WO2020119930A1 - Détermination et visualisation d'une lésion d'une articulation anatomique - Google Patents

Détermination et visualisation d'une lésion d'une articulation anatomique Download PDF

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Publication number
WO2020119930A1
WO2020119930A1 PCT/EP2018/085055 EP2018085055W WO2020119930A1 WO 2020119930 A1 WO2020119930 A1 WO 2020119930A1 EP 2018085055 W EP2018085055 W EP 2018085055W WO 2020119930 A1 WO2020119930 A1 WO 2020119930A1
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WIPO (PCT)
Prior art keywords
medical image
damage
visualize
medical
model
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PCT/EP2018/085055
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English (en)
Inventor
Richard LILLIESTRÅLE
Anders Karlsson
Jeanette SPÅNGBERG
Nina Bake
Ingrid BRATT
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Episurf Ip-Management Ab
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Application filed by Episurf Ip-Management Ab filed Critical Episurf Ip-Management Ab
Priority to PCT/EP2018/085055 priority Critical patent/WO2020119930A1/fr
Priority to EP19817291.8A priority patent/EP3895175A1/fr
Priority to PCT/EP2019/084474 priority patent/WO2020120494A1/fr
Publication of WO2020119930A1 publication Critical patent/WO2020119930A1/fr

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    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H30/00—ICT specially adapted for the handling or processing of medical images
    • G16H30/40—ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing

Definitions

  • the present disclosure relates generally to systems and methods for determining and visualizing damage to an anatomical joint of a patient.
  • WO 2017/103146 describes a system for creating a decision support material indicating damage to an anatomical joint.
  • the system described in WO 2017/103146 does not provide a clear visualization of anatomical structures of an anatomical joint, and does not comprise manipulation functionalities that enable the creation of a clear visualization of anatomical structures of anatomical joint.
  • the tool described in“The LiverAnatomyExplorer” is a teaching tool for visualizing organs. This tool does not comprise manipulation functionalities that enable the creation of a clear visualization of anatomical structures of an anatomical joint.
  • a system that determines damage to an anatomical joint and visualizes this determined damage would be very useful as decision support.
  • the system may comprise a display, at least one manipulation tool, a storage media and at least one processor.
  • the at least one processor may be configured to: i) receive a plurality of medical image stacks of at least a part of the anatomical joint from the storage media; ii) obtain a three-dimensional image representation of the at least part of the anatomical joint which is based on at least one of said medical image stacks, by generating said three-dimensional image representation in an image segmentation process based on said medical image stack, or receiving said three-dimensional image representation from the storage media; iii) determine damage to at least one of a plurality of anatomical structures in the anatomical joint by analyzing at least one of said plurality of medical image stacks; iv) mark, based on the determined damage, damage to the anatomical structures in the obtained three-dimensional image representation; v) obtain at least one 3D model for visualization based on the three
  • the graphical user interface may comprise: functionality to visualize and enable manipulation, using the at least one manipulation tool, of the at least one 3D model; functionality to enable removal of the visualization of at least one of the plurality of anatomical structures from the at least one 3D model; functionality to visualize and enable browsing of at least one of the plurality of medical image stacks; and functionality to, in the 3D model, visualize the position of the at least one medical image that is currently visualized.
  • the at least one processor is further configured to associate the medical images and the three-dimensional image representation, so that a marking made in one of the images appears in the same position in the other image.
  • the above described problems are also addressed by the claimed method for determining and visualizing damage to an anatomical joint of a patient.
  • the method may comprise the steps of: i) receiving a plurality of medical image stacks of at least a part of the anatomical joint; ii) obtaining a three-dimensional image representation of the at least part of the anatomical joint which is based on at least one of said medical image stacks, by generating said three-dimensional image representation in an image segmentation process based on said medical image stack, or receiving said three-dimensional image representation from a storage media; iii) determining damage to at least one of a plurality of anatomical structures in the anatomical joint by analyzing at least one of said plurality of medical image stacks; iv) marking, based on the determined damage, damage to the anatomical structures in the obtained three-dimensional image representation; v) obtaining at least one 3D model based on the three-dimensional image representation, in which 3D model the marked damage is visualized; and vi) creating a
  • the graphical user interface may comprise: functionality to visualize and enable manipulation, using at least one manipulation tool, of the at least one 3D model; functionality to enable removal of the visualization of at least one of the plurality of anatomical structures from the at least one 3D model; functionality to visualize and enable browsing of at least one of the plurality of medical image stacks; and functionality to, in the 3D model, visualize the position of the at least one medical image that is currently visualized.
