Registration of anatomical data sets

• US 8,675,939 B2
• Filed: 07/13/2010
• Issued: 03/18/2014
• Est. Priority Date: 07/13/2010
• Status: Active Grant

• Current Assignee: Stryker European Operations Holdings, LLC (Stryker Corporation)
• Original Assignee: Stryker Leibinger GmbH & Co. KG (Stryker Corporation)
• Inventors: Moctezuma de la Barrera, Jose Luis
• Primary Examiner(s): DOUGHERTY, SEAN PATRICK
• Application Number:
  US12/835,384
• Publication Number:
  US 20120016269A1
• Time in Patent Office: 1,344 Days
• Field of Search: 382/128, 382/131, 600/407, 600/411, 600/425, 600/587, 600/595
• US Class Current: 382/131
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/378 using ultrasound
• 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 5/1073 Measuring volume, e.g. of limbs
• CPC Class Codes: A61B 5/1128 using image analysis A61B5/1127 takes precedence
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/037 Emission tomography
• CPC Class Codes: A61B 8/0875 for diagnosis of bone A61B5/4504 takes precedence
• CPC Class Codes: A61B 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/4254 using sensors mounted on the probe
• CPC Class Codes: A61B 8/5223 for extracting a diagnostic or physiological parameter from medical diagnostic data for algorithms to analyse biomedical images G06T7/0012
• CPC Class Codes: A61B 8/5292 using additional data, e.g. patient information, image labeling, acquisition parameters
• CPC Class Codes: A61B 90/30 Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: G06T 2207/10072 Tomographic images
• CPC Class Codes: G06T 2207/30008 Bone
• CPC Class Codes: G06T 7/30 Determination of transform parameters for the alignment of images, i.e. image registration
• CPC Class Codes: G16H 10/60 for patient-specific data, e.g. for electronic patient records
• 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 30/20 : for handling medical images, e.g. DICOM, HL7 or PACS

Abstract

Methods and systems are disclosed for relating additional spatial information associated with one volume data set of an anatomical structure with another volume data set of the anatomical structure where the spatial information is not available. A unique spatial characteristic of the volume data set is identified, such as an image moment of inertia, and an arbitrary reference frame is assigned to the volume data set and correlated with the unique spatial characteristic. The additional spatial information is also correlated with the arbitrary reference frame. The additional spatial information is then correlated to a second volume data set of the anatomical structure by registering the first and second volume data sets based on the unique spatial characteristic. The methods and systems allow registration of different volume data sets of the same anatomical structure and transfer of the additional spatial information without establishing a local reference frame based on predefined landmarks.

Claims

1. A computer-implemented method of registering information associated with a first data set of an anatomical structure to a second data set of the anatomical structure, the method comprising the steps:

collecting the first data set of the anatomical structure with an imaging device;

developing additional information for the first data set, wherein the additional information has a unique identifiable spatial relationship to the anatomical structure of the first data set;

establishing a first arbitrary reference frame for the first data set, wherein the first arbitrary reference frame is established without reference to any pre-selected landmark on the anatomical structure and the first arbitrary reference frame has a unique spatial relationship to the first data set;

collecting the second data set of the anatomical structure with the imaging device;

establishing a second arbitrary reference frame for the second data set;

transforming the first arbitrary reference frame to the second arbitrary reference frame by matching a unique spatial parameter of the first data set with the same unique spatial parameter of the second data set; and

registering the additional information with the second data set.

2. The method of claim 1, wherein the step of establishing the first arbitrary reference frame includes the steps:

calculating an inherent feature in the first data set, wherein the inherent feature has a unique position and orientation in relation to the anatomical structure that can be identified from any reference position; and

correlating the inherent feature to the first arbitrary reference frame.

3. The method of claim 2, wherein the step of establishing the second arbitrary reference frame includes the steps:

identifying the inherent feature in the second data set; and

correlating the inherent feature to the second arbitrary reference frame.

