Apparatus and methods of compensating for organ deformation, registration of internal structures to images, and applications of same

• US 8,358,818 B2
• Filed: 11/15/2007
• Issued: 01/22/2013
• Est. Priority Date: 11/16/2006
• Status: Active Grant

• Current Assignee: Vanderbilt University
• Original Assignee: Vanderbilt University
• Inventors: Miga, Michael I., Clements, Logan W., Galloway, Robert L Jr.
• Primary Examiner(s): Johnston, Phillip A
• Application Number:
  US11/985,526
• Publication Number:
  US 20080123927A1
• Time in Patent Office: 1,895 Days
• Field of Search: 382/128
• US Class Current: 382/128
• CPC Class Codes: A61B 2017/00694 with means correcting for movement of or for synchronisation with the body
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 6/583 using calibration phantoms
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/10072 Tomographic images
• CPC Class Codes: G06T 2207/30056 Liver; Hepatic
• CPC Class Codes: G06T 7/344 involving models

Abstract

A method and system of compensation for intra-operative organ shift of a living subject usable in image guide surgery. In one embodiment, the method includes the steps of generating a first geometric surface of the organ of the living subject from intra-operatively acquired images of the organ of the living subject, constructing an atlas of organ deformations of the living subject from pre-operatively acquired organ images from the pre-operatively acquired organ images, generating a second geometric surface of the organ from the atlas of organ deformations, aligning the second geometric surface of the organ to the first geometric surface of the organ of the living subject to determine at least one difference between a point of the first geometric surface and a corresponding point of the second geometric surface of the organ of the living subject, which is related to organ shift, and compensating for the intra-operative organ shift.

Claims

1. A method of surface registration in image guided surgery, comprising the steps of:

a. preoperatively acquiring an image of an organ of interest of a living subject;

b. generating a first surface of the organ of interest of the living subject from the preoperatively acquired image;

c. designating a set of target points, T={tn}, n=1, 2, 3, . . . , NT, from the first surface of the organ of interest, wherein the set of target points T contains one or more patch points corresponding to homologous anatomical features of the first surface of the organ of interest, and wherein each of the set of target points tm is indexed with a binary index, pTm, such that when pTm=0, the target point tm is a non-patch point, and when pTm=1, the target point tm is a patch point, the one or more patch points of the target points define a particular salient anatomical feature of the first surface of the organ of interest;

d. intraoperatively acquiring an incomplete image of the organ of interest of the living subject;

e. generating a second surface of the organ of interest of the living subject from the intraoperatively acquired incomplete image, wherein the second surface is an incomplete surface of the organ of interest of the living subject;

f. designating a set of source points, S={sm}, m=1, 2, 3, . . . , NS, from the second surface of the organ of interest, wherein the set of source points S contain one or more patch points corresponding to homologous anatomical features of the second surface of the organ of interest, which is related to the corresponding homologous anatomical features of the first surface of the organ of interest, and wherein each of the set of source points sm is indexed with a binary index, pSm, such that when pSm=0, the source point sm is a non-patch point, and when pSm=1, the source point sm is a patch point, the one or more patch points of the source points define a particular salient anatomical feature of the second surface of the organ of interest;

g. determining a point correspondence between the set of source points S and the set of target points T, whereby a closest point operator, C={Cm} is determined;

h. biasing the point correspondence between the one or more source patch points and the one or more target patch points by a weighting factor, wPC, so as to assign weighted correspendence of a weighted point-based registration to the particular salient anatomical features and to bias the closest point operator Cm, via the following relationship;

2. The method of claim 1, wherein the pre-operatively acquired image of the organ of interest of the living subject comprises image data with respect to the surface geometry of the organ of interest.

3. The method of claim 2, wherein the image data with respect to the surface geometry of the organ of interest is obtained through the use of at least one of positron emission tomography device, electroencephalography device, computer tomography device, functional magnetic resonance imaging device, magnetic resonance imaging device, and ultrasound imaging device.