  • the method further comprises associating the medical images and the three-dimensional image representation, so that a marking made in one of the images appears in the same position in the other image.
  • the plurality of anatomical structures are anatomical structures of the knee joint, such as e.g. a selection of femur, patella, tibia, fibula, cartilage, menisci, cruciate ligaments and tendons.
  • the plurality of anatomical structures may alternatively comprise a different selection of different parts of bone, cartilage, ligaments and/or tendons, especially if the anatomical joint is not a knee.
  • the anatomical structures are preferably structures that are relevant to a user who uses the graphical user interface to evaluate the condition of an anatomical joint.
  • a plurality of the anatomical structures is each visualized based on more than one computer file.
  • An anatomical structure is not simply what is visualized using one computer file, but a structure that is of relevance to a user viewing and manipulating the 3D model in the graphical user interface. Many such anatomical structures are each visualized using a number of different computer files.
  • the graphical user interface comprises functionality to select at least one medical image in the medical image stack to visualize through interaction with the 3D model.
  • the graphical user interface comprises functionality to visualize a plurality of medical image stacks simultaneously, and functionality to visualize the position in the imaged joint of the at least one medical image from one medical image stack, that is currently visualized, in in the medical image that is visualized from the other medical image stack.
  • the medical images are MR images
  • the scanning process is an MR scanning process using a number of specific MR sequences, where each specific MR sequence uses a unique set of MR parameters.
  • the medical images are CT images
  • the scanning process is a CT scanning process using a number of specific CT sequences, where each specific CT sequence uses a unique set of CT parameters.
  • the image segmentation process may e.g. depend on a segmentation process control parameter set.
  • the anatomical joint may be a knee, but may also be another joint such as an ankle, a hip, a toe, an elbow, a shoulder, a finger or a wrist.
  • the graphical user interface may e.g. be adapted to be used by medical staff. It may include a recommendation for a suitable treatment for repair of the determined damage.
  • the processor may in some embodiments comprise several different processors which together perform the claimed functions.
  • the storage media may in some embodiments comprise several different storage media which together perform the claimed functions.
  • Fig. 1 shows a schematic view of a system for determining and visualizing damage to at least a part of an anatomical joint, in accordance with one or more embodiments described herein.
  • Fig. 2 is a schematic flow diagram for a method for determining and visualizing damage to at least a part of an anatomical joint, in accordance with one or more embodiments described herein.
  • Fig. 3 shows an example of a graphical user interface for determining and visualizing damage to an anatomical joint, in accordance with one or more embodiments described herein.
  • Fig. 4 shows an example of a graphical user interface for determining and visualizing damage to an anatomical joint, in accordance with one or more embodiments described herein.
  • Fig. 5 shows an example of a graphical user interface for determining and visualizing damage to an anatomical joint, in accordance with one or more embodiments described herein.
  • Fig. 6 shows an example of a graphical user interface for determining and visualizing damage to an anatomical joint, in accordance with one or more embodiments described herein.
  • Fig. 7 is a schematic flow diagram for a method for determining and visualizing damage to at least a part of an anatomical joint, in accordance with one or more embodiments described herein.
  • Fig. 8 is a flow diagram exemplifying the steps from obtaining medical image data to designing and producing an implant and/or guide tool for repair of a determined damage to an anatomical joint, including the steps of damage marking and creation of a graphical user interface to visualize damage to an anatomical joint of a patient, in accordance with one or more embodiments described herein.
  • the present disclosure relates generally to systems and methods for determining and visualizing damage to an anatomical joint of a patient. More specifically, system and method embodiments presented herein provide visualization of damage to an anatomical joint of a patient by creating a graphical user interface in which damage to an anatomical joint of a patient is visualized.
