Registration of three-dimensional image data to 2D-image-derived data

• US 7,961,926 B2
• Filed: 07/13/2010
• Issued: 06/14/2011
• Est. Priority Date: 02/07/2005
• Status: Expired due to Fees

• Current Assignee: Stereotaxis, Inc.
• Original Assignee: Stereotaxis, Inc.
• Inventors: Viswanathan, Raju R.
• Primary Examiner(s): Ahmed; Samir A
• Assistant Examiner(s): Fitzpatrick; Atiba O
• Application Number:
  US12/835,211
• Publication Number:
  US 20110033100A1
• Time in Patent Office: 336 Days
• Field of Search: 382128-134, 128920-930, 250455-465, 356 39- 49, 600/407, 600/408, 600/409, 600/410, 600/411, 600/412, 600/413, 600/414, 600/424, 600/425, 600/426
• US Class Current: 382/128
• CPC Class Codes: G06T 2207/10072 Tomographic images
• CPC Class Codes: G06T 2207/10121 Fluoroscopy
• CPC Class Codes: G06T 2207/30048 Heart; Cardiac
• CPC Class Codes: G06T 2207/30101 Blood vessel; Artery; Vein; Vascular
• CPC Class Codes: G06T 7/33 using feature-based methods
• CPC Class Codes: G06T 7/38 Registration of image sequences
• CPC Class Codes: G06V 20/647 by matching two-dimensional images to three-dimensional objects

Abstract

A method for obtaining registration of a three-dimensional image data set of an anatomical vessel with corresponding two-dimensional image data of the vessel in an X-ray imaging system, where the method comprise the user identifying two points on an anatomical vessel on at least two X-ray image planes, the user identifying two similar points on the surface of the corresponding three-dimensional anatomical image data, determining the orientation direction of the vessel from the two user identified image data surface points, determining the orientation direction of the vessel from the two points obtained from the X-ray image planes, and calculating a transformation of the three-dimensional image data to obtain a best fit registration of the direction derived from the image surface points with the direction derived from the X-ray image data points.

Claims

1. A method for obtaining registration of a three-dimensional pre-operative image data set of an anatomical vessel tree with corresponding intra-operative image data reconstructed from two-dimensional images of the vessel tree obtained in an X-ray imaging system, comprising:

determining the orientation direction of a vessel from a three-dimensional pre-operative image data set, and

determining the orientation direction of the vessel from the X-ray image planes by identifying on at least two X-ray images at least two X-ray image data points on the vessel that provide a linear indication of the local direction of the vessel in the X-ray image planes, from which an orientation direction of the vessel is defined, and

determining a transformation of the three-dimensional image data to obtain a best fit registration of the direction derived from the pre-operative image data set with the direction derived from the X-ray image data points.

2. A method for obtaining registration of a three-dimensional pre-operative image data set of an anatomical vessel tree with corresponding intra-operative image data reconstructed from two-dimensional images of the vessel tree obtained in an X-ray imaging system, where the method comprises:

the user identifying at least one pair of points on an anatomical vessel on at least two X-ray image planes that provide a linear indication of the local direction of the vessel in the X-ray image planes, from which an orientation direction of the vessel is defined;

the user identifying two similar points on the surface of the corresponding three-dimensional anatomical image data;

determining the orientation direction of the vessel from the two user identified image data surface points, and determining the orientation direction of the vessel from the at least one pair of points obtained from the X-ray image planes, and

calculating a transformation of the three-dimensional image data to obtain a best fit registration of the direction derived from the image surface points with the direction derived from the X-ray image data points.

3. The method of claim 2 wherein the at least two X-ray image planes provide three-dimensional coordinates for the two user identified points that are used to determine the orientation direction of the anatomical vessel in the X-ray image planes.

4. The method of claim 2 wherein the determination of the orientation direction of the image data points comprises determining the center line of the vessel from the two surface points of the three-dimensional vessel image.

5. The method of claim 4 wherein the transformation comprises a rotation matrix for aligning the three-dimensional image vessel centerline with the direction of the X-ray image vessel.

6. The method of claim 5 wherein a rotation matrix is determined based on a minimized cost function that determines a best fit rotation matrix for registering the three-dimensional data with the two-dimensional X-ray image data.

7. The method of claim 6 further comprising the overlaying the three-dimensional image data onto the X-ray image planes.

8. A method for obtaining registration of a three-dimensional image data set of an anatomical vessel with a corresponding two-dimensional image data of the vessel in an X-ray imaging system, where the method comprises:

identifying two points on an anatomical vessel on at least two two-dimensional X-ray image planes that provide a linear indication of the local direction of the vessel in the X-ray image planes, from which an orientation direction of the vessel is defined,

automatically determining a centerline for the corresponding three-dimensional image data of the vessel using a software algorithm,

determining a direction of the vessel from the two points obtained from the X-ray image planes, and

calculating a transformation of the centerline direction derived from the three-dimensional image data to the direction derived from the X-ray image data points to obtain a registration of the three-dimensional image data with the two-dimensional image data of the X-ray imaging system.

9. The method of claim 8 wherein the transformation comprises a rotation matrix for aligning the three-dimensional image vessel centerline with the direction of the X-ray image vessel.

10. The method of claim 8 wherein a rotation matrix is determined based on a minimized cost function that determines a best fit rotation matrix for registering the three-dimensional data with the two-dimensional X-ray image data.

11. The method of claim 10 further comprising the overlaying the three-dimensional image data onto the X-ray image planes.

12. The method of claim 11 wherein the three-dimensional image data is a pre-operative image data of at least one pulmonary vein.

13. The method of claim 11 wherein the three-dimensional image data is a pre-operative image data of a heart and two or more pulmonary veins.

14. A method for obtaining registration of a three-dimensional image data set with the two-dimensional image data set of an X-ray imaging system, the method comprising:

identifying two points on an anatomical vessel on at least two X-ray image planes that provide a linear indication of the local direction of the vessel in the X-ray image planes, from which an orientation direction of the vessel is defined;

processing the three-dimensional image data to obtain a rendering of the anatomical vessel surfaces;

identifying two similar points on the vessel surface from the corresponding three-dimensional anatomical image data on the vessel;

determining a centerline of the rendered three-dimensional vessel from the identified surface points;

defining a rotation matrix for performing a transformation of the three-dimensional vessel centerline onto the direction of the vessel identified from the X-ray image planes; and

calculating a best fit rotation matrix using a minimized cost function to obtain a registration of the three-dimensional anatomical image data set with the two-dimensional X-ray imaging system data.