Instrument-based image registration for fusing images with tubular structures

• US 9,104,902 B2
• Filed: 03/29/2011
• Issued: 08/11/2015
• Est. Priority Date: 04/15/2010
• Status: Active Grant

• Current Assignee: Koninklijke Philips Electronics N.V. (Koninklijke Philips N.V.)
• Original Assignee: Koninklijke Philips N.V.
• Inventors: Xu, Di, Liu, Xin, Gutierrez, Luis Felipe
• Primary Examiner(s): TSAI, TSUNG YIN
• Application Number:
  US13/640,752
• Publication Number:
  US 20130195338A1
• Time in Patent Office: 1,596 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: A61B 6/03 Computed tomography [CT] echo-tomography A61B8/14
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 6/466 adapted to display 3D data
• 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: A61B 6/547 involving tracking of position of the device or parts of the device
• CPC Class Codes: G06T 2207/10081 Computed x-ray tomography [CT]
• CPC Class Codes: G06T 2207/10116 X-ray image
• CPC Class Codes: G06T 2207/30061 Lung
• CPC Class Codes: G06T 7/33 using feature-based methods
• CPC Class Codes: G06V 20/695 Preprocessing, e.g. image segmentation

Abstract

A system and method for registering three-dimensional images with two-dimensional intra-operative images includes segmenting (24) a tubular structured organ in a three-dimensional image of the organ, and projecting (26) the three-dimensional image of the organ into two-dimensional space to provide a projected image. A medical instrument depicted in a two-dimensional image of the medical instrument is segmented (28). A similarity score is computed between the projected image and a shape of the medical instrument depicted in the two-dimensional image to determine a best match. The projected image is registered (30) to the two-dimensional image based on the best match.

Claims

1. A method for registering three-dimensional images with two-dimensional intra-operative images, comprising acts of:

segmenting a tubular structured organ in a three-dimensional image of the organ;

projecting the three-dimensional image of the organ into two-dimensional space to provide a projected image;

segmenting a medical instrument depicted in a two-dimensional image of the medical instrument; and

registering the projected image of the organ to the two-dimensional image of the medical instrument based on a best match between the projected image of the organ and a shape of the medical instrument depicted in the two-dimensional image.

2. The method as recited in claim 1, wherein the act of segmenting the tubular structured organ includes an act of determining a centerline of the tubular structured organ.

3. The method as recited in claim 2, further comprising an act of computing a similarity score to determine the best match, wherein the act of computing the similarity score includes an act of comparing a centerline of a segmented medical instrument with the centerline of the tubular structured organ to determine the similarity score.

4. The method as recited in claim 1, wherein the tubular structured organ includes airways of a lung and the medical instrument includes a bronchoscope.

5. The method as recited in claim 1, wherein the three-dimensional image includes a pre-operative computer tomography image.

6. The method as recited in claim 1, wherein the two-dimensional image includes an intra-procedure X-ray image.

7. The method as recited in claim 6, wherein the shape of the medical instrument is visible in the two-dimensional image.

8. The method as recited in claim 1, wherein the projecting act includes employing a Digital Radiological Reconstruction (DRR) method to project three-dimensional space into the two-dimensional space.

9. The method of claim 1, further comprising acts of:

collecting intra-procedural image data for a position of the medical instrument to obtain the two-dimensional image of the medical instrument relative to a region of interest in the organ; and

computing a similarity score to determine the best match between the projected image and the shape of the medical instrument depicted in the two-dimensional image,

wherein the registering act registers the three-dimensional image to the two-dimensional image to form a registered image based on the best match such that the position of the medical instrument and the region of interest are concurrently visible in the registered image.

10. A system for registering images in a medical procedure, comprising:

a computer processing unit having non-transitory computer readable medium for storing and executing a program for segmenting a tubular structured organ in a three-dimensional image of the organ and projecting the three-dimensional image into a two-dimensional image; and

an intra-procedural imaging device configured to obtain a two-dimensional image of a medical instrument in a region of interest;

the program being configured to compute a similarity score between the projected image and a segmented image of the medical instrument depicted in the two-dimensional image of the medical instrument to determine a best match, and register the projected image to the two-dimensional image based on the best match to be rendered on a display device.

11. The system as recited in claim 10, wherein the program when executed on the computer processing unit further determines a centerline of the tubular structured organ and determines a centerline for the medical instrument, and compares the centerline of the tubular structured organ and the medical instrument to determine the similarity score.

12. The system as recited in claim 10, wherein the tubular structured organ includes a lung and the medical instrument includes a bronchoscope.

13. The system as recited in claim 10, wherein the three-dimensional image includes a pre-operative computer tomography image.

14. The system as recited in claim 10, wherein the intra-procedural imaging device includes an X-ray machine and the two-dimensional image includes an intra-procedure X-ray image.

15. The system as recited in claim 10, wherein the program includes a Digital Radiological Reconstruction (DRR) method to project three-dimensional space into two-dimensional space.

16. A system for registering three-dimensional images with two-dimensional intra-operative images, the system comprising a processor configured to perform acts of:

segmenting a tubular structured organ in a three-dimensional image of the organ;

projecting the three-dimensional image of the organ into two-dimensional space to provide a projected image;

segmenting a medical instrument depicted in a two-dimensional image of the medical instrument; and

registering the projected image to the two-dimensional image based on a best match between the projected image of the organ and a shape of the medical instrument depicted in the two-dimensional image.

17. The system of claim 16, wherein the act of segmenting the tubular structured organ includes an act of determining a centerline of the tubular structured organ.

18. The system of claim 17, wherein the processor is further configured to perform an act of computing a similarity score to determine the best match, wherein the act of computing the similarity score includes an act of comparing a centerline of a segmented medical instrument with the centerline of the tubular structured organ to determine the similarity score.

19. The system of claim 16, wherein the tubular structured organ includes airways of a lung and the medical instrument includes a bronchoscope.

20. The system of claim 16, wherein the three-dimensional image includes a pre-operative computer tomography image.

21. The system of claim 16, wherein the shape of the medical instrument is visible in the two-dimensional image, and wherein the two-dimensional image includes an intra-procedure X-ray image.

22. The system of claim 16, wherein the projecting act includes employing a Digital Radiological Reconstruction (DRR) method to project three-dimensional space into the two-dimensional space.