Apparatus and method for image guided accuracy verification

• US 9,218,664 B2
• Filed: 05/09/2011
• 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: Edwards, Jerome R., Austill, Evan Jr., Lyon, Torsten M., Holsing, Troy L.
• Primary Examiner(s): Roy, Baisakhi
• Assistant Examiner(s): Gupta, Vani
• Application Number:
  US13/103,674
• Publication Number:
  US 20110208044A1
• Time in Patent Office: 1,688 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 image data associated with an image of a dynamic body. The image data includes an indication of the positions of a first marker and a second marker on a garment coupled to the dynamic body. The first marker and second marker are each coupled to the garment at a first and second locations, respectively. A distance is determined between the position of the first marker and the second marker. During a second time interval after the first time interval, data associated with a position of a first and second localization element that are each coupled to the garment is received. A distance between the first and second localization elements is determined. A difference is calculated between the distance between the first marker and the second marker and the distance between the first localization element and the second localization element.

Claims

1. An apparatus, comprising:

a first radiopaque marker coupled to a device at a first location, a second radiopaque marker coupled to the device at a second location, wherein the first and second markers change in orientation relative to each other during a path of motion of a dynamic body;

a first element coupled to the device proximate the location of the first marker; and

a second element coupled to the device proximate the location of the second marker;

the first element and the second element each being coupled to a processor and configured to simultaneously send to the processor position data associated with a plurality of positions in three-dimensional space of the first element and position data associated with a plurality of positions in three-dimensional space of the second element during the path of motion of the dynamic body;

wherein the processor determines a vector distance between the position of the first element and the position of the second element based on the position data for each instant of time for a plurality of instants of time during the motion of the dynamic body.

2. The apparatus of claim 1 wherein the device is a garment having a continuous tubular configuration, a partial tubular configuration, or a substantially planar configuration.

3. The apparatus of claim 1 wherein the dynamic body is the heart of a patient and the path of motion of the dynamic body correlates with the heart beating.

4. The apparatus of claim 1 wherein the dynamic body is a lung of a patient and the path of motion of the dynamic body correlates with at least one of inspiration and expiration.

5. The apparatus of claim 1 wherein the processor determines the vector distance using a segmentation technique selected from Houndsfield unit thresholding, convolution, connected component, combinatory image processing, and combinations thereof.

6. The apparatus of claim 1 wherein the first element and the second element are each one of electromagnetic coils, optical infrared light emitting diodes, optical passive reflective markers, or voltage induced coils.

7. A method, comprising:

receiving, by a processor, during a first time interval, image data associated with a path of motion of a dynamic body, the image data including a plurality of images each indicating a position of a first radiopaque marker on a device coupled to the dynamic body proximate to a targeted anatomy and a position of a second radiopaque marker on the device coupled to the dynamic body for an instant in time throughout the path of motion of the dynamic body, the first radiopaque marker being physically coupled to the device at a first location, the second radiopaque marker being physically coupled to the device at a second location, wherein the first and second radiopaque markers change in orientation relative to each other during the first time interval, and wherein the first and second radiopaque markers are visible in the plurality of images;

determining, by a processor, a vector distance between the position of the first radiopaque marker and the position of the second radiopaque marker in three-dimensional space based on the position of the first radiopaque marker and the position of the second radiopaque marker for each instant of time;

receiving, by a processor, during a medical procedure performed during a second time interval after the first time interval, position data sent to the processor from a first localization element and a second localization element, the position data associated with a position in three-dimensional space of the first localization element physically coupled to the device at the first location and the position data associated with a position in three-dimensional space of the second localization element physically coupled to the device at the second location, and wherein the first and second localization elements change in orientation relative to each other during the second time interval;

determining, by a processor, a vector distance between the position of the first localization element and the position of the second localization element based on the data associated with the position of the first localization element and the position of the second localization element; and

generating, by a processor, simulated, real-time images of the orientation and shape of the targeted anatomy during the medical procedure performed during the second time interval, the generation comprising continuously selecting an image from the plurality of images received during the first time interval and comparing the vector distance between the first radiopaque marker and the second radiopaque marker determined during the first time interval with the vector distance between the first localization element and the second localization element calculated at a given instant of time during the second time interval.

8. The method of claim 7 wherein the medical procedure comprises navigating a navigatable catheter to the targeted anatomy.

9. The method of claim 8 wherein the generation further comprises superimposing, by a processor, the location of an electromagnetic coil coupled to the navigatable catheter on an image of the navigatable catheter to form a superimposed catheter image, and further superimposing, by a processor, the superimposed catheter image on the selected image from the plurality of images received during the first time interval.

