Selected image acquisition technique to optimize patient model construction

• US 9,713,505 B2
• Filed: 06/30/2014
• Issued: 07/25/2017
• Est. Priority Date: 10/20/2010
• Status: Active Grant

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Inventors: Helm, Patrick A., Shi, Shuanghe
• Primary Examiner(s): Kiknadze, Irakli
• Application Number:
  US14/319,216
• Publication Number:
  US 20140314203A1
• Time in Patent Office: 1,121 Days
• Field of Search: 378 4, 378 15, 378 19, 378205, 378 62
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2090/0818 Redundant systems, e.g. using two independent measuring systems and comparing the signals
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/367 creating a 3D dataset from 2D images using position information
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/3764 with a rotating C-arm having a cone beam emitting source
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 2090/3995 Multi-modality markers
• 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 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 6/4476 related to motor-assisted motion of the source unit
• CPC Class Codes: A61B 6/461 Displaying means of special interest
• CPC Class Codes: A61B 6/467 characterised by special input means
• CPC Class Codes: A61B 6/487 involving fluoroscopy
• CPC Class Codes: A61B 6/52 Devices using data or image processing specially adapted for radiation diagnosis
• 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: G06T 11/005 : Specific pre-processing for tomographic reconstruction, e.g. calibration, source positioning, rebinning, scatter correction, retrospective gating
• CPC Class Codes: G06T 17/10 : Constructive solid geometry [CSG] using solid primitives, e.g. cylinders, cubes
• CPC Class Codes: G06T 2211/412 : Dynamic

Abstract

A system and a method are disclosed that allow for generation of a model or reconstruction of a model of a subject based upon acquired image data. The image data can be acquired in a substantially mobile system that can be moved relative to a subject to allow for image acquisition from a plurality of orientations relative to the subject. The plurality of orientations can include a first and final orientation and a predetermined path along which an image data collector or detector can move to acquire an appropriate image data set to allow for the model of construction.

Claims

1. A method of acquiring image data of a subject with an imaging system, comprising:

acquiring initial image data of at least a portion of the subject with a mobile imaging system including the gantry movably attached to a mobile cart;

constructing an initial three-dimensional model of the portion of the subject prior to a procedure performed on the portion of the subject;

acquiring discriminatory discrete location image data of the subject;

executing instructions with a processor system to compare the acquired discriminatory discrete location image data to the constructed initial three-dimensional model of the portion of the subject;

executing instructions with the processor system to identify specific regions of threshold change between the acquired discriminatory discrete location image data and the constructed initial three-dimensional model of the portion of the subject; and

executing instructions with the processor system to determine one or more comparative paths along which a detector shall move to acquire comparative image data.

2. The method of claim 1, wherein constructing the initial three dimensional model of the portion of the subject includes executing instructions with a processor system to determine errors between simulated projection image data of a theoretical model and the initial image data acquired of at least a portion of the subject with the imaging system.

3. The method of claim 1, wherein the specific regions of threshold change include regions of the subject that have changed beyond a threshold selected for comparison between the discrete location image data and forward projection of the initial three dimension volumetric model of the subject due to a procedure performed on the subject, movement of the subject, or combinations thereof.

4. The method of claim 1, wherein executing instructions with the processor system to determine the one or more comparative paths includes determining an initial comparative location of the detector, determining a final location of the detector, and determining movements of the detector and the gantry to allow detecting of the comparative image data to allow a construction of a comparative three dimensional model to illustrate a current configuration of the subject.

5. The method of claim 4, wherein the comparative three dimensional model is constructed by executing instructions with the processor system to update those portions of the initial three dimensional model based upon the comparative image data acquired when moving the imaging system along the one or more comparative paths.

6. The method of claim 5, further comprising:

displaying the comparative three dimensional model of the subject to view a current configuration of the portion of the subject.

7. The method of claim 1, wherein acquiring the initial image data and acquiring the comparative image data includes detecting x-rays that have passed through at least the portion of the subject.

8. A method of acquiring image data of a subject with an imaging system, comprising:

constructing an initial three-dimensional model of a portion of the subject with an acquired initial image data set of at least the portion of the subject;

acquiring discriminatory discrete location image data of the subject; and

executing instructions with a processor system to;

compare the acquired discriminatory discrete location image data to the constructed initial three-dimensional model of the portion of the subject,

identify specific regions having a threshold change between the acquired discriminatory discrete location image data and the constructed initial three-dimensional model of the portion of the subject,

determine one or more comparative paths along which a detector shall move to acquire comparative image data, and

construct a comparative three dimensional model to illustrate a current configuration of the subject at least by updating selected portions of the initial three dimensional model based upon the comparative image data acquired when moving the imaging system along the comparative path.

9. The method of claim 8, further comprising:

positioning a gantry relative to the subject;

wherein the detector is housed within a volume of the gantry.

10. The method of claim 9, wherein determine one or more comparative paths along which the detector shall move includes determining a path that the detector shall move within an internal annular volume of the gantry.

11. The method of claim 10, wherein determine one or more comparative paths along which the detector shall move further includes determining a movement of the gantry separate from the detector.

12. The method of claim 11, wherein determine one or more comparative paths includes determining an initial comparative location of the detector, determining a final comparative location of the detector, and determining movements of the detector and the gantry to allow detecting of the comparative image data.

13. The method of claim 8, wherein acquiring the discriminatory discrete location image data of the subject includes acquiring less image data than the initial image data set.

14. The method of claim 13, further comprising:

acquiring the initial data set at least by moving the imaging system along an optimal path; and

recalling the optimal path.

15. The method of claim 14, further comprising:

selecting the optimal path based upon an input selecting the portion of the subject to be imaged.

16. A system for acquiring image data of a subject, comprising:

an imaging system including a gantry having an internal annular volume and a detector moveable within the internal annular volume, wherein the detector is configured to detect an emission from a source;

a processor system configured to;

construct an initial three-dimensional model of a selected portion of the subject with an acquired initial image data set of at least the selected portion of the subject;

compare acquired discriminatory discrete location image data to the constructed initial three-dimensional model of the selected portion of the subject,

identify specific regions having a threshold change between the acquired discriminatory discrete location image data and the constructed initial three-dimensional model of the portion of the subject,

determine one or more comparative paths along which a detector shall move to acquire comparative image data, and

construct a comparative three dimensional model to illustrate a current configuration of the subject at least by updating selected portions of the initial three dimensional model based upon the acquired comparative image data.

17. The system of claim 16, wherein the imaging system further includes an annular track within the gantry.

18. The system of claim 16, wherein the source is configured to emit x-rays to be detected by the detector.

19. The system of claim 16, wherein the imaging system is operated to acquire the initial image data set, the discriminatory discrete location image data, and the comparative image data.

20. The system of claim 16, further comprising:

a memory system configured to store an optimal path for acquisition of the initial image data set of at least the portion of the subject; and

an input to allow a user to input the selected portion of the subject for imaging.