EP1722704A1 - Procede, systeme et programme d'ordinateur pour la validation de mise en correspondance geometrique dans un environnement medical - Google Patents

Procede, systeme et programme d'ordinateur pour la validation de mise en correspondance geometrique dans un environnement medical

Info

Publication number
EP1722704A1
EP1722704A1 EP05708829A EP05708829A EP1722704A1 EP 1722704 A1 EP1722704 A1 EP 1722704A1 EP 05708829 A EP05708829 A EP 05708829A EP 05708829 A EP05708829 A EP 05708829A EP 1722704 A1 EP1722704 A1 EP 1722704A1
Authority
EP
European Patent Office
Prior art keywords
data set
anatomical site
geometry
image
dimensional image
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP05708829A
Other languages
German (de)
English (en)
Inventor
Johannes T. M. Van Woezik
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Koninklijke Philips NV
Original Assignee
Koninklijke Philips Electronics NV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koninklijke Philips Electronics NV filed Critical Koninklijke Philips Electronics NV
Priority to EP05708829A priority Critical patent/EP1722704A1/fr
Publication of EP1722704A1 publication Critical patent/EP1722704A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/58—Testing, adjusting or calibrating thereof
    • A61B6/582—Calibration
    • A61B6/583—Calibration using calibration phantoms
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10072—Tomographic images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30052—Implant; Prosthesis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2210/00—Indexing scheme for image generation or computer graphics
    • G06T2210/41—Medical

