Method and apparatus for virtual digital subtraction angiography

• US 8,838,199 B2
• Filed: 02/14/2005
• Issued: 09/16/2014
• Est. Priority Date: 04/04/2002
• Status: Active Grant

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Inventors: Simon, David A, Foley, Kevin, Hunter, Mark
• Primary Examiner(s): Le, Long V.
• Assistant Examiner(s): PENG, BO JOSEPH
• Application Number:
  US11/057,528
• Publication Number:
  US 20050165292A1
• Time in Patent Office: 3,501 Days
• Field of Search: 600/407, 600/411, 600424-429, 378 20- 21, 378/62, 378/165, 378/205, 382/107, 382/128
• US Class Current: 600/407
• CPC Class Codes: A61B 5/1127 using markers
• CPC Class Codes: A61B 6/481 involving the use of contrast agents
• CPC Class Codes: A61B 6/504 for diagnosis of blood vessels, e.g. by angiography
• CPC Class Codes: A61B 6/5264 due to motion
• CPC Class Codes: A61B 6/547 involving tracking of position of the device or parts of the device
• CPC Class Codes: A61B 6/583 using calibration phantoms

Abstract

A method and apparatus for allowing determination of patient position change relative to an imaging device and/or allowing digital subtraction in an operative position. The system can include devices for determining a position of a patient at various times and comparing the various positions of the patient. Further, a digital subtraction may be performed if the patient change is not above a threshold value and/or if motion correction can occur.

Claims

1. A medical imaging system to compare a first set of images and a second set of images, comprising:

a tracking subsystem having a dynamic reference frame marker configured to be physically attached to a patient, wherein the tracking subsystem is configured to detect the dynamic reference frame marker at both a first time to determine a first patient position data corresponding to a first set of images acquired with an imaging system and at a second time to determine a second patient position data corresponding to a second set of images acquired with the imaging system, where the first and second patient position data is indicative of a position of the patient, wherein the second time is after the first time;

a motion correction subsystem operable to receive the first patient position data relative to the imaging system at the first time and second patient position data relative to the imaging system at the second time corresponding to each of the first and second sets of images and the motion correction subsystem is operable to determine a change between at least the first patient position data and the second patient position data, wherein said motion correction subsystem is operable to execute an algorithm to compare the first patient position data and the second patient position data to determine a change between the first patient position data at the first time and the second patient position data at the second time and correct at least one of the first set of images or the second set of images for differences in at least one of position or orientation based on the determined change in the second patient position data relative to the first patient position data; and

an image subtraction subsystem operable to receive at least the first set of images and the second set of images, the image subtraction subsystem is operable to perform a digital subtraction operation between the first set of images and the second set of images to determine a difference between the first set of images and the second set of images when no change equal to or less than a threshold value occurs between the first and second patient position data.

2. The medical imaging system of claim 1, wherein said tracking subsystem includes an optical tracking system, an electromagnetic tracking system, an acoustic tracking system, or combinations thereof;

wherein said tracking subsystem includes a tracking sensor selectively fixed to the patient and operable to be located by a localizer.

3. The medical imaging system of claim 1, wherein the first and second patient position data includes at least a two-dimensional representation of a position of a tracking sensor selectively affixed to the patient.

4. The medical imaging system of claim 1, wherein the first and second patient position data includes a three-dimensional representation relating to a position of a tracking sensor selectively affixed to the patient.

5. The medical imaging system of claim 1, further comprising:

a display to display the determined difference between the first set of images and the second set of images.

6. The medical imaging system of claim 1, wherein said image subtraction subsystem further includes an alert subsystem operable to alert a user that a change beyond the threshold value has occurred in the first and second patient position data.

7. The medical imaging system of claim 1, further comprising:

a third set of images and a third patient position data relating thereto to compare to the first set of images and the first patient position data relative thereto when a change beyond a threshold value has occurred between the first patient position data relating to the first set of images and the third patient position data relating to the third set of images.

8. The medical imaging system of claim 1, further comprising:

a surgical instrument tracked by the tracking subsystem;

wherein said motion correction subsystem is operable to correct the second set of images for motion artifacts caused by movement of the surgical instrument.

9. The medical imaging system of claim 1, wherein said threshold value is a maximum acceptable difference between the first patient position data relating to the first set of images and a device position data relating to the first set of images and that of the second patient position data and a device position data relating to the second set of images.

