comprising:

receiving, during a first time interval, image data associated with a plurality of images of a dynamic body, the plurality of images including an indication of a position of a first marker on a garment coupled to the dynamic body and a position of a second marker on the garment coupled to the dynamic body, the first marker coupled to the garment at a first location, the second marker coupled to the garment at a second location, the first time interval associated with a path of motion of the dynamic body and wherein the first and second markers change in orientation relative to each other during the first time interval;

receiving, during a medical procedure performed during a second time interval after the first time interval, data associated with a position of a first localization element relative to the dynamic body, and data associated with a position of a second localization element relative to the dynamic body, the first localization element coupled to the garment at the first location, the second localization element coupled to the garment at the second location, the second time interval associated with a path of motion of the dynamic body and wherein the first and second localization elements change in orientation relative to each other during the second time interval;

automatically identifying, during the second time interval, an image from the plurality of images associated with a position of the first marker that is substantially the same as the position of the first localization element relative to the dynamic body and a position of the second marker that is substantially the same as the position of the second localization element relative to the dynamic body, wherein automatically identifying includes determining a measurement between the position of the first marker and the position of the second marker associated with the plurality of images during the first time interval using a selected cost-function;

applying the selected cost-function to the position of the first localization element and the position of the second localization element during the second time interval;

determining whether the position of the first localization element and the position of the second localization element during the second time interval is substantially the same as the position of the first marker and the position of the second marker, respectively, during the first time interval;

automatically computing a registration between the position of the first marker and the position of the second marker, and the position of the first localization element and the position of the second localization element, respectively; and

superimposing a position of a medical instrument onto an image display of the dynamic body from the first time interval.

2. The method of claim 1, wherein the automatically identifying further includes identifying a position of the first marker based on an appearance of the first marker within the automatically identified image and identifying a position of the second marker based on an appearance of the second marker within the automatically identified image.

3. The method of claim 1, further comprising:

receiving, during the second time interval, data associated with a position of a third localization element relative to the dynamic body, the third localization element coupled to the dynamic body;

projecting the position of the third localization element on to the data associated with the plurality of images; and

determining that a third marker either exists or does not exist in an image from the plurality of images from the first time interval at substantially the same position as the third localization element.

4. The method of claim 1, wherein the automatically identifying further includes correlating the position of the first localization element during the second time interval with the position of the first marker within an image from the plurality of images.

5. The method of claim 1, further comprising:

automatically registering the path of motion of the dynamic body during the second time interval with the path of motion of the dynamic body during the first time interval based on the automatically identifying.

6. The method of claim 1, wherein the garment is coupled to the dynamic body in a fixed position relative to the dynamic body during both the first time interval and the second time interval.

7. The method of claim 1, further comprising:

providing a navigational path for a medical instrument to be directed based on the automatically identified image.

8. The method of claim 1, wherein the first marker and the second marker are coupled to the dynamic body in a fixed position relative to the dynamic body, but can move relative to each other when the dynamic body moves through a path of motion, and wherein the first localization element and the second localization element are coupled to the dynamic body at a fixed position relative to the dynamic body, but can move relative to each other when the dynamic body moves through a path of motion.

9. The method of claim 1 wherein the cost-function comprises one or more of an average distance between the first marker and the second marker, a max/min ratio of bounding ellipsoid, and a ratio between a minimum and a maximum 3D distance between the first marker and the second marker.

10. The method of claim 1 wherein the path of motion of the dynamic body corresponds to inspiration and expiration during a respiratory cycle of a patient.

11. The method of claim 1 wherein the change in orientation corresponds to a change in the shape of the first and second markers and/or the first and second localization elements.

12. The method of claim 1 wherein the change in orientation corresponds to a change in distance between the first and second markers or the distance between the first and second localization elements.

13. The method of claim 1 wherein the change in orientation of the first and second markers, or the change in orientation of the first and second localization elements, is due to a respiratory cycle of the patient.

14. A non-transitory processor-readable medium storing code representing instructions to cause a processor to perform a process, the code comprising code to:

receive, during a first time interval, image data associated with a plurality of images of a dynamic body, the plurality of images including an indication of a position of a first marker on a garment coupled to the dynamic body and a position of a second marker on the garment coupled to the dynamic body, the first marker coupled to the garment at a first location, the second marker coupled to the garment at a second location, the first time interval associated with a path of motion of the dynamic body and wherein the first and second markers change in orientation relative to each other during the first time interval;

receive, during a medical procedure performed during a second time interval after the first time interval, data associated with a position of a first localization element relative to the dynamic body, and data associated with a position of a second localization element relative to the dynamic body, the first localization element coupled to the garment at the first location, the second localization element coupled to the garment at the second location, the second time interval associated with a path of motion of the dynamic body and wherein the first and second localization elements change in orientation relative to each other during the second time interval;

automatically identify, during the second time interval, an image from the plurality of images including a position of the first marker that is substantially the same as the position of the first localization element relative to the dynamic body and a position of the second marker that is substantially the same as the position of the second localization element relative to the dynamic body, wherein the automatic identification includes determining a measurement between the position of the first marker and the position of the second marker associated with the plurality of images during the first time interval using a selected cost-function;

apply the selected cost-function to the position of the first localization element and the position of the second localization element during the second time interval;

determine whether the position of the first localization element and the position of the second localization element during the second time interval is substantially the same as the position of the first marker and the position of the second marker, respectively, during the first time interval;

automatically compute a registration between the position of the first marker and the position of the second marker, and the position of the first localization element and the position of the second localization element, respectively; and

superimpose a position of a medical instrument on to an image display of the dynamic body from the first time interval.