Definitions

  • the invention relates to a method of validation of matching between geometry of an anatomical site and geometry of an object conceived to be positioned within said anatomical site.
  • the invention further relates to a system for enabling a validation of matching between geometry of an anatomical site and geometry of an object conceived to be positioned within said anatomical site.
  • the invention still further relates to a computer program.
  • An embodiment of a method as is set forth in the opening paragraph is known from US 6,424,332.
  • the known method is suitable for comparing a digitized image of a joint implant with a medical image representative of geometry of a human joint, said medical image being provided on a hard-copy carrier.
  • the known hard-copy carrier comprises an X- ray film transparency, which is mountable in front of a suitable display means whereto the digitized image of the implant is projected.
  • the known digitized image of the implant can be provided as a digital graphical model of the implant or, alternatively, it can be provided as another suitable image.
  • the known method is suitable for practicing a preparative step for a clinical intervention, for example for selecting a correct implant conceived to be inserted into a target area of a patient.
  • the clinician provided with a medical transparency, which is fixed in front of the digitized image of the implant, can check whether the implant fits to the target area. In case the clinician is certain that a proper implant is selected, he can start the intervention.
  • the method according to the invention comprises the steps of: obtaining a first data set representative of geometry of the anatomical site by means of a diagnostic medical apparatus; obtaining a second data set representative of geometry of the object, superimposing the first data set and the second data set using a processing means.
  • the technical measure of the invention is based on the insight that by obtaining the data set representative of geometry of the anatomical site by means of a suitable diagnostic medical apparatus, said data set can be made available for further analysis e.g. in a digital form.
  • the data set can be obtained by recording of suitable signals from the medical diagnostic apparatus.
  • the signals can be provided as electronic signals or as optical signals.
  • wireless communication using Blue Tooth standard or any other suitable carrier, like an infra-red carrier is contemplated.
  • the geometric description is not limited to two- dimensional representation, but comprises a full three-dimensional description of the geometry of the object.
  • a view of a cross-section of the geometric description can be generated using suitable calculation means while keeping a magnification factor for the object the same as for the anatomical site.
  • the spatial orientation of the cross-section is selected in accordance with a direction of a projection of the first data set.
  • the first data set is corrected for geometric distortions using per se known corrective measures.
  • the method according to the invention improves the workflow. Namely, using the method of the invention, it is possible to create an own customized library of useful objects. For example, this library can comprise saved superimposed images for certain standard views (for example, lateral, frontal, etc.) and/or for some useful customized views.
  • the method further comprises the steps of: reconstructing a first three-dimensional image representative of the anatomical site using the first plurality of imaging proj ections; reconstructing a second three-dimensional image representative of the object using the second plurality of imaging projections; using the first three-dimensional image and the second three-dimensional image for superimposing. It is found to be particularly advantageous to superimpose the three- dimensional images representative of the geometry of the anatomical site and of the object, respectively.
  • the method comprises the steps of: carrying out an automatic delineation of a volume of interest within the first three- dimensional image; - carrying out an automatic fitting of the second three-dimensional image to the volume of interest.
  • the anatomical site frequently comprises irregular shapes, it is advantageous to automatically create a volume of interest within the anatomical site whereto the object is to be fitted.
  • the procedure of an automatic delineation of the volume of interest is per se known in the art, and can, for example, be carried out based on grey-scale ' values within the first three-dimensional image. As a result, all not essential information within the first three-dimensional image is discarded and the targeted fit is carried out.
  • the shape of the volume of interest is smoothed and geometrically described using suitable functions. During matching of the well defined structure, like the second three- dimensional image, with geometrically described volume of interest, it is possible to obtain further quantitative information about the degree of conformance between two images with further improved accuracy.
  • a system comprises: - storage means arranged to store a first data set representative of geometry of the anatomical site and a second data set representative of geometry of the object, processing means arranged to retrieve the first data set and the second data set from the storage means, said processing means being further arranged to superimpose the first data set and the second data set to yield a superimposed image; display means arranged to visualize the superimposed image.
  • the user of the system according to the invention is enabled to select one or more computerized images of the anatomical site and one or more computerized images of the object or of different objects simultaneously on-line, even immediately before the planned intervention commences.
  • the user can effectively and accurately carry out the task of selection of a proper object, matching geometry of the anatomical site.
  • Any data set can be obtained by recording of suitable signals from the medical diagnostic apparatus.
  • the signals can be provided as electronic signals or as optical signals.
  • wireless communication using Blue Tooth standard or any other suitable carrier, like an infra-red carrier is contemplated. It is further possible to compile a database comprising available objects, for example comprising superimposed images created for different viewing angles.
  • comments or other relevant alpha-numerical information can be stored, for example, results of a follow-up study for a particular patient group.
  • This additional information can be used as an additional criterion during future process of the object selection for a different anatomical site belonging to the same patient group.
  • the system comprises a medical diagnostic apparatus arranged for obtaining the first data set.
  • the second data set is acquired using the same imaging apparatus, for example an X-ray device. In this case, all acquired data is obtained for the same acquisition geometry, thus improving the accuracy of comparison between respective images.
  • the system further comprises: - reconstruction means arranged to reconstruct: a first three-dimensional image representative of the anatomical site using the first plurality of imaging projections; a second three-dimensional image representative of the object using the second plurality of imaging projections; whereby the processing means is further arranged to superimpose the first three-dimensional image and the second three-dimensional image to yield a further superimposed image, the display means being further arranged to visualize the further superimposed image.
  • the system further comprises: automatic delineation means arranged to delineate a volume of interest within a second three-dimensional image of the anatomical site, the processing means being further arranged to carry out an automatic fit between the second three-dimensional image and the volume of interest.
  • automatic delineation means arranged to delineate a volume of interest within a second three-dimensional image of the anatomical site
  • the processing means being further arranged to carry out an automatic fit between the second three-dimensional image and the volume of interest.
  • the accuracy of comparison of the volume of interest with the three- dimensional image of object is further improved.
  • the delineated volume of interest is subjected to a smoothing operation prior to the comparison.
  • the system comprises means for manipulating the superimposed image and the further superimposed image.
  • This manipulation is preferably arranged to spatially manipulate each of the components of the superimposed image, it being the first data set, the second data set, or, alternatively, the first three-dimensional image, the second three-dimensional image and the volume of interest, where applicable.
  • This functionality of the system enables the operator thereof to carry out a manual fit of the object to the anatomical site.