10. The medical imaging system of claim 9, wherein said motion correction system is further operable to correct the at least one of the first set of images or the second set of images for the determined change in the second patient position relative to the other of the first set of images or the second set of images when a change in the first and second patient position data is equal to or greater than the threshold value to correct at least one of the first set of images or the second set of images for the determined change in the second patient position data;

and

wherein the image subtraction subsystem is operable to perform the digital subtraction operation between at least one of the first set of images and the second set of images and the corrected one of the first set of images and the second set of images.

11. The medical imaging system of claim 10, wherein the motion correction corrects for determined changes in patient position between the first patient position data relating to the first set of images and the second patient position data relating to the second set of images including at least one correction for a correction along a line perpendicular to an imaging axis, a correction along a line parallel to an imaging axis, a correction for rotation around an imaging axis, or combinations thereof.

12. The medical imaging system of claim 10, wherein the motion correction subsystem is operable to correct for scale, size, magnitude, direction, or combinations thereof relating to the first set of images and relating to the second set of images to allow for the image subtraction subsystem to form a digital subtraction operation between the first set of images and the second set of images.

13. The medical imaging system of claim 12, wherein the image subtraction subsystem is operable to perform a digital subtraction operation relating to the first set of images and the second set of images to illustrate only the differences between the first set of images and the second set of images for a procedure consisting of contrast angiography, contrast bone cement injection, soft tissue deformations, or combinations thereof.

14. The medical imaging system of claim 13, wherein the first set of images and the second set of images both include three dimensional image data;

wherein the motion correction subsystem is operable to compute a volume change of a contrast media as a function of time;

wherein a motion correction is applied to at least one of the first set of images or the second set of images and the computed volume change as the volume of the difference above a given intensity threshold between the first image set and the second image set;

wherein the computed volume change is constrained to lie within a segmented region of at least one of the first set of images or the second set of images.

15. The medical imaging system of claim 13, further comprising:

a tracked surgical instrument operable to be tracked by the tracking subsystem;

wherein the motion correction subsystem is operable to eliminate motion artifacts caused by changes in the position of the tracked surgical instrument by determining a region including the tracked surgical instrument using measured positions of the tracked surgical instrument relative to an imaging device that acquired the first set of images or the second set of images and data for the three-dimensional shape of the tracked surgical instrument and then eliminate instrument-induced motion artifact from the first set of images or the second set of images.

16. The medical imaging system of claim 1, wherein the first image data set or the second image data set is selected from fluoroscopic image data, magnetic resonance image data, X-ray image data, a computed tomography image data, an ultra-sound image data, or combinations thereof.

17. The medical imaging system of claim 1, wherein the first set of images or the second set of images is one dimensional image data, two dimensional image data, three dimensional image data, or combinations thereof.

18. A medical imaging system operable to capture two or more image sets representative of a patient, comprising:

a tracking subsystem configured to track a tracking marker fixed to the patient to detect a first patient position data, the tracking subsystem also configured to detect a first imaging device position data corresponding to a first image set at a first time and track the tracking marker fixed to the patient to detect a second patient position data and a second imaging device position data corresponding to a second image set at a second time different from the first time, where the first and second patient position data is indicative of a first and second position of a patient, respectively, and the first and second imaging device position data is indicative of a first and second position of an imaging device, respectively, at the first time and second time where the second time is later than the first time; and

a motion correction subsystem operable to receive the first patient position data relative to the imaging device and second patient position data relative to the imaging device from the tracking subsystem corresponding to each of the first image set and the second image set and the first imaging device position data and the second imaging device position data from the tracking subsystem corresponding to the first image set and the second image set, respectively, wherein the motion correction subsystem is operable to determine a change in relative position between the patient and the imaging device based upon the received first patient position data, first imaging device position data, second patient position data, and second imaging device position data, and, upon determining that the change in the relative position is equal to or greater than a threshold change value, compensate in at least one of the first image set or the second image set for the determined change in relative position, prior to an image subtraction subsystem performing a digital subtraction operation;

wherein the determined change in relative position is due to at least one of motion of the patient or motion of the imaging device between the first time and the second time;

wherein the compensation includes the motion correction subsystem correcting at least one of the first image set or the second image set based on the determined change.