  • one or more visualizations of a patient’s joint together with a visualization of its anatomical deviations which form a decision support for a surgeon or orthopedic staff member in deciding on an optimal treatment method, a decision support for an insurance agent making an assessment regarding a client or potential client, a decision support for a patient who wants to be informed about the condition of a damaged joint, or a decision support for any other person who has for example a commercial or academic interest in learning about damage to a depicted anatomical joint.
  • embodiments of the invention solve the identified problems that the decision support material received by the surgeon or orthopedic staff member is many times inadequate as only a fraction of the information that a medical expert gathers when analyzing the image data, based on the knowledge of the medical expert, is communicated.
  • a graphical user interface for visualization of damage to an anatomical joint of a patient is obtained, which leads to more informed decisions being made on the optimal treatment of the patient whose anatomical joint is visualized.
  • the anatomical joint is a knee, but the methods and systems presented herein may be used for visualizing damage to any suitable anatomical joint, e.g. an ankle, a hip, a toe, an elbow, a shoulder, a finger or a wrist.
  • the visualization need not relate to a whole anatomical joint - often only a part of the joint is of interest, such as e.g. the femoral part of the knee joint.
  • the anatomical joint is a knee and the damage/anatomical deviations that are determined and visualized in the graphical user interface are related to the femoral part of the knee joint, such as chondral and/or osteochondral lesions.
  • the anatomical joint is an ankle and the damage/anatomical deviations that are determined and visualized in the graphical user interface are related to the talus.
  • the graphical user interface may comprise at least one 3D model of the anatomical joint and medical image data retrieved directly from a digital imaging and communications in medicine (DICOM) file or any other suitable image file format.
  • the 3D model may for example be obtained based on a medical image stack captured during a process of scanning images through different layers of the anatomical joint or part of it.
  • Each medical image stack may e.g. be generated during a scanning process using a specific sequence, comprising a unique set of parameters that differs from the set of parameters used for generating the other medical image stacks.
  • a scanning process may be any type of scanning process for generating medical image stacks, where different sets of parameters may be used to generate medical image stacks with different types of detail.
  • the use of different specific sequences for different uses of the medical image stacks allows the visualization of more detail in the images, since some types of detail may be more clearly visible using one set of parameters and other types of detail may be more clearly visible using another set of parameters. It may e.g. be useful to use an adapted sequence in the scanning process for generating the medical image stack used for generating the 3D model, since the requirements on such a medical image stack are different from the requirements on the medical image stack used for damage determination.
  • the scanning processes used for generating the medical image stacks may e.g. be MR scanning processes using different specific MR sequences, where each specific MR sequence uses a unique set of MR parameters.
  • the MR parameters may e.g. be the repetition time TR (the time between the RF pulses) and the echo time TE (the time between an RF pulse and its echo).
  • the set of MR parameters may e.g. cause a T1 weighted MR sequence if a short TR and a short TE is selected, a T2 weighted MR sequence if a long TR and a long TE is selected, or an intermediately weighted MR sequence of a long TR and a short TE is selected.
  • the different sets of MR parameters do not necessarily have to cause MR sequences of different types - two different sets of MR parameters may e.g. both cause T 1 weighted sequences, but one of the sets may cause a stronger T 1 weighting than the other.
  • each radiofrequency (RF) pulse excites a narrow slice, and magnetic field gradients are applied in two directions parallel to the plane in order to analyze the result. Such slices may then be combined into a 3D volume.
  • each RF pulse excites the entire imaging volume, and magnetic field gradients are applied in three directions in order to analyze the result. In this way, a 3D volume may be created directly.
  • Encoding e.g. phase encoding
  • the scanning processes used for generating the medical image stacks may also be CT scanning processes using different specific CT sequences, where each specific CT sequence uses a unique set of CT parameters.
  • the CT parameters may e.g. be the tube potential (kV), the tube current (mA), the tube current product (mAs), the effective tube current-time product (mAs/slice), the tube current modulation (TCM), the table feed per rotation (pitch), the detector configuration, the collimation, the reconstruction algorithm, the patient positioning, the scan range and/or the reconstructed slice thickness.
