JP5520378B2 - 2つの医用画像を位置合わせするための装置および方法 - Google Patents
2つの医用画像を位置合わせするための装置および方法 Download PDFInfo
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- G06—COMPUTING; CALCULATING OR COUNTING
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- 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
- G06T7/344—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving models
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- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/35—Determination of transform parameters for the alignment of images, i.e. image registration using statistical methods
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- 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
- G06T2207/10081—Computed x-ray tomography [CT]
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- 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
- G06T2207/10088—Magnetic resonance imaging [MRI]
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- 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
- G06T2207/10132—Ultrasound image
- G06T2207/10136—3D ultrasound image
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- 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
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- G06T2207/30004—Biomedical image processing
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Description
本発明は添付の特許請求の範囲で規定される。
表面法線ベクトル場は次式で与えられる。
a)1番目の画像は元の経直腸的超音波体積を通る横断面を表す。
b)2番目の画像はフィルタ式(3)で先に定義されたフィルタの応答を表す。
c)3番目の画像は式(4)で与えられる抽出された(断面上に投影された)ベクトル場vを表す。
d)4番目の画像は前立腺表面部の周りの(3番目の画像に示した)関心のある領域の拡大視野を提供している。
Claims (30)
- 2つの医用画像を位置合わせする方法であって、
個々の被検者の生体臓器の患者固有の表示または母集団の生体臓器の表示を含む第1の医用画像を得る工程と、
前記第1の医用画像内の前記臓器の表面を識別する工程と、
前記表面を用いて、患者用の前記臓器の三次元形状または母集団用の前記臓器の代表的形状を表す幾何学的モデルを得る工程と、
前記幾何学的モデルを用いて、前記臓器の物理的な動きおよび変形を予測するために使用することができる動きモデルを得る工程と、
前記患者または別の患者の前記臓器の表示を含む第2の医用画像を得る工程と、
第1のベクトル場を表す前記幾何学的モデルの表面法線ベクトルと、第2のベクトル場を表す前記第2の医用画像をフィルタにかけることによって得られた臓器表面の推定表面法線ベクトルとの間の整列を決定する工程であって、数学的変換を前記幾何学的モデルに適用して、第1のベクトル場と第2のベクトル場との間の方向整列の度合いを最大にする工程を含み、前記幾何学的モデルおよび前記第1のベクトル場の空間的位置、方向、および形状を、前記動きモデルに従って変えて前記整列を実現する工程と、
前記決定された整列を基にして、第1および第2の医用画像を互いに位置合わせする工程とを備える、方法。 - 前記第1の医用画像が磁気共鳴(MR)画像である、請求項1に記載の方法。
- 前記第1の医用画像がX線コンピュータ断層撮影(CT)画像である、請求項1に記載の方法。
- 前記第1の医用画像が超音波画像である、請求項1に記載の方法。
- 前記第1の医用画像が解剖画像である、請求項1に記載の方法。
- 前記第2の医用画像が超音波画像である、請求項1から5のいずれかに記載の方法。
- 前記解剖学的特徴が前立腺を含む、請求項1から6のいずれかに記載の方法。
- 前記第1の画像、前記幾何学的モデル、および前記動きモデルを得る工程が、手術を受けている患者の前記第1の画像と前記第2の画像との間の整列の決定を外科的誘導の目的のために必要とする外科手術中のある時点より先に行われる、請求項1から7のいずれかに記載の方法。
- 前記幾何学的モデルが外科的治療または診断試験用の計画の一部として含まれる、請求項8に記載の方法。
- 前記幾何学的モデルが統計的形状モデル化技法を用いて得られる、請求項1から9のいずれかに記載の方法。