  • the envisages spatial manipulation comprises operations of move, rotate or any other displacing.
  • the computer program according to the invention comprises instructions to: transfer a first data set representative of geometry of an anatomical site between a storage means and a processing means; - transfer a second data set representative of geometry of an object between the storage means and the processing means; superimpose the first data set and the second data set to yield a superimposed dataset; transfer the superimposed dataset to a display means.
  • the computer program according to the invention is in particular suitable to operate a system arranged for enabling a validation of matching between geometry of the anatomical site and geometry of the object, said object being conceived to be positioned within said anatomical site, said system comprising the storage means arranged to store the first data set and the second data set, said system further comprising processing means arranged to retrieve said first data set and said second data set, said system still further comprising the display means.
  • the computer program is executing its set of instructions, the first data set and the second data set are loaded from the storage means according to a first set of instructions.
  • the first set of instructions comprises, for example an input/output operation between suitable hardware units of a computer.
  • the first set of instructions may comprise a downloading instruction from a remote computer or a remote source of data, like intranet or internet.
  • the first data set is superimposed on the second data set to yield the superimposed dataset.
  • the second set of instructions may comprise an image processing step arranged to produce corresponding imaging projections from images contained in the first data set and the second data set, respectively.
  • the superimposed image is made available to an operator on the display means according to the third set of instructions.
  • the third set of instructions may comprise a further image processing, including, for example a suitable sizing of the corresponding images.
  • An executable code of the computer program can be stored within a piece of hardware of a computer, or it can be stored on an exchangeable carrier, like a hard disk, a CD-ROM, or the like.
  • the executable code can be arranged to be downloadable from a remote site, like a web page on the internet.
  • the computer program is arranged to operate a user-interface arranged for visualization of the superimposed dataset.
  • the computer program comprises a further set of instructions arranged to enable an interactive manipulation of the superimposed dataset.
  • the further set of instructions may comprise commands arranged to re-size images, carry out zoom-in or zoom-out operations and to perform translation and/or rotation of the superimposed dataset, build-up three-dimensional images from the respective datasets, and the like.
  • This technical feature enables the operator to obtain a better insight into respective geometries of the medical site and the object and to validate matching of said geometries with high degree of confidence.
  • Figure 1 presents a schematic view of an embodiment of the system according to the invention.
  • Figure 2 presents a schematic view of an embodiment of a data acquisition system for the object.
  • Figure 3 presents a schematic view of an embodiment of a method according to the invention.
  • Figure 1 presents a schematic view of an embodiment of the system according to the invention.
  • the first data set 18a, representative of the anatomical site, is obtained by means of a suitable imaging using a medical diagnostic apparatus 2.
  • Figure 1 shows in a simplified way an embodiment of an X-ray unit, which is suitable for obtaining data set 18a representative of the anatomical site of a patient P. In this embodiment a joint 16 is shown as the anatomical site.
  • the anatomical site 16 is examined for at least two projections using an X-ray source 2.
  • the X-ray source 2 and the X-ray detector 4 are rotated around the patient P.
  • the corresponding transmission images are detected by means of an X-ray detector at its respective positions 4, 4a.
  • the resulting images are stored in the storage means 18.
  • Figure 1 schematically illustrates one common storage means 18, it is also possible that the respective images are stored in physically separate storage units (not shown), which can be accessed from a remote location.
  • the system 1 further comprises processing means 22 arranged to retrieve the first data set 18a and the second data set 18b in order to produce a superimposed image I comprising the image 26 based on the first data set 18a and an image 28, based on the second data set 18b. Images 26 and 28 are visualized using the same magnification factor and substantially the same orientation in space.
  • the superimposed image I is fed-back to the user of the system by means of a suitable display screen 24 using a suitable user-interface (not shown).
  • a suitable user-interface not shown.
  • the system 1 further comprises automatic delineation means 23, which is arranged to carry out an automatic delineation of the volume of interest within the first three-dimensional image.
  • a projection of the volume of interest on the two-dimensional image I is schematically shown by an area 27.
  • the system 1 further comprises manipulation means 29, arranged to displace the image of the anatomical site 26 and/or the image of the object 28.
  • a suitable example of the manipulation means is a computer mouse, a keyboard cursor, or any other suitable means, including a voice control.
  • a control signal (not shown) from the manipulation means 29 is received by the processing means 22, after which a corresponding image is displaced.
  • the processing means 22 and the display means make part of one computer 25, preferably installed on a data network.
  • FIG. 2 presents a schematic view of an embodiment of a data acquisition system for the object. It is found to be preferable, to acquire the second data set using the same imaging unit, as was used for purposes of first data set acquisition.
  • the data acquisition system 10 for the object comprises a medical diagnostic apparatus, for example an X-ray unit.
  • the object 6 is positioned between the X-ray source 2' and the X-ray detector 4', the resulting transmission image being generated by suitable image generation means 8 coupled to the detector 4'.
  • FIG. 3 presents a schematic view of an embodiment of a method 20 according to the invention.
  • the method according to the invention is suitable to enable a validation of matching between geometry of anatomical site and geometry of an object conceived to be positioned within said site.
  • a first data set 23, 25 representative of the anatomical site is obtained.
  • This step can comprise loading of a pre-stored image 23, or a step of acquisition of the image 25.
  • the step of image acquisition is performed in case the method of the invention is practiced immediately prior to the planned intervention.
  • the second data set representative of the object is obtained.
  • This step also includes a plurality of options, namely loading 24 of a pre- stored image of the implant, accessing 26 a remote location, for example a site of a manufacturer to download data comprising geometric description of the object, or, alternatively, carrying out an image acquisition 28 using the same imaging unit and substantially the same imaging geometry, as for acquisition of the first data set 25.
  • the step 24 of loading a pre-stored image of the implant can comprise loading of a geometrical model of the implant, or loading a pre-stored image obtained using the medical diagnostic apparatus.
  • the second data set acquisition is carried out for substantially the same imaging geometry as was used or will be used for acquisition of the first data set.
  • a superimposing 30 of these data sets is carried out. This step enables the operator visually and quantitatively investigate the degree of matching between the anatomical site and the object. In case three- dimensional images are superimposed, the viewer can study the spatial conformance between the target volume of the anatomical site and the object.
  • a volume of interest within the three-dimensional image of the anatomical site is delineated and an automatic fit between the volume of interest and the second three-dimensional image is carried out.
  • the results of the fit can be used as a further quantitative parameter for selection purposes.
  • the selection procedure of the suitable object is finalized 34. Otherwise, an image of another object is selected and steps 30 and further are followed.
  • a suitable reporting can be carried out.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pathology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Computer Graphics (AREA)
  • Computer Hardware Design (AREA)
  • General Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Measuring And Recording Apparatus For Diagnosis (AREA)

