Apparatus and method for automatic image guided accuracy verification

• US 9,218,663 B2
• Filed: 02/26/2011
• Issued: 12/22/2015
• Est. Priority Date: 09/13/2005
• Status: Active Grant

• Current Assignee: Veran Medical Technologies, Inc. (Olympus Corporation)
• Original Assignee: Veran Medical Technologies, Inc. (Olympus Corporation)
• Inventors: Lyon, Torsten M., Holsing, Troy L., Edwards, Jerome R., Lee, Christopher B., Austill, Evan Jr.
• Primary Examiner(s): Gupta, Vani
• Application Number:
  US13/035,945
• Publication Number:
  US 20110184276A1
• Time in Patent Office: 1,760 Days
• Field of Search: 600407-480
• US Class Current: 1/1
• CPC Class Codes: A61B 2017/00699 correcting for movement caused by respiration, e.g. by triggering
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• CPC Class Codes: A61B 2090/3966 Radiopaque markers visible in an X-ray image
• CPC Class Codes: A61B 2090/3979 infrared
• CPC Class Codes: A61B 2576/00 Medical imaging apparatus involving image processing or analysis A61B1/00009, A61B6/52 and A61B8/52 take precedence; image processing per se G06T; details of algorithms for analysing medical images G06T7/0012
• 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 5/11 Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb for measuring pulse A61B5/02 ;A61B5/1038 takes precedence; motion detection to correct for motion artifacts in physiological signals A61B5/721
• CPC Class Codes: A61B 5/1127 using markers
• CPC Class Codes: A61B 5/6804 Garments; Clothes
• CPC Class Codes: A61B 5/7246 using correlation, e.g. template matching or determination of similarity
• CPC Class Codes: A61B 5/7271 Specific aspects of physiological measurement analysis A61B5/316, A61B5/349 and A61B5/374 take precedence
• CPC Class Codes: A61B 6/00 Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment instruments measuring radiation intensity for application in the field of nuclear medicine, e.g. in vivo counting, G01T1/161; apparatus for taking X-ray photographs G03B42/02
• CPC Class Codes: A61B 6/032 : Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/037 : Emission tomography
• CPC Class Codes: A61B 6/12 : Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/486 : involving generating temporal series of image data
• CPC Class Codes: A61B 6/5217 : extracting a diagnostic or physiological parameter from medical diagnostic 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 6/541 : involving acquisition triggered by a physiological signal
• CPC Class Codes: A61B 6/547 : involving tracking of position of the device or parts of the device
• CPC Class Codes: A61B 90/39 : Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: G06T 11/60 : Editing figures and text; Combining figures or text
• CPC Class Codes: G06T 15/00 : 3D [Three Dimensional] image rendering
• CPC Class Codes: G06T 2200/04 : involving 3D image data
• CPC Class Codes: G06T 2207/10081 : Computed x-ray tomography [CT]
• CPC Class Codes: G06T 2207/30196 : Human being; Person
• CPC Class Codes: G06T 2207/30204 : Marker
• CPC Class Codes: G06T 7/246 : using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06T 7/30 : Determination of transform parameters for the alignment of images, i.e. image registration
• CPC Class Codes: G06T 7/33 : using feature-based methods
• CPC Class Codes: G06T 7/38 : Registration of image sequences
• CPC Class Codes: G06T 7/70 : Determining position or orientation of objects or cameras camera calibration G06T7/80

Abstract

A method includes receiving during a first time interval associated with a path of motion of a dynamic body, image data associated with a plurality of images of the dynamic body. The plurality of images include an indication of a position of a first marker coupled to a garment at a first location, and a position of a second marker coupled to the garment at a second location. The garment is coupled to the dynamic body. During a second time interval, an image from the plurality of images is automatically identified that includes a position of the first marker that is substantially the same as a position of a first localization element relative to the dynamic body and a position of the second marker that is substantially the same as a position of the second localization element relative to the dynamic body.

Claims

1. A non-transitory processor-readable medium storing code representing instructions to cause a processor to perform a process, the code comprising code to:

receive, during a first time interval, image data associated with a plurality of 3-D images of a dynamic body during a path of motion of the dynamic body, the 3-D images taken using an imaging device, the dynamic body having an apparatus coupled to the dynamic body, the apparatus having a plurality of radiopaque markers physically coupled thereto, wherein the plurality of radiopaque markers change in orientation relative to each other during the first time interval, and wherein the plurality of radiopaque markers are visible in the 3-D images and the images provide an indication of a position in a model space of each of the plurality of radiopaque markers;

receive, during a second time interval after the first time interval, data associated with a plurality of localization elements physically coupled to the apparatus proximate the plurality of radiopaque markers, the data sent to the processor from the plurality of localization elements and including a position in a physical space of each of the plurality of localization elements during a path of motion of the dynamic body, wherein the plurality of localization elements change in orientation relative to each other during the second time interval;

automatically compare the data associated with the position of each of the localization elements from the plurality of localization elements with the position of each radiopaque marker from the plurality of radiopaque markers identified from the data associated with a plurality of 3-D images; and

automatically identifying a first radiopaque marker from the plurality of radiopaque markers within the plurality of 3-D images having substantially the same position as a first localization element from the plurality of localization elements relative to the dynamic body based on the comparing.