15. The non-transitory processor-readable medium of claim 14, wherein the automatically identifying further includes code to:

identify a position of the first marker based on an appearance of the first marker within the automatically identified image and identifying a position of the second marker based on an appearance of the second marker within the automatically identified image.

16. The non-transitory processor-readable medium of claim 14, further comprising code to:

receive, during the second time interval, data associated with a position of a third localization element relative to the dynamic body, the third localization element coupled to the dynamic body;

project the position of the third localization element on to the data associated with the plurality of images; and

determine that a third marker either exists or does not exist in an image from the plurality of images from the first time interval at substantially the same position as the third localization element.

17. The non-transitory processor-readable medium of claim 14, wherein the automatically identifying further includes correlating the position of the first localization element during the second time interval with the position of the first marker within an image from the plurality of images.

18. The non-transitory processor-readable medium of claim 14, further comprising code to:

automatically register the path of motion of the dynamic body during the second time interval with the path of motion of the dynamic body during the first time interval, based on the automatically identifying.

19. The non-transitory processor-readable medium of claim 14, wherein the garment is coupled to the dynamic body in a fixed position relative to the dynamic body during both the first time interval and the second time interval.

20. The non-transitory processor-readable medium of claim 14, further comprising:

providing a navigational path for a medical instrument to be directed based on the automatically identified image.

21. The non-transitory processor-readable medium of claim 14, wherein the first marker and the second marker are coupled to the dynamic body in a fixed position relative to the dynamic body, but can move relative to each other when the dynamic body moves through a path of motion, and wherein the first localization element and the second localization element are coupled to the dynamic body at a fixed position relative to the dynamic body, but can move relative to each other when the dynamic body moves through a path of motion.

22. A method, comprising:

receiving, during a first time interval, image data associated with a plurality of images of a dynamic body, the plurality of images including an indication of a position of a first marker coupled to the dynamic body and a position of a second marker coupled to the dynamic body, the first marker coupled to the dynamic body at a first location, the second marker coupled to the dynamic body at a second location, the first time interval associated with a path of motion of the dynamic body and wherein the first and second markers change in orientation relative to each other during the first time interval;

receiving, during a medical procedure performed during a second time interval after the first time interval, data associated with a position of a first localization element relative to the dynamic body, and data associated with a position of a second localization element relative to the dynamic body, the first localization element coupled to the dynamic body proximate the first location, the second localization element coupled to the dynamic body proximate the second location, the second time interval associated with a path of motion of the dynamic body and wherein the first and second localization elements change in orientation relative to each other during the second time interval;

automatically identifying during the second time interval an image from the plurality of images associated with a position of the first marker that is substantially the same as the position of the first localization element relative to the dynamic body and a position of the second marker that is substantially the same as the position of the second localization element relative to the dynamic body, wherein automatically identifying includes determining a measurement between the position of the first marker and the position of the second marker associated with the plurality of images during the first time interval using a selected cost-function;

applying the selected cost-function to the position of the first localization element and the position of the second localization element during the second time interval;

determining whether the position of the first localization element and the position of the second localization element during the second time interval is substantially the same as the position of the first marker and the position of the second marker, respectively, during the first time interval;

automatically computing a registration between the position of the first marker and the position of the second marker, and the position of the first localization element and the position of the second localization element, respectively; and

superimposing a position of a medical instrument on to an image display of the dynamic body from the first time interval.

23. A method, comprising:

receiving, during a first time interval, image data associated with a plurality of images of a dynamic body of a patient, the plurality of images including an indication of a position of a first marker on a garment coupled to the dynamic body and a position of a second marker on the garment coupled to the dynamic body, the first marker coupled to the garment at a first location, the second marker coupled to the garment at a second location, the first time interval associated with a path of motion of the dynamic body and wherein the first and second markers change in orientation relative to each other during the first time interval;

receiving, during a medical procedure performed during a second time interval after the first time interval, data associated with a position of a first localization element relative to the dynamic body, and data associated with a position of a second localization element relative to the dynamic body, the first localization element coupled to the garment at the first location, the second localization element coupled to the garment at the second location, the second time interval associated with a path of motion of the dynamic body and wherein the first and second localization elements change in orientation relative to each other during the second time interval;

automatically identifying, during the second time interval, an image from the plurality of images associated with a position of the first marker that is substantially the same as the position of the first localization element relative to the dynamic body and a position of the second marker that is substantially the same as the position of the second localization element relative to the dynamic body, wherein automatically identifying includes determining a ratio between a minimum and a maximum 3D distance between the position of the first marker and the position of the second marker associated with the plurality of images during the first time interval;

correlating the ratio to the position of the first localization element and the position of the second localization element during the second time interval;

determining whether the position of the first localization element and the position of the second localization element during a respiratory cycle of the patient during the second time interval is substantially the same as the position of the first marker and the position of the second marker, respectively, during a respiratory cycle of the patient during the first time interval;

automatically computing a registration between the position of the first marker and the position of the second marker, and the position of the first localization element and the position of the second localization element, respectively; and

gating navigation of a medical instrument during the second time interval based on the registration.