  • CT scanning it may be advantageous to use very different sets of CT parameters for generating the medical image stack used for generating the 3D model and for generating the other medical image stacks.
  • a 3D model is advantageous for visualizing damage to bone, cartilage and other tissues.
  • the DICOM format, or a comparable medical image file format is advantageous for visualizing different parts of the anatomical joint.
  • a 3D model may be used for visualizing anatomical structures such as different parts of bone, ligaments, tendons and/or cartilage, e.g. anatomical structures of the knee joint such as a selection of femur, patella, tibia, fibula, cartilage, menisci, cruciate ligaments and tendons, and damage in relation to the anatomical joint that is being investigated.
  • the graphical user interface may visualize a 3D model and at least one medical image to, for instance, facilitate for a surgeon or orthopedic staff member to make a correct diagnosis and decide on an optimal treatment of the patient.
  • the graphical user interface does not include any diagnosis, but instead forms a decision support for making a correct diagnosis and/or decide on an optimal treatment of the patient.
  • the graphical user interface may for instance be used as a pre-arthroscopic tool, a digital version of standard arthroscopy to be used prior to an arthroscopy to give an arthroscopist a visual understanding of what he/she can expect to see.
  • the graphical user interface may also be used as an alternative to arthroscopy, since enough information can often be gathered in this way without submitting the patient to an arthroscopy.
  • the graphical user interface may in this case be used as a tool for planning the preferred treatment, such as an arthroplasty, a biological treatment such as a mosaicplasty of a microfracturing, or if a metal implant is needed
  • the graphical user interface may in different situations be of interest to medical staff, an insurance agent assessing a client or a potential client, a patient who wants to be informed about the condition of a damaged joint, or any other person who has for example a commercial or academic interest in learning about damage to a depicted anatomical joint.
  • the graphical user interface is preferably web based.
  • a user who is viewing the graphical user interface on a display of a processing device may be allowed to manipulate the 3D model and/or the at least one medical image, by providing a control signal using at least one manipulation tool connected to the processing device.
  • the manipulation tool may for example comprise a keyboard, a computer mouse, buttons, touch functionality, a joystick, or any other suitable manipulation tool.
  • the graphical user interface may further include a recommendation and/or a position indication of a suitable implant for the determined damage.
  • a suitable implant means an implant having a type and dimensions that match a determined damage, thereby making it suitable for repairing the determined damage. Such a suitable implant may further be visualized in the 3D model and/or the displayed medical image.
  • the graphical user interface may in some embodiments instead include a recommendation indicating a suitable transfer guide tool and/or suitable harvesting and/or implantation positions for at least one osteochondral autograft plug.
  • the suitable transfer guide tool and/or the suitable harvesting and implantation positions may further be visualized in the 3D model and/or the displayed medical image.
  • the graphical user interface further indicates anatomical deviations which do not in themselves constitute damage to the joint.
  • Such anatomical deviations may e.g. affect the choice of treatment for the determined damage.
  • severe osteophyte problems may indicate other problems, where an implant may not improve the situation.
  • Figure 1 shows a schematic view of a system 100 for determining and visualizing damage to an anatomical joint of a patient.
  • the system comprises a display 140, at least one manipulation tool 150, and a storage media 110, configured to receive and store image data and parameters.
  • the system 100 is communicatively coupled, as indicated by the dashed arrow, to an imaging system 130.
  • the imaging system 130 may be configured to capture or generate medical images, e.g. radiology images such as X-ray images, ultrasound images, computed tomography (CT) images, nuclear medicine including positron emission tomography (PET) images, and magnetic resonance imaging (MRI) images.
  • the storage media 110 may be configured to receive and store medical images and/or medical/radiology image data from the imaging system 130.
  • the system 100 further comprises a processor 120 configured to, based on image data, determine damage to an anatomical joint, and create a 3D model of the anatomical joint or a part of it where the determined damage to the joint is visualized, such that an observer of the 3D model is made aware of the damage.
  • the processor 120 may for example be a general data processor, or other circuit or integrated circuit capable of executing instructions to perform various processing operations.
