Hybrid registration method

• US 9,271,803 B2
• Filed: 05/02/2013
• Issued: 03/01/2016
• Est. Priority Date: 06/06/2008
• Status: Active Grant

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Covidien LP (Medtronic Plc)
• Inventors: Averbuch, Dorian, Zur, Oded, Weingarten, Oren
• Primary Examiner(s): NGUYEN, TU T
• Application Number:
  US13/875,685
• Publication Number:
  US 20130245432A1
• Time in Patent Office: 1,034 Days
• Field of Search: 382/131
• US Class Current: 1/1
• CPC Class Codes: A61B 1/2676 Bronchoscopes
• CPC Class Codes: A61B 2017/00699 correcting for movement caused by respiration, e.g. by triggering
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/3762 using computed tomography systems [CT]
• 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 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 5/066 Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
• CPC Class Codes: A61B 5/7246 using correlation, e.g. template matching or determination of similarity
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: G06T 2207/10068 Endoscopic image
• CPC Class Codes: G06T 2207/10081 Computed x-ray tomography [CT]
• CPC Class Codes: G06T 2207/30061 Lung
• CPC Class Codes: G06T 7/0016 involving temporal comparison
• CPC Class Codes: G06T 7/33 using feature-based methods

Abstract

A registration method whereby a sensor-based approach is used to establish initial registration and whereby upon the commencement of navigating an endoscope, image-based registration methods are used in order to more accurately maintain the registration between the endoscope location and previously-acquired images. A six-degree-of-freedom location sensor is placed on the probe in order to reduce the number of previously-acquired images that must be compared to a real-time image obtained from the endoscope.

Claims

1. A method of registering sensor location data to images of at least one body lumen, comprising:

placing a probe including a sensor disposed thereon relative to at least one body lumen in a patient;

sensing an electromagnetic field generated by an electromagnetic field generator;

generating location data corresponding to a location of the sensor in the electromagnetic field;

registering the location of the sensor relative to a previously acquired image selected from a memory of a computing device storing a plurality of previously acquired images of the at least one body lumen based on the location data;

generating a subgroup of the plurality of previously acquired images based on the location data; and

updating the registered location of the sensor based on an image selected from the subgroup.

2. The method according to claim 1, further comprising:

selecting an image from the subgroup based on the location of the sensor.

3. The method according to claim 1, further comprising:

selecting an image from the subgroup that most accurately corresponds to the location of the sensor.

4. The method according to claim 1, wherein registering a location of the sensor includes performing a sensor probe-based registration.

5. The method according to claim 1, wherein updating the registered location of the sensor includes performing an image-based registration.

6. The method according to claim 1, further comprising:

projecting a virtual beam from the probe to a landmark of the at least one body lumen; and

determining a location of the landmark relative to the at least one body lumen based on a display of the virtual beam.

7. The method according to claim 6, further comprising:

registering the location of the landmark relative to a previously acquired image selected from the plurality of previously acquired images of the at least one body lumen.

8. The method according to claim 1, wherein registering a location of the sensor further comprises:

imaging a landmark of the at least one body lumen during at least one breathing cycle;

determining a position of at least one patient sensor disposed on the patient;

generating data corresponding to the landmark based on at least one of the image of the landmark, the determined position of the at least one patient sensor, and the determined location data; and

correlating the location of the sensor to a previously acquired image selected from the plurality of previously acquired images of the at least one body lumen based on the generated data.

9. A method of registering sensor location data to images of at least one body lumen, comprising:

placing a probe including a sensor disposed thereon relative to at least one body lumen in a patient;

sensing an electromagnetic field generated by an electromagnetic field generator;

determining a location of the sensor relative to the at least one body lumen, the location of the sensor corresponding to a location of the sensor in the electromagnetic field;

initially registering the location of the sensor relative to a previously acquired image selected from a memory of a computing device storing a first set of previously acquired images of the at least one body lumen based on the determined location;

generating a second set of previously acquired images from the first set of previously acquired images based on approximate location data generated by the sensor;

selecting an image from the second set based on a comparison between the approximate location data and the second set; and

updating the initially registered location of the sensor based on an image selected from the second set.

10. The method according to claim 9, wherein the second set of previously acquired images is a subgroup of the first set of previously acquired images.

11. The method according to claim 9, wherein the comparison between the approximate location data and the second set is based on the most accurate correspondence between the images of the second set and the approximate location data.

12. The method according to claim 9, further comprising:

projecting a virtual beam from the probe to a landmark of the at least one body lumen;

displaying the virtual beam on a monitor; and

determining a location of the landmark relative to the at least one body lumen based on the display of the virtual beam.

13. The method according to claim 12, further comprising:

registering the location of the landmark relative to a previously acquired image selected from the first set of previously acquired images of the at least one body lumen.

14. The method according to claim 9, wherein registering a location of the sensor further comprises:

imaging a landmark of the at least one body lumen during at least one breathing cycle;

determining a position of at least one patient sensor disposed on the patient;

generating data corresponding to the landmark based on at least one of the image of the landmark, the determined position of the at least one patient sensor, and the determined location of the sensor; and

correlating the location of the sensor to a previously acquired image selected from the first set of previously acquired images of the at least one body lumen based on the generated data.

15. A system for registering sensor location data to images of at least one body lumen, comprising:

a probe configured for placement relative to at least one body lumen in a patient;

at least one sensor disposed on the probe and configured to generate location data corresponding to a location of the sensor relative to the at least one body lumen; and

a plurality of previously acquired images of the at least one body lumen, the location of the sensor configured to be initially registered to an image selected from the plurality of previously acquired images and to generate a subgroup of the plurality of previously acquired images, wherein an image of the subgroup is selected based on a comparison between the location of the sensor and the images of the subgroup to update the initial registration of the location of the sensor to the image selected from the plurality of previously acquired images.

16. The system according to claim 15, wherein the sensor is a six-degree-of-freedom sensor.

17. The system according to claim 15, wherein the probe is a bronchoscope.

18. The system according to claim 15, wherein the subgroup includes at least one image corresponding to the location of the sensor.

19. The system according to claim 15, wherein the probe is further configured to project a virtual beam to a landmark of the at least one body lumen, wherein a location of the landmark relative to the at least one body lumen is determined based on a display of the virtual beam.

20. The system according to claim 15, wherein the comparison between the location of the sensor and the images of the subgroup is based on the most accurate correspondence between the images of subgroup and the location of the sensor.