10. The method of claim 7 wherein the device is a garment having a continuous tubular configuration, a partial tubular configuration, or a substantially planar configuration.

11. The method of claim 7 wherein the dynamic body is the heart of a patient and the path of motion of the dynamic body correlates with the heart beating.

12. The method of claim 7 wherein the dynamic body is a lung of a patient and the path of motion of the dynamic body correlates with at least one of inspiration and expiration.

13. The method of claim 7 wherein the vector distance is determined using a segmentation technique selected from Houndsfield unit thresholding, convolution, connected component, combinatory image processing, and combinations thereof.

14. The method of claim 7 wherein the receiving image data includes receiving, by a processor, image data from a computed tomography device.

15. The method of claim 7 wherein the receiving image data includes receiving, by a processor, image data from a computed tomography-positron emission tomography device that produces a fused computed tomography-positron emission tomography image dataset.

16. The method of claim 7 wherein the receiving image data includes receiving, by a processor, image data from a magnetic resonance imaging device.

17. The method of claim 7 further comprising:

receiving, by a processor, the data associated with a position of the first localization element and the data associated with a position of the second localization element continuously during the second time interval and recording, by a processor, the data associated with a position of the first localization element and the data associated with a position of the second localization element continuously during the second time interval.

18. 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 path of motion in three-dimensional space of a dynamic body, the image data including a plurality of images taken using an imaging device;

receive, during the first time interval, position data based on the image data received, the position data indicating a position in three-dimensional space of a first radiopaque marker on a device coupled to the dynamic body proximate to a targeted anatomy and a position in three-dimensional space of a second radiopaque marker on the device coupled to the dynamic body for a plurality of instants of time during the first time interval and throughout the path of motion of the dynamic body, the first radiopaque marker being physically coupled to the device at a first location, the second radiopaque marker being physically coupled to the device at a second location, wherein the first and second radiopaque markers change in orientation relative to each other during the first time interval, and wherein the first and second radiopaque markers are visible in the image data;

determine a vector distance between the position of the first radiopaque marker and the position of the second radiopaque marker in three-dimensional space based on the position data for each instant of time from the plurality of instants of time during the first interval;

receive, during a medical procedure performed during a second time interval after the first time interval, position data sent to the processor from a first localization element and a second localization element, the position data associated with a position in three-dimensional space of the first localization element physically coupled to the device at the first location and the position data associated with a position in three-dimensional space of the second localization element physically coupled to the device at the second location, and wherein the first and second localization elements change in orientation relative to each other during the second time interval;

determine a vector distance between the position of the first localization element and the position of the second localization element based on the data associated with the position of the first localization element and the position of the second localization element; and

generate simulated, real-time images of the orientation and shape of the targeted anatomy during the medical procedure performed during the second time interval, the generation comprising continuously selecting an image from the plurality of images received during the first time interval and comparing the vector distance between the first radiopaque marker and the second radiopaque marker determined during the first time interval with the vector distance between the first localization element and the second localization element calculated at a given instant of time during the second time interval.

19. The non-transitory processor-readable medium of claim 18 wherein the comparing includes executing an algorithm configured to compare the determined vector distances associated with the first radiopaque marker and the second radiopaque marker to the vector distance associated with the first localization element and the second localization element.

20. The non-transitory processor-readable medium of claim 18 wherein the device is a garment having a continuous tubular configuration, a partial tubular configuration, or a substantially planar configuration.

21. The non-transitory processor-readable medium of claim 18 wherein the dynamic body is the heart of a patient and the path of motion of the dynamic body correlates with the heart beating.

22. The non-transitory processor-readable medium of claim 18 wherein the dynamic body is a lung of a patient and the path of motion of the dynamic body correlates with at least one of inspiration and expiration.

23. The non-transitory processor-readable medium of claim 18 wherein the vector distance is determined using a segmentation technique selected from Houndsfield unit thresholding, convolution, connected component, combinatory image processing, and combinations thereof.

24. The non-transitory processor-readable medium of claim 18 wherein the receiving image data includes receiving image data from a computed tomography device.

25. The non-transitory processor-readable medium of claim 18 wherein the receiving image data includes receiving image data from a computed tomography-positron emission tomography device that produces a fused computed tomography-positron emission tomography image dataset.

26. The non-transitory processor-readable medium of claim 18 wherein the receiving image data includes receiving image data from a magnetic resonance imaging device.