19. The medical imaging system of claim 18, wherein the tracking subsystem further comprises:

a tracking sensor; and

a tracking target connected to the tracking marker configured to be fixed to the patient and operable to be located by the tracking sensor;

wherein said tracking target is located via the tracking sensor to allow the tracking subsystem to determine at least one of the patient position data or the imaging device position data.

20. The medical imaging system of claim 18, wherein the tracking subsystem is an electromagnetic tracking subsystem, an acoustic tracking subsystem, an optical tracking subsystem, or combinations thereof.

21. The medical imaging system of claim 18, further comprising:

the imaging device that is operable to obtain the first image set including first images representative of the patient at the first time and the second image set including second images representative of the patient at the second time; and

a tracking target connected to said imaging device trackable by said tracking subsystem so that said tracking subsystem is operable to determine a position of the imaging device when the first image set is obtained at the first time and when the second image set is obtained at the second time.

22. The medical imaging system of claim 21, further comprising:

a patient tracking target selectively attached with the tracking marker to the patient so that said tracking subsystem can determine the first and second patient position data for at least a portion of the patient relating to the first image set and the second image set.

23. The medical imaging system of claim 18, wherein said motion correction subsystem is operable to correct for a motion parallel to an axis of the imaging device, motion perpendicular to an axis of the imaging device, motion rotational relative to an axis of the imaging device, or combinations thereof.

24. The medical imaging system of claim 23, wherein the first and second patient position data and the first and second imaging device position data is substantially three dimensional so that the motion correction subsystem is operable to determine correction in at least three dimensions of the first image set or the second image set.

25. The medical imaging system of claim 18, further comprising:

a display; and

an image subtraction subsystem operable to perform a digital subtraction operation between the first image set and the second image set;

wherein said image subtraction subsystem is operable to subtract at least one of the first image set or the second image set from at least one of the other of the second image set, the first image set, a corrected first image set, or a corrected second image set to create a resultant image data set;

wherein the resultant image data set is operable to be displayed on the display.

26. The medical imaging system of claim 18, where the first image set and the second image set relates to a soft tissue movement procedure, a bone cement placement procedure, a contrast angiography procedure, or combinations thereof.

27. The medical imaging system of claim 18,

wherein the threshold value is a maximum acceptable difference between the patient position data relating to the first image set and the imaging device position data relating to the first image set and that of the second patient position data or the second imaging device position data of the second image set.

28. The medical imaging system of claim 18, wherein both of the first image set and the second image set is selected from fluoroscopic image data, magnetic resonance image data, X-ray image data, a computed tomography image data, an ultra-sound image data, or combinations thereof.

29. The medical imaging system of claim 18, wherein the first image set or the second image set is one dimensional image data, two dimensional image data, three dimensional image data, or combinations thereof.

30. The medical imaging system of claim 18, wherein the first set of images and the second set of images are both three dimensional image data;

wherein the motion correction subsystem is operable to compute volume changes of a contrast media as a function of time;

wherein a motion correction is applied to at least one of the first set of images or the second set of images and the computed volume change as the volume of the difference above a given intensity threshold between the first image set and the second image set;

wherein the computed volume change is constrained to lie within a segmented region of at least one of the first image set or the second image set.

31. The medical imaging system of claim 18, further comprising:

a tracked surgical instrument operable to be tracked by the tracking subsystem;

wherein the motion correction subsystem is operable to eliminate motion artifacts caused by changes in the position of the tracked surgical instrument by determining a region including the tracked surgical instrument using measured positions of the tracked surgical instrument relative to the imaging device and data for the three-dimensional shape of the tracked surgical instrument and then eliminate instrument-induced motion artifact from the first set of images or the second set of images.

32. A method for performing a digital subtraction operation in a medical imaging device, comprising:

determining a first patient position data with a tracking system, the first patient position data indicative of a first position of a patient relative to an imaging system during an acquisition of a first image set at a first time;

determining a second patient position data with the tracking system, the second patient position data indicative of a second position of the patient relative to the imaging system during an acquisition of a second image set at a second time later than the first time;

determining if a change equal to or greater than a threshold value occurs in between the determined first patient position data and the second patient position data during a time interval between the acquisition of the first image set and the acquisition of the second image set based at least on the determined first patient position data and the detected second patient position data;

performing a motion correction on at least the first image set or the second image set if the determined change is equal to or greater than the threshold value, wherein the motion correction includes correction for motion parallel to an axis of the first image set or the second image set, motion perpendicular to an axis of the first image set or the second image set, motion rotational around the axis of the first image set or the second image set, or combinations thereof determined as a position change of the patient relative to an image device that acquired the respective first image set and second image set; and

performing a digital subtraction operation between the first image set and the second image set when the determined change is within the threshold value between one of the first image set and the corrected second image set or the second image set and the corrected first image set.