Abstract

La présente invention a trait à un procédé, système et programme d'ordinateur pour la validation de mise en correspondance géométrique entre un site anatomique et un objet. Un premier ensemble de données (18a), représentatif du site anatomique, est obtenu au moyen d'une imagerie appropriée utilisant un appareil de diagnostic médical (2). Un deuxième ensemble de données (18b) comporte une description géométrique de l'objet ou de son image obtenue au moyen d'une unité de diagnostic médical. Le système (1) comporte un moyen de traitement (22) pour la récupération du premier ensemble de données (18a) et du deuxième ensemble de données (18b) en vue de produire une image superposée (I) comprenant l'image (26) basée sur le premier ensemble de données (18a) et une image (28) basée le deuxième ensemble de données (18b). Les images (26) et (28) sont visualisées sur un écran d'affichage (24) en utilisant le même facteur d'agrandissement et sensiblement la même orientation dans l'espace. Le système (1) comporte des moyens de délimitation automatiques (23), et des moyens de manipulation d'images.
EP05708829A 2004-03-02 2005-02-24 Procede, systeme et programme d'ordinateur pour la validation de mise en correspondance geometrique dans un environnement medical Withdrawn EP1722704A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP05708829A EP1722704A1 (fr) 2004-03-02 2005-02-24 Procede, systeme et programme d'ordinateur pour la validation de mise en correspondance geometrique dans un environnement medical

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP04100829 2004-03-02
EP05708829A EP1722704A1 (fr) 2004-03-02 2005-02-24 Procede, systeme et programme d'ordinateur pour la validation de mise en correspondance geometrique dans un environnement medical
PCT/IB2005/050676 WO2005087126A1 (fr) 2004-03-02 2005-02-24 Procede, systeme et programme d'ordinateur pour la validation de mise en correspondance geometrique dans un environnement medical

Publications (1)

Publication Number Publication Date
EP1722704A1 true EP1722704A1 (fr) 2006-11-22

Family

ID=34960715

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05708829A Withdrawn EP1722704A1 (fr) 2004-03-02 2005-02-24 Procede, systeme et programme d'ordinateur pour la validation de mise en correspondance geometrique dans un environnement medical

Country Status (4)

Country Link
EP (1) EP1722704A1 (fr)
JP (1) JP2007526070A (fr)
CN (1) CN1925808A (fr)
WO (1) WO2005087126A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9934432B2 (en) 2015-03-31 2018-04-03 International Business Machines Corporation Field verification of documents

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CN103065048A (zh) * 2012-12-27 2013-04-24 北京贝亿医疗器械有限公司 一种对人体生理状态进行综合显示和评估的方法和设备
DE102017203438A1 (de) * 2017-03-02 2018-09-06 Siemens Healthcare Gmbh Verfahren zur Bildunterstützung einer einen minimalinvasiven Eingriff mit einem Instrument in einem Eingriffsbereich eines Patienten durchführenden Person, Röntgeneinrichtung, Computerprogramm und elektronisch lesbarer Datenträger

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US5086401A (en) * 1990-05-11 1992-02-04 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
US5961454A (en) * 1993-08-13 1999-10-05 The Brigham And Women's Hospital Fusion of anatomical data sets into stereotactic coordinates
US5970499A (en) * 1997-04-11 1999-10-19 Smith; Kurt R. Method and apparatus for producing and accessing composite data
US6711432B1 (en) * 2000-10-23 2004-03-23 Carnegie Mellon University Computer-aided orthopedic surgery
EP1437102B1 (fr) * 2000-09-18 2005-12-07 Fuji Photo Film Co., Ltd. Système de stockage et support d'enregistrement de gabarits d'os artificiels

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9934432B2 (en) 2015-03-31 2018-04-03 International Business Machines Corporation Field verification of documents
US10176370B2 (en) 2015-03-31 2019-01-08 International Business Machines Corporation Field verification of documents

Also Published As

Publication number Publication date
CN1925808A (zh) 2007-03-07
JP2007526070A (ja) 2007-09-13
WO2005087126A1 (fr) 2005-09-22

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