4. The method of claim 1, wherein the step of generating a first surface of the organ of interest of the living subject comprises the step of extracting details of the first surface using at least one of the following features:

a. user identification of surface features or visible structures;

b. surface curvature;

c. surface shape;

d. surface orientation within the living subject;

e. distribution of surface normal orientation; and

f. potential for deformation of the anatomic structure.

5. The method of claim 1, wherein the step of intra-operatively acquiring images of the organ of interest of the living subject is performed with one of the following methods:

a. swabbing the surface of the anatomic structure with a tracked instrument;

b. laser range scanning of the anatomic structure for surface determination;

c. intra-operative ultrasound scanning of the anatomic structure;

d. imaging of the anatomic structure using a tracked laparoscope or endoscope; and

e. surface extraction of the anatomic structure from a binocular scene such as provided by a binocular laparoscope or endoscope.

26. The method of claim 1, wherein the incomplete image of the organ of interest of the living subject is a sparse image of the organ.

6. A method of surface registration in image guided surgery, comprising the steps of:

a. pre-operatively acquiring an image of an anatomic structure of an organ of a living subject;

b. generating a first surface of the anatomic structure of the organ from the preoperatively acquired image of the anatomic structure of the organ;

c. constructing one or more first patches of the first surface of the anatomic structure, wherein each of the first patches contains a surface subset of physical space data related to a particular salient anatomical feature of the first surface of the anatomic structure, and assigning a weighted correspendence of a weighted point-based registration to the particular salient anatomical feature of each of the first patches;

d. intra-operatively acquiring an incomplete image of the anatomic structure of the organ;

e. generating a second surface of the anatomic structure of the organ from the intraoperatively acquired incomplete image of the anatomic structure of the organ, wherein the second surface is an incomplete surface of the anatomic structure of the organ;

f. constructing one or more second patches of the second surface of the anatomic structure, wherein each second patch contains a surface subset of physical space data from the second surface related to a corresponding salient anatomical feature of the first surface of the anatomic structure;

g. aligning the one or more second patches to the corresponding one or more first patches, wherein each second patch is dynamically biased to a corresponding first patch using the weighted point-based registration; and

h. completing a registration of the second surface to the first surface with physical space data not contained in the first and second patches to indicate surgical position in both image space and physical space.

7. The method of claim 6, wherein the pre-operatively acquired images of the anatomic structure comprise image data with respect to the surface geometry of the anatomic structure.

8. The method of claim 7, wherein the image data with respect to the surface geometry of the anatomic structure is obtained through the use of at least one of positron emission tomography device, electroencephalography device, computer tomography device, functional magnetic resonance imaging device, magnetic resonance imaging device, and ultrasound imaging device.

9. The method of claim 6, wherein the step of generating a first surface of the anatomic structure of the organ comprises the step of extracting details of the first surface using at least one of the following features:

a. user identification of surface features or visible structures;

b. surface curvature;

c. surface shape;

d. surface orientation within the organ;

e. distribution of surface normal orientation; and

f. potential for deformation of the anatomic structure.

10. The method of claim 6, wherein the step of intra-operatively acquiring images of the anatomic structure of the organ is performed with one of the following methods:

a. swabbing the surface of the anatomic structure with a tracked instrument;

b. laser range scanning of the anatomic structure for surface determination;

c. intra-operative ultrasound scanning of the anatomic structure;

d. imaging of the anatomic structure using a tracked laparoscope or endoscope; and

surface extraction of the anatomic structure from a binocular scene such as provided by a binocular laparoscope or endoscope.

11. The method of claim 6, wherein the step of aligning the one or more second patches to the corresponding one or more first patches comprises the step of giving more weight to the patches than to the rest of the surfaces.

12. The method of claim 11, wherein the step of completing a registration of the second surface to the first surface with physical space data not contained in the first and second patches comprises the step of increasing weight to the rest of the surfaces when final adjustments in the registration are made with all available surface information.

13. The method of claim 6, wherein the step of completing a registration of the second surface to the first surface with physical space data not contained in the first and second patches is performed with the weighted point-based registration.

