Selected image acquisition technique to optimize patient model construction

• US 8,768,029 B2
• Filed: 10/20/2010
• Issued: 07/01/2014
• Est. Priority Date: 10/20/2010
• Status: Active Grant

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Inventors: Helm, Patrick A., Shi, Shuanghe
• Primary Examiner(s): DULANEY, KATHLEEN YUAN
• Application Number:
  US12/908,195
• Publication Number:
  US 20120099778A1
• Time in Patent Office: 1,350 Days
• Field of Search: 382/154, 382/131, 382/294
• US Class Current: 382/131
• 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 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2090/0818 Redundant systems, e.g. using two independent measuring systems and comparing the signals
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/367 creating a 3D dataset from 2D images using position information
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/3764 with a rotating C-arm having a cone beam emitting source
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 2090/3995 Multi-modality markers
• 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 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 6/4476 related to motor-assisted motion of the source unit
• CPC Class Codes: A61B 6/461 Displaying means of special interest
• CPC Class Codes: A61B 6/467 characterised by special input means
• CPC Class Codes: A61B 6/487 involving fluoroscopy
• CPC Class Codes: A61B 6/52 Devices using data or image processing specially adapted for radiation diagnosis
• 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: G06T 11/005 : Specific pre-processing for tomographic reconstruction, e.g. calibration, source positioning, rebinning, scatter correction, retrospective gating
• CPC Class Codes: G06T 17/10 : Constructive solid geometry [CSG] using solid primitives, e.g. cylinders, cubes
• CPC Class Codes: G06T 2211/412 : Dynamic

Abstract

A system and a method are disclosed that allow for generation of a model or reconstruction of a model of a subject based upon acquired image data. The image data can be acquired in a substantially mobile system that can be moved relative to a subject to allow for image acquisition from a plurality of orientations relative to the subject. The plurality of orientations can include a first and final orientation and a predetermined path along which an image data collector or detector can move to acquire an appropriate image data set to allow for the model of construction.

Claims

1. A method of acquiring image data of a subject with an imaging system, comprising:

acquiring initial image data with a gantry that completely annularly encompasses a human subject of at least a portion of the human subject with a mobile imaging system including the gantry movably attached to a mobile cart;

constructing an initial three-dimensional model of the portion of the human subject prior to a procedure performed on the portion of the human subject;

acquiring discriminatory discrete location image data of the human subject at a location of the procedure after performing the procedure on the human subject at the location;

executing instructions with a processor system to compare the acquired discriminatory discrete location image data to the constructed initial three-dimensional model of the portion of the human subject; and

executing instructions with the processor system to identify specific regions of threshold change between the acquired discriminatory discrete location image data and the constructed initial three-dimensional model of the portion of the human subject;

wherein constructing the initial three dimensional model of the portion of the human subject includes executing instructions with a processor system to determine errors between simulated projection image data of a theoretical model and the initial image data acquired of at least a portion of the human subject with the imaging system;

wherein the specific regions of threshold change include regions of the patient that have changed beyond a threshold selected for comparison between the discrete location image data and forward projection of the initial three dimension volumetric model of the human subject due to a procedure performed on the patient, movement of the patient, or combinations thereof;

wherein executing instructions with the processor system to determine a comparative path includes determining an initial comparative location of a detector, determining a final location of the detector, and determining movements of the detector and the gantry to allow detecting of a comparative image data to allow a construction of a comparative three-dimensional model to illustrate a current configuration of the human subject;

wherein the comparative three dimensional model is constructed by executing instructions with the processor system to update the initial three dimensional model based upon the comparative image data acquired when moving the imaging system along the comparative path.

2. The method of claim 1, further comprising:

displaying the comparative three dimensional model of the human subject to view a current configuration of the portion of the human subject.

3. The method of claim 1, wherein acquiring the initial image data and acquiring the discriminatory discrete location image data includes detecting x-rays that have passed through at least the portion of the human subject.

4. A method of acquiring image data of a subject with an imaging system, comprising:

acquiring initial image data of the human subject;

constructing a first three-dimensional model of the portion of the human subject regarding which the image data was acquired;

acquiring discriminatory discrete location image data of the human subject;

comparing the acquired discriminatory discrete location image data to at least a portion of the constructed first three-dimensional model of the portion of the human subject;

identifying specific regions of change between the acquired discriminatory discrete location image data and a simulated projection image data from the first constructed three-dimensional model of the portion of the human subject;

determining at least one location of a detector in a gantry to acquire a comparative image data regarding the identified specific regions of change; and

acquiring the comparative image data at the determined at least one location of the detector.

5. The method of claim 4, further comprising:

wherein identifying specific regions of change includes identifying specific regions of a threshold change between the acquired discriminatory discrete location image data and the constructed three-dimensional model.

9. The method of claim 4, wherein acquiring initial image data of the human subject further includes;

positioning a detector in a gantry in a predetermined first orientation relative to the human subject based upon known possible movements of the detector and the gantry to acquire a selected image data set of the human subject; and

moving the gantry and the detector to a predetermined final orientation relative to the human subject while acquiring image data of the human subject to acquire the selected image data set of the human subject.

10. The method of claim 4, further comprising:

performing a procedure on the human subject;

wherein identifying specific regions change is based on the performed procedure.

6. The method of 5, further comprising:

constructing a comparative model of a region of interest based on the identified specific regions of change and the constructed first three-dimensional model and the acquired comparative image data.

7. The method of claim 6, further comprising:

executing instructions with a processor system to determine at least one location of the detector to acquire the comparative image data regarding the identified specific regions having the threshold change.

8. The method of claim 7, further comprising:

executing instructions with the processor system to determine a plurality of locations for positioning the detector to acquire a plurality of comparative image data at least one identified specific region of the identified specific regions having the threshold change.