System and method for image registration of multiple video streams

• US 9,886,552 B2
• Filed: 08/12/2011
• Issued: 02/06/2018
• Est. Priority Date: 08/12/2011
• Status: Active Grant

• Current Assignee: Help Lightning, Inc., UAB Research Foundation (University of Alabama System)
• Original Assignee: Help Lightning, Inc.
• Inventors: Dillavou, Marcus W., Shum, Phillip Corey, Guthrie, Baron L., Shenai, Mahesh B., Deaton, Drew Steven, May, Matthew Benton
• Primary Examiner(s): Merouan, Abderrahim
• Application Number:
  US13/208,926
• Publication Number:
  US 20130038632A1
• Time in Patent Office: 2,370 Days
• Field of Search: 345 8, 345157, 345419, 345427, 345428, 345475, 345633, 382103, 382154, 348208, 348169, 348 46, 703 6
• CPC Class Codes: G06F 3/1431 using a single graphics controller
• CPC Class Codes: G09G 2340/02 Handling of images in compressed format, e.g. JPEG, MPEG
• CPC Class Codes: G09G 2370/045 using multiple communication channels, e.g. parallel and serial
• CPC Class Codes: G09G 2380/08 Biomedical applications
• CPC Class Codes: G09G 3/003 to produce spatial visual effects
• CPC Class Codes: G09G 5/397 Arrangements specially adapted for transferring the contents of two or more bit-mapped memories to the screen simultaneously, e.g. for mixing or overlay G09G5/02 takes precedence
• CPC Class Codes: G16H 20/00 ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
• CPC Class Codes: G16H 20/30 relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
• CPC Class Codes: G16H 20/40 relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 30/20 for handling medical images, e.g. DICOM, HL7 or PACS
• CPC Class Codes: G16H 30/40 for processing medical images, e.g. editing
• CPC Class Codes: G16H 40/63 for local operation
• CPC Class Codes: G16H 40/67 for remote operation
• CPC Class Codes: G16H 50/50 for simulation or modelling of medical disorders
• CPC Class Codes: G16H 80/00 ICT specially adapted for facilitating communication between medical practitioners or patients, e.g. for collaborative diagnosis, therapy or health monitoring
• CPC Class Codes: G16Z 99/00 Subject matter not provided for in other main groups of this subclass
• CPC Class Codes: H04N 13/161 Encoding, multiplexing or demultiplexing different image signal components for multi-view video sequence encoding H04N19/597
• CPC Class Codes: H04N 13/167 Synchronising or controlling image signals
• CPC Class Codes: H04N 13/194 Transmission of image signals

Abstract

Provided herein are methods and systems for image registration from multiple sources. A method for image registration includes rendering a common field of interest that reflects a presence of a plurality of elements, wherein at least one of the elements is a remote element located remotely from another of the elements and updating the common field of interest such that the presence of the at least one of the elements is registered relative to another of the elements.

Claims

1. A method for image registration comprising:

receiving a first image from a local device, the first image comprising a representation of a first element, wherein the first image has a first alignment and orientation when viewed relative to a coordinate system;

receiving a second image from a remote device, the second image comprising a representation of a second element physically disposed remotely from the first element, wherein, prior to transmission, the second image had a second alignment and orientation when viewed relative to the coordinate system, and wherein the second image is received in a transformed state resulting, at least in part, from a skew, shift, crop, translation, or combination thereof of the second image during transmission such that display of the second image in the transformed state results in a transformed alignment and orientation different from the second alignment and orientation;

generating a common field of interest based on the first image and the second image such that the presence of at least one of the first element and the second element is spatially registered relative to the other of the first element and the second element, wherein generating the common field of interest comprises a de-transformation of at least the second image and wherein the de-transformation comprises applying one or more image transforms to one or more of the first image and the second image, and wherein the one or more image transforms are based on a first transformation characteristic of one or more of the local device and the remote device and a second transformation characteristic resulting from transmission of one or more of the first image and the second image, wherein the de-transformation of at least the second image facilitates display of the second image having the second alignment and orientation when viewed relative to the coordinate system; and

rendering the common field of interest, wherein the first element and the second element in the common field of interest are rendered to a remote viewer and a local viewer with a substantially similar alignment and orientation.

2. The method of claim 1, further comprising rendering the presence of each of the first element and the second element in real time, wherein each of the first element and the second element is registered relative to another of the elements.

3. The method of claim 1, further comprising the step of rendering interaction between the first element and the second element in the common field of interest.

4. The method of claim 1, further comprising the step of continuously updating the common field of interest such that the presence of the first element and the second element is rendered in real time to a local viewer.

5. The method of claim 1, further comprising the step of continuously updating the common field of interest such that the presence of the first element and the second element is rendered in real time to a remote viewer.