4. The method of claim 3, wherein the step of transforming includes the step:

registering the first data set with the second data set based on the inherent feature, wherein the registering step is performed by a computer surgical navigation system.

5. The method of claim 4, further comprising a step of displaying the additional information in registration with the second data set on a display device;

and

wherein the step of collecting the first data set includes collecting the first data set with the computer surgical navigation system and wherein the step of collecting the second data set includes collecting the second data set with the computer surgical navigation system.

6. A computer-implemented method of associating spatial information related to a first volume data set of a first anatomical structure with a second volume data set of the first anatomical structure, comprising the steps of:

obtaining the first volume data set of the first anatomical structure with a computer surgical navigation system;

assigning a first arbitrary reference frame to the first volume data set;

calculating an inherent feature in the first volume data set, wherein the inherent feature has a unique position and orientation in relation to the first anatomical structure that can be identified from any reference position;

correlating the inherent feature to the first arbitrary reference frame;

associating additional spatial information with the first volume data set, wherein the additional spatial information has a unique spatial relationship correlated with the first arbitrary reference frame;

obtaining the second volume data set of the first anatomical structure with the computer surgical navigation system;

assigning a second arbitrary reference frame to the second volume data set;

identifying the inherent feature in the second volume data set;

correlating the inherent feature to the second arbitrary reference frame;

registering the first volume data set with the second volume data set based on the inherent feature, wherein the registering step is performed by a computer;

correlating the additional spatial information to the second volume data set in registration therewith; and

displaying the additional spatial information in registration with the second volume data set on a display device.

7. The method of claim 6, wherein the step of calculating the inherent feature in the first volume data set and the step of identifying the inherent feature in the second volume data set each include the step of calculating the image moment of inertia of each of the first volume data set and the second volume data set.

8. The method of claim 7, wherein the first volume data set and the second volume data set are each obtained with a modality, wherein the first volume data set and the second volume data set are obtained with the same modality.

9. The method of claim 8, wherein the modality comprises an ultrasound device that is tracked by the computer surgical navigation system.

10. The method of claim 6, wherein the step of associating additional spatial information includes a step of identifying a gravity vector and a step of correlating the gravity vector with the first arbitrary reference frame.

11. The method of claim 10, further comprising a step of displaying the gravity vector in registration with the second volume data set on the display device.

12. The method of claim 6, wherein the step of associating additional spatial information includes the steps of:

obtaining a third volume data set of a second anatomical structure;

assigning a third arbitrary reference frame to the third volume data set;

calculating an inherent feature in the third volume data set, wherein the inherent feature in the third volume data set has a unique position and orientation in relation to the second anatomical structure that can be identified from any reference position;

correlating the inherent feature of the third volume data set to the third arbitrary reference frame; and

calculating a unique position and orientation of the third arbitrary reference frame with respect to the first arbitrary reference frame.

13. The method of claim 12, wherein the third volume data set is not contiguous with the first volume data set.

14. The method of claim 13, wherein the second anatomical structure has a constant position relative to the first anatomical structure.

15. The method of claim 14, wherein the first anatomical structure and the second anatomical structure are part of a single bone.

16. The method of claim 14, wherein the first anatomical structure is part of a first bone and the second anatomical structure is part of a second bone.

17. The method of claim 16, wherein the first bone is a femur and the second bone is a pelvis.

18. The method of claim 16, further comprising a step of calculating functional information about a joint between the first bone and the second bone based on the additional spatial information.

19. The method of claim 12, wherein the first volume data set is obtained at a first time and the second volume data set is obtained at a second time.

20. The method of claim 19, wherein the first volume data set and the third volume data set are obtained while the first anatomical structure and the second anatomical structure are in a first fixed global position.

21. The method of claim 20, wherein the second volume data set is obtained while the first anatomical structure and the second anatomical structure are in a second global position.

22. The method of claim 21, wherein the first volume data set and the third volume data set are obtained pre-operatively and the second volume data set is obtained intra-operatively.