2. The non-transitory processor-readable medium of claim 1, further comprising code to:

select an image from the plurality of images associated with the identified radiopaque marker.

3. The non-transitory processor-readable medium of claim 1, further comprising code to:

automatically identify a second radiopaque marker from the plurality of radiopaque markers within the plurality of 3-D images having substantially the same position as a second localization element from the plurality of localization elements relative to the dynamic body based on the comparing; and

select an image from the plurality of 3-D images associated with the identified first radiopaque marker and the identified second radiopaque marker.

4. The non-transitory processor-readable medium of claim 1, further comprising code to:

receive during the second time interval data associated with a position in the physical space of a third localization element relative to the dynamic body, the third localization element coupled to the dynamic body;

project the position of the third localization element from the physical space to the data associated with a plurality of images in the model space; and

determine that a third radiopaque marker either one of exists or does not exists in an image from the plurality of images at substantially the same position as the third localization element.

5. The non-transitory processor-readable medium of claim 1, wherein the automatically identifying includes automatically correlating the identified position of the localization element with a position of the radiopaque marker within an image from the plurality of images.

6. The non-transitory processor-readable medium of claim 3, further comprising code to:

automatically register the path of motion of the dynamic body associated with the second time interval with the path of motion of the dynamic body associated with the first time interval, based on the automatically identifying.

8. The non-transitory processor-readable medium of claim 6, wherein the automatic registration includes identifying at least one temporal reference within the plurality of images and whether the at least one temporal reference is associated with at least one of the first radiopaque marker or the second radiopaque marker, wherein the identifying provides a navigational path for a medical instrument to be directed based on the identified image.

9. The non-transitory processor-readable medium of claim 8, wherein the navigational path is used to guide a medical instrument to the dynamic body while performing a medical procedure on the dynamic body during the second time interval.

7. A non-transitory processor-readable medium storing code representing instructions to cause a processor to perform a process, the code comprising code to:

receive, during a first time interval, image data associated with a plurality of 3-D images of a dynamic body during a path of motion of the dynamic body, the 3-D images taken using an imaging device, the dynamic body having an apparatus coupled thereto, the apparatus having a plurality of radiopaque markers physically coupled thereto, wherein the plurality of radiopaque markers change in orientation relative to each other during the first time interval, and wherein the plurality of radiopaque markers are visible in the 3-D images;

receive, during a second time interval after the first time interval, data associated with a plurality of localization elements physically coupled to the apparatus proximate the plurality of radiopaque markers, the data sent to the processor from the plurality of localization elements and including a position in a physical space of each of the plurality of localization elements during a path of motion of the dynamic body, wherein the plurality of localization elements change in orientation relative to each other during the second time interval;

automatically segment the data associated with the plurality of 3-D images from the first time interval to identify a position in a model space of each of the at least one radiopaque markers from the plurality of radiopaque markers;

automatically correlate the data associated with the position of the at least one radiopaque markers from the plurality of radiopaque markers from the first time interval with the data associated with the position of each of the localization elements from the plurality of localization elements from the second time interval; and

automatically register a path of motion of the dynamic body during the first time interval with a path of motion of the dynamic body during the second time interval based on the automatically correlating.

10. The non-transitory processor-readable medium of claim 7, further comprising code to:

automatically identify a first radiopaque marker and a second radiopaque marker from the plurality of radiopaque markers within the plurality of 3-D images having substantially the same position as a second localization element from the plurality of localization elements relative to the dynamic body based on the comparing; and

identify an image from the plurality of 3-D images associated with the identified first radiopaque marker and the identified second radiopaque marker.

11. The non-transitory processor-readable medium of claim 10, wherein the automatic registration includes identifying at least one temporal reference within the plurality of images and whether the at least one temporal reference is associated with at least one of the first radiopaque marker or the second radiopaque marker, wherein the identifying provides a navigational path for a medical instrument to be directed based on the identified image.

12. The non-transitory processor-readable medium of claim 11, wherein the navigational path is used to guide a medical instrument to the dynamic body while performing a medical procedure on the dynamic body during the second time interval.