- 前記幾何学的モデルが前記臓器の表面を表す有限要素網である、請求項1から10のいずれかに記載の方法。
- 前記有限要素網が前記識別された表面の球面調和関数表示から生成される、請求項11に記載の方法。
- 前記動きモデルを構築する工程が、立体モデル化ツールを用いて前記幾何学的モデルから体積有限要素モデルを生成する工程をさらに備える、請求項1から12のいずれかに記載の方法。
- 前記動きモデル構築する工程が、有限要素解析を用いて前記有限要素モデルの網結節(頂点)の変位を決定し、物理的な材料特性をそのような特性の生理学的範囲に従って前記モデルに割り当てる工程をさらに備える、請求項13に記載の方法。
- 有限要素解析を使用して一組のシミュレーションを実行する工程を更に備え、前記シミュレーションが前記臓器の物理的に妥当な種々の変形を表す、請求項14に記載の方法。
- 前記シミュレーションによって計算された前記有限要素網結節(頂点)の変位の統計的解析を実行して臓器の動きモデルを生成する工程をさらに備える、請求項15に記載の方法。
- 前記整列を決定する工程が、第2の医用画像内の解剖学的目標に対応する1個以上の点を識別し、これらの点を前記幾何学的モデルに一致させて幾何学的モデルの向きを第2の医用画像にほぼ合わせる初期化工程を備える、請求項1から16のいずれかに記載の方法。
- 前記第1のベクトル場が三次元ベクトル場を備え、その中の各ベクトルが前記幾何学的モデルの表面の点に対応する位置および前記幾何学的モデルの前記表面に対する法線方向を有する、請求項1から17のいずれかに記載の方法。
- 前記第2の医用画像をフィルタにかける前記工程が、前記画像のボクセル(3Dピクセル)強度値の二次ガウス導関数の固有解析に基づいて表面法線ベクトルの前記第2のベクトル場を決定する、請求項1から18のいずれかに記載の方法。
- 前記第2の医用画像をフィルタにかけることによって得られる前記第2のベクトル場が第1のベクトル場の雑音破損版であると考えられる、請求項1から19のいずれかに記載の方法。
- 前記整列が雑音の同時確率の最大化に基づいて決定される、請求項20に記載の方法。
- 前記整列が、前記第2のベクトル場内の推定表面法線ベクトルと、前記第2の画像の局所座標系に変換された後の前記第1のベクトル場内の表面法線ベクトルとの内積の関数を計算することによって、前記第1のベクトル場と第2のベクトル場との間の方向整列を数値化するベクトル類似度を用いて決定される、請求項1から21のいずれかに記載の方法。
- 前記画像が超音波画像であるとき、前記ベクトル類似度が超音波送信方向によるアーチファクトの存在を説明する、請求項22に記載の方法。
- 前記整列を決定する工程が前記幾何学的モデルの再位置合わせおよび変形の工程を備え、そのため前記変形されたモデルの最終の形状および位置が、前記第2の医用画像の座標系内の臓器表面に最適一致する、請求項1から23のいずれかに記載の方法。
- 前記決定された整列に基づいて前記第1および第2の医用画像を互いに位置合わせする工程が、前記幾何学的モデルから前記変形幾何学的モデルに書き換える変位を備える高密度変位場を計算する工程を備える、請求項24に記載の方法。
- 請求項1から25のいずれかに記載の方法を実行するために、装置内に演算素子による実行命令を備えるコンピュータプログラム。
- 請求項26に記載のコンピュータプログラムを保存する、コンピュータが読み取り自在の保存媒体。
- 2つの医用画像を位置合わせする装置であって、
第1の医用画像内の臓器表面を識別する手段と、
識別された表面を用いて3D幾何学的モデルを構築し、前記3D幾何学的モデルを用いて、前記臓器の物理的動きおよび変形を予測するために用いることができる動きモデルを得る手段と、
前記医用画像をフィルタにかけることによって、前記幾何学的モデルから第1の表面法線ベクトル場を得、第2の医用画像から第2の表面法線ベクトル場を得る手段と、
前記第1のベクトル場と前記第2のベクトル場との間の整列を決定する手段であって、前記整列の決定は、数学的変換を前記幾何学的モデルに適用して第1のベクトル場と第2のベクトル場との間の方向整列の程度を最大にすることを含み、前記幾何学的モデルおよび前記第1のベクトル場の空間的位置、方向、および形状が前記動きモデルに従って変えられて前記整列を実現し、それによって前記幾何学的モデルの変形を、前記動きモデルによって定義された制約に従って調整する手段と、
前記決定された整列に基づいて、前記第1および第2の医用画像を互いに位置合わせする手段と、を備える装置。 - 2つの医用画像を位置合わせする装置であって、
臓器の表面を含む第1の医用画像内の前記臓器の表面を識別する画像処理システムと、
前記識別された表面を用いて前記臓器表面の3D幾何学的モデルを構築するモデル化システムと、
前記3D幾何学的モデルから前記臓器の動きモデルを構築するモデル化システムと、
前記幾何学的モデルおよび前記第2の医用画像から、それぞれ第1および第2の表面法線ベクトル場を計算する画像処理システムと、
前記第1のベクトル場と前記第2のベクトル場との間の整列を決定する数値最適化システムであって、前記整列の決定は、数学的変換を前記幾何学的モデルに適用して前記第1のベクトル場と前記第2のベクトル場との間の方向整列の程度を最大にすることを含み、前記幾何学的モデルおよび前記第1のベクトル場の空間的位置、方向、および形状が前記動きモデルに従って変更されて前記整列を実現し、それによって前記幾何学的モデルの変形を、前記動きモデルに従って調整する数値最適化システムと、
前記決定された整列に基づいて、前記第1および第2の医用画像を互いに位置合わせする画像位置合わせシステムと、を備える装置。 - 前記決定された整列に基づいて前記第1および第2の医用画像を共に可視化する画像融合システムをさらに備える、請求項29に記載の装置。
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