33. The method of claim 32, wherein capturing a first image set or capturing a second image set includes obtaining image data of the patient based on x-ray image data, fluoroscopy image data, magnetic resonance imaging data, ultrasound imaging data, a computed tomography image data, or combinations thereof.

34. The method of claim 32, wherein detecting a first patient position data and a second patient position data includes capturing patient position data for at least two dimensions relative to the patient.

35. The method of claim 32, wherein detecting a first patient position data and detecting a second patient position data includes detecting patient position data for three dimensions to describe a position of the patient.

36. The method of claim 35, further comprising:

correcting at least the first image set or the second image set based upon the determined change in a position of the patient in regards to rotation relative to the axis along which the image data sets first image set and the second image set are obtained.

37. The method of claim 32, further comprising:

detecting a first device position data indicative of the position of an imaging device during acquisition of the first image set;

detecting a second device position data indicative of the position of the imaging device during the acquisition of the second image set; and

determining if a change occurs in a position of the imaging device during a time interval between the acquisition of the first image set and the acquisition of the second image set.

38. The method of claim 37, further comprising:

determining if a relative position change occurs between the patient and the imaging device during a time interval between the acquisition of the first image set and the acquisition of the second image set.

39. The method of claim 38, further comprising:

performing a motion correction to at least one of the first image set or the second image set if a change is determined to have occurred in the relative position between the patient and the imaging device during the time interval between the acquisition of the first image set and the acquisition of the second image set.

40. The method of claim 32, further comprising:

creating a resultant image data set based upon the digital subtraction operation between the first image set and the second image set.

41. The method of claim 40, further comprising:

displaying the resultant image data set.

42. The method of claim 41, wherein the resultant image data set is illustrative of a contrast angiography, a positioning of a bone cement, a movement of a soft tissue in a patient, or combinations thereof.

43. The method of claim 32, further comprising:

capturing a third image set representative of the patient;

detecting a third patient position data indicative of the position of the patient during the acquisition of the third image set;

determining if a change occurs in a position of a patient during a time interval between the acquisition of the first image set and the acquisition of the third image set;

wherein the capturing of the third image set is performed when a change is determined to have occurred in a position of the patient during a time interval between the acquisition of the first image set and the acquisition of the second image set.

44. The method of claim 32, wherein capturing a first image set or capturing a second image set includes obtaining image data of the patient in at least one dimension image data, two dimension image data, three dimension image data, or combinations thereof.

45. The method of claim 32, further comprising:

injecting a contrast agent into the patient after capturing the first image, wherein the second image set is captured after injecting the contrast agent;

creating a resultant image data set based upon the performed digital subtraction; and

displaying the resultant image data set.

46. The method of claim 45, wherein determining if a change occurs in a position of the patient includes tracking the position of the patient with a tracking sensor at least between the first time and the second time.

47. The method of claim 46, wherein determining if a change occurs in a position of the patient includes tracking the position of the medical imaging device acquiring the first image set and the second image set with a tracking sensor at least between the first time and the second time.

48. The method of claim 45, wherein capturing the first set of images and the second set of images includes capturing three dimensional image data;

computing volume changes of the injected contrast media as a function of time within a segmented region in at least one of the first image set or the second image set;

correcting for motion in at least one of the first set of images or the second set of images and the computed volume change as the volume of the difference above a given intensity threshold.

49. The method of claim 32, further comprising:

tracking a surgical instrument;

eliminating motion artifacts caused by changes in the position of the tracked surgical instrument by determining a region including the tracked surgical instrument using measured positions of the tracked surgical instrument relative to an imaging device that acquired the first image set or the second image set and accessing data for the three-dimensional shape of the tracked surgical instrument and then eliminating instrument-induced motion artifact from the first set of images or the second set of images.

50. The method of claim 32, wherein the threshold value is a maximum acceptable difference between the patient position data relating to the first image set and an imaging device position data relating to the first image set and that of the second patient position data or a second imaging device position data of the second image set.