23. A system for collecting and manipulating a volume data set of an anatomical structure, comprising:

means for obtaining a first volume data set of an anatomical structure of a patient and a second volume data set of the anatomical structure;

means for calculating an inherent feature of the first volume data set and the second volume data set, wherein the inherent feature has a unique position and orientation in relation to the anatomical structure that can be identified from any reference position;

means for assigning a first arbitrary reference frame to the first volume data set and a second arbitrary reference frame to the second volume data set;

means for correlating the inherent feature to the first arbitrary reference frame;

means for associating additional spatial information with the first volume data set, wherein the additional spatial information has a unique spatial relationship correlated with the first arbitrary reference frame;

means for registering the first volume data set with the second volume data set based on the inherent feature; and

means for correlating the additional spatial information to the second volume data set in registration therewith.

24. The system of claim 23, further comprising means for determining the orientation of the anatomical structure or parts thereof with respect to a gravity vector in the first volume data set.

25. The system of claim 23, wherein the means for obtaining comprises a computer surgical navigation system and an ultrasound probe.

26. The system of claim 23, wherein the means for calculating comprises a computer implemented routine for calculating an image moment of inertia of the first and second volume data sets.

27. The system of claim 23, wherein the means for associating comprises means for identifying functional information in relation to the first volume data set.

28. The system of claim 27, wherein the means for identifying functional information comprises means for identifying a gravity vector.

29. The system of claim 27, wherein the means for identifying comprises means for identifying movement parameters of a joint.

30. The system of claim 23, wherein the means for associating comprises means for calculating a unique position and orientation of a third arbitrary reference frame with respect to the first arbitrary reference frame.

31. The system of claim 23, wherein the means for assigning assigns the first and second arbitrary reference frames without reference to any pre-defined landmark on the anatomical structure.

32. A method of establishing a position of a portion of a bone that has been altered from a normal shape, comprising the steps of:

collecting a first volume data set for a first bone that is unaltered with an imaging device, wherein the first volume data set includes volume data for first and second portions of the first bone;

identifying a first unique spatial characteristic of the volume data for the first portion of the first bone;

establishing a first arbitrary reference frame for the first volume data set correlated with the first unique spatial characteristic;

identifying a unique spatial relation between the first arbitrary reference frame and the second portion of the first bone;

identifying a second bone that normally mirrors the first bone about a centerline, wherein the second bone includes a first portion and a second portion that correspond as substantially mirror structures to the first and second portions of the first bone, respectively, and wherein the second bone has been altered from a normal shape such that the first portion of the second bone is in an altered position with regard to the second portion of the second bone;

collecting a second volume data set of the first portion of the second bone with the imaging device;

identifying a second unique spatial characteristic of the second volume data set, wherein the second unique spatial characteristic substantially mirrors the first unique spatial characteristic;

registering in mirrored correlation the first volume data set with the second volume data by correlating the first unique spatial characteristic with the second unique spatial characteristic; and

re-establishing the normal position of the second portion of the second bone to coincide with the position of the second portion of the first bone as related to the registered position of the first portion of the first bone.

33. The method of claim 32, wherein the unique spatial relation comprises a positional vector between the volume data for the first portion of the first bone and the volume data for the second portion of the first bone.

34. The method of claim 32, wherein the first portion of the second bone is separated from the second portion of the second bone by a trauma.

35. The method of claim 32, wherein the imaging device comprises an ultrasound probe tracked by a computer surgical navigation system, and wherein the first and second volume data sets are collected using the ultrasound probe.

36. The method of claim 35, further comprising tracking positions of each of the first and second portions of the second bone with a tracking device that is tracked by the computer surgical navigation system.

37. The method of claim 32, wherein the first arbitrary reference frames is established without reference to any pre-defined landmark on the anatomical structure.

38. The method of claim 32, wherein the steps of identifying the first and second unique spatial characteristics comprise the step of calculating an image moment of inertia of the volume data sets.