6. The method of claim 1, further comprising the step of calibrating the common field of interest by aligning a calibration feature of a remote field and a calibration feature of a local field, wherein the calibration feature is transmitted from the remote device to the local device and is transformed during transmission, and wherein a de-transformation of the calibration feature facilitates determination of the one or more image transforms applied to one or more of the first image and the second image.

7. The method of claim 6, wherein the calibration features of the remote field and the local field are aligned relative to the coordinate system.

8. The method of claim 6, wherein the calibration features of the remote field and the local field are aligned relative to a pre-defined virtual fiducial.

9. The method of claim 1, wherein the second image comprises a registration mechanism and wherein the registration mechanism is received in a transformed state resulting, at least in part, from a skew, shift, crop, translation, or combination thereof of the registration mechanism during transmission.

10. A method for image registration comprising:

generating, using a local device, a first image representing a first element having a first alignment and orientation when viewed relative to a coordinate system;

generating, using a remote device, a second image representing a second element having a second alignment and orientation when viewed relative to the coordinate system, wherein the second element is physically disposed remotely from the first element, and wherein at least one of the first image and the second image is part of a live video stream;

determining an image transform based on a transformed state of one or more of the first image and the second image, the transformed state altering one or more of the first orientation and alignment and the second orientation and alignment, wherein the transformed state of the one or more of the first image and the second image is based, at least in part, on a skew, shift, crop, translation, or combination thereof of the one or more of the first image and the second image caused by transmission of the one or more of the first image and the second image due at least in part to compression or decompression, or both of the one or more of the first image and the second image, and wherein the transformed state is based on a transformation characteristic of each of the local device and the remote device; and

rendering a composite image including the first image and the second image, wherein at least one of the first image and the second image is spatially registered relative to the other of the first image and the second image based upon a registration feature inserted onto at least one of the first image and the second image, wherein the first image and the second image in the composite image are rendered to a remote viewer and a local viewer with a substantially similar alignment and orientation, wherein rendering the composite image comprises a de-transformation of one or more of the first image and the second image, wherein the de-transformation comprises applying the image transform to one or more of the first image and the second image, and wherein the de-transformation facilitates display of the first image having the first orientation and alignment and the second image having the second orientation and alignment.

11. The method according to claim 10, wherein the registration feature is a third image inserted onto at least one of the first image and the second image.

12. The method of claim 10, wherein the registration feature is a virtual image rendered in the common field of interest.

13. The method of claim 10, wherein at least one of the first image and the second image is part of a video stream.

14. The method of claim 10, further comprising the step of continuously updating the composite image to render the composite image in real time to at least one of a local viewer and a remote viewer.

15. A system for image registration comprising:

a display configured for displaying a common field of interest;

a sensor configured for obtaining image data;

a processor in signal communication with the display and the sensor,

wherein the processor is configured to perform steps comprising,

generating, based at least on the image data, a first image representing a first element having a first alignment and orientation when viewed relative to a coordinate system;

receiving a second image representing a second element having a second alignment and orientation when viewed relative to the coordinate system, wherein the second element is physically disposed remotely from the first element, and wherein at least one of the first image and the second image is part of a live video stream;

determining an image transform based on a transformed state of one or more of the first image and the second image, the transformed state altering one or more of the first orientation and alignment and the second orientation and alignment, wherein the transformed state of the one or more of the first image and the second image is based, at least in part, on a skew, shift, crop, translation, or combination thereof of the one or more of the first image and the second image caused by transmission of the one or more of the first image and the second image due at least in part to compression or decompression, or both of the one or more of the first image and the second image, and wherein the transformed state is based on a transformation characteristic of each of the local device and the remote device; and

rendering a composite image including the first image and the second image, wherein at least one of the first image and the second image is spatially registered relative to the other of the first image and the second image based upon a registration feature inserted onto at least one of the first image and the second image, wherein the first image and the second image in the composite image are rendered to a remote viewer and a local viewer with a substantially similar alignment and orientation, wherein rendering the composite image comprises a de-transformation of one or more of the first image and the second image, and wherein the de-transformation facilitates display of the first image having the first orientation and alignment and the second image having the second orientation and alignment.

16. The system of claim 15, wherein the sensor is at least one of a camera, an infrared sensor, a light sensor, a RADAR device, a SONAR device, and a depth scan sensor.

17. The system of claim 15, wherein the processor is configured to perform the step of continuously updating the common field of interest such that the presence of the remote element is rendered in real time to a local viewer.

18. The system of claim 15, wherein the processor is configured to perform the step of continuously updating the common field of interest such that the presence of a local one of the elements is rendered in real time to a remote viewer.