C-arm computerized tomography system

• US 9,044,190 B2
• Filed: 09/25/2007
• Issued: 06/02/2015
• Est. Priority Date: 09/25/2006
• Status: Active Grant

• Current Assignee: Mazor Robotics, Ltd (Medtronic Plc)
• Original Assignee: Mazor Robotics, Ltd (Medtronic Plc)
• Inventors: Rubner, Joseph, Zehavi, Eli, Kleyman, Leonid, Shoham, Moshe
• Primary Examiner(s): Ho, Allen C.
• Application Number:
  US12/442,689
• Publication Number:
  US 20100284601A1
• Time in Patent Office: 2,807 Days
• Field of Search: 378/207, 378/62
• US Class Current: 1/1
• CPC Class Codes: A61B 6/4405 the apparatus being movable or portable, e.g. handheld or mounted on a trolley
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 6/583 using calibration phantoms

Abstract

A system and method for generating CT-type three dimensional imaging information from a conventional C-arm fluoroscope system. This enables the adaptation of widely used C-arm installations to provide CT-type information. The system uses a three dimensional target disposing in a fixed position relative to the subject, and obtains a sequence of video images of a region of interest of a subject while the C-arm is moved manually or by a scanning motor. Images from the video sequence are analyzed to determine the pose of the C-arm relative to the subject by analysis of the image patterns of the target. Images are selected from the video sequence according to predetermined criteria. A set of two-dimensional image data with associated positional data is obtained, which is used to reconstruct a three dimensional volumetric set of imaging data of the region of interest of the subject.

Claims

1. A method of using a C-arm X-ray fluoroscopic two dimensional imaging system for generating a volumetric set of imaging data, comprising the steps of:

providing an X-ray fluoroscopic two dimensional imaging system having a source and a camera connected by a C-arm, said system imaging a region of interest of a subject disposed between said source and said camera;

disposing a target having a series of X-ray opaque markers disposed in a three dimensional pattern, in a fixed position relative to the subject, and where at least part of the target will be imaged by said X-ray imaging system;

manually applying a motion path to said C-arm;

obtaining from said camera a sequence of video images of said region of interest of the subject while said C-arm performs said motion path;

determining a pose of said C-arm relative to the subject for at least some of said sequence of video images by analyzing image patterns of said target;

selecting a number of video images from said sequence of video images; and

using said selected video images and their determined poses to reconstruct a three-dimensional volumetric set of imaging data of said region of interest of the subject.

2. A method according to claim 1, wherein said pose of said C-arm relative to the subject is determined for essentially all of said video images, before selection of any video images.

3. A method according to claim 1, wherein said pose of said C-arm relative to the subject is determined only for selected ones of said video images.

4. A method according to claim 1, wherein at least some of said sequence of video images are interlaced fields of an analog video frame.

5. A method according to claim 1, further comprising the step of processing said selected video images in a deblurring module for reducing the effect of motion of said C-arm.

6. A method according to claim 1, wherein said disposing of said target in a fixed position relative to the subject is achieved by affixing said target to any of the subject, or a bed or a table on which the subject is lying.

7. A method according to claim 1, further comprising the step of processing said selected video images in an image sequence comparison module, which predicts features of a selected video image by analysis of at least some video images preceding said selected video image.

8. A method according to claim 7, wherein said predicted features are the expected positions of the image patterns of said target, such that calculation of the pose associated with said selected image can be performed without the need to search for said image patterns of said target over the whole of said selected image.

9. A method according to claim 7, wherein said predicted features are expected features missing from said selected video image.

10. A method according to claim 7, wherein said image sequence comparison module predicts a dewarping function for the pose associated with said selected video image, by analysis of the dewarping function of the pose associated with at least some images preceding said selected image.

11. A method according to claim 1, wherein said C-arm motion path is not isocentric.

12. A method according to claim 1, wherein said C-arm motion path is non-uniform.

13. A method according to claim 1, wherein said motion path can be arbitrarily selected.

14. A method according to claim 1, wherein motion of said C-arm can be stopped temporarily during its path.