14. The method of claim 13, wherein the weighted point-based registration comprises the step of using a salient-feature weighted correspondence.

15. The method of claim 6, wherein the anatomic structure of the organ comprises a liver, heart, kidney, lung, stomach, or brain.

16. The method of claim 15, wherein when the anatomic structure comprises a liver, the salient-feature comprises a falciform ligament region.

17. A method of surface registration in image guided surgery, comprising the steps of:

a. generating a first surface of an anatomic structure of an organ from pre-operatively acquired images of the anatomic structure of the organ;

b. generating a second surface of the anatomic structure of the organ from intra-operatively acquired incomplete images of the anatomic structure of the organ, wherein the second surface is an incomplete surface of the anatomic structure of the organ;

c. constructing one or more second patches corresponding to the second surface of the anatomic structure, wherein each second patch contains a surface subset of physical space data from the second surface related to a corresponding particular salient anatomical feature of the first surface of the anatomic structure, and assigning a weighted correspendence of a weighted point-based registration to the particular salient anatomical feature;

d. aligning the one or more second patches to the corresponding one or more first patches, wherein each second patch is dynamically biased to a corresponding first patch using the weighted point-based registration; and

e. completing a registration of the second surface to the first surface with physical space data not contained in the first and second patches to indicate surgical position in both image space and physical space.

18. The method of claim 17, wherein the step of completing a registration of the second surface to the first surface with physical space data not contained in the first and second patches is performed with the weighted point-based registration.

19. The method of claim 18, wherein the weighted point-based registration comprises the step of using a salient-feature weighted correspondence.

20. A system of surface registration in image guided surgery, comprising:

a. a first imaging acquiring device for pre-operatively acquiring images of an anatomic structure of an organ of a living subject;

b. a second imaging acquiring device for intra-operatively acquiring incomplete images of the anatomic structure of the organ; and

c. at least one computer coupled with the first image acquiring device and the second image acquiring device and adapted for performing the steps of;

i). generating a first surface of the anatomic structure of the organ from the pre-operatively acquired images of the anatomic structure of the organ;

ii). constructing one or more first patches of the first surface of the anatomic structure, wherein each of the first patchs contains a surface subset of physical space data related to a particular salient anatomical feature of the first surface of the anatomic structure, and assigning a weighted correspendence of a weighted point-based registration to the particular salient anatomical feature of each of the first patches;

iii). generating a second surface of the anatomic structure of the organ from the intra-operatively acquired incomplete images of the anatomic structure of the organ, wherein the second surface is an incomplete surface of the anatomic structure of the organ;

iv). constructing one or more second patches of the second surface of the anatomic structure, wherein each second patch contains a surface subset of physical space data from the second surface related to a corresponding salient anatomical feature of the first surface of the anatomic structure;

v). aligning the one or more second patches to the corresponding one or more first patches, wherein each second patch is dynamically biased to a corresponding first patch using the weighted point-based registration; and

vi). completing a registration of the second surface to the first surface with physical space data not contained in the first and second patches to indicate surgical position in both image space and physical space.

21. The system of claim 20, further comprising a display device coupled to the at least one computer for displaying the registration dynamically to facilitate a diagnostic or surgical procedure.

22. The system of claim 20, wherein the first imaging acquiring device comprises at least one of positron emission tomography device, electroencephalography device, computer tomography device, functional magnetic resonance imaging device, magnetic resonance imaging device, and ultrasound imaging device.

23. The system of claim 20, wherein the second imaging acquiring device comprises a laser range scanner that is capable of obtaining frequency, intensity and geometric data with respect to the cortical surface of the organ simultaneously.

24. The system of claim 20, wherein the second imaging acquiring device comprises an ultrasound imaging device.

25. The system of claim 20, wherein the second imaging acquiring device comprises a tracked instrument, an optical stylus, a tracked laparoscope or endoscope, or a binocular laparoscope or endoscope.

27. The system of claim 20, wherein the incomplete image of the anatomic structure of the organ is a sparse image of the the anatomic structure.