  • the display 140 may be configured to receive image data for display via the processor 120, and/or to retrieve image data for display directly from the storage media 110, possibly in response to a control signal received from the processor 120 or the at least one manipulation tool 150.
  • the processor 120 is configured to: receive a plurality of medical image stacks of the at least part of the anatomical joint from the storage media 110; obtain a three-dimensional image representation of the at least part of the anatomical joint which is based on at least one of said of medical image stacks by generating said three-dimensional image representation in an image segmentation process based on said medical image stack, or receiving said three-dimensional image representation from the storage media 110; determine damage to at least one of a plurality of anatomical structures in the anatomical joint by analyzing at least one of said plurality of medical image stacks; mark, based on the determined damage, damage to the anatomical structures in the obtained three-dimensional image representation; obtain at least one 3D model based on the three-dimensional image representation, in which 3D model the marked damage is visualized; and create a graphical user interface for visualization on the display 140.
  • the graphical user interface may comprise functionality to visualize and enable manipulation, using the at least one manipulation tool, of the at least one 3D model; functionality to enable removal of the visualization of at least one of the plurality of anatomical structures from the at least one 3D model; functionality to visualize and enable browsing of at least one of the plurality of medical image stacks; and functionality to, in the 3D model, visualize the position of the at least one medical image that is currently visualized.
  • the at least one processor 120 is configured to determine damage to at least one of a plurality of anatomical structures in the anatomical joint.
  • the processor 120 may e.g. determine damage by detecting that the intensity in an area within or adjacent to the bone and/or cartilage parts of the anatomical joint is higher or lower than a predetermined threshold.
  • the analyzed image may for example represent the following substances with different intensity levels: cortical bone, fluid/liquids, cartilage, tendons, ligaments, fat/bone marrow and menisci. It is for example an indication of damage if fluid is detected where there in a healthy joint should be no fluid.
  • pixel/voxel values ranging from 0 to 1 , or in a visual representation shown as grey scale levels from white to black.
  • a predetermined threshold is set to a suitable value between 0 and 1 , or in other words to a suitable grey scale value.
  • the processor 120 may further, or alternatively, be configured to detect an irregular shape of at least one tissue part of the anatomical joint and determine whether this represents a damage to the anatomical joint. In one or more embodiments the processor 120 may further, or alternatively, be configured to make a comparison of an identified tissue part in a damage image with a template representing a predefined damage pattern for an anatomical joint. In some embodiments, such a determination may include comparing a detected irregular shape of the contour with a template representing a predefined damage pattern for an anatomical joint, and/or comparing a detected intensity for a certain area with a template representing a predefined damage pattern for an anatomical joint.
  • the at least one processor 120 may use a machine learning system in determining damage to the at least one of the plurality of anatomical structures in the anatomical joint.
  • a machine learning system may e.g. be trained using images where damage has been manually marked, and may thereby learn to correlate different types of features and/or deviations in the images with damage.
  • the processor 120 may be configured to mark the determined damage to the anatomical joint in the medical images. To mark the determined damage, the processor 120 may be configured to change the pixel/voxel value of one or more pixels/voxels on, in connection with, or surrounding a pixel/voxel identified to belong to a determined damage, such that the determined damage is visually distinguished and noticeable to a user/viewer, by performing a selection of the following: changing the luminance/intensity values of one or more pixels/voxels identified as being located on a determined damage; changing one or more chrominance/color values of one or more pixels/voxels identified as being located on a determined damage; changing the luminance/intensity values of one or more pixels/voxels identified as surrounding a determined damage; changing one or more chrominance/color values of one or more pixels/voxels identified as surrounding a determined damage; and/or adding an annotation, symbol or other damage indicator to the image, in connection with one or more pixels/voxels
  • the processor 120 may be configured to mark the determined damage to the anatomical joint in the obtained three-dimensional image representation of the anatomical joint or part of it.
  • the processor 120 may be configured to change the voxel value of one or more voxels on, in connection with, or surrounding a voxel identified to belong to a determined damage, such that the determined damage is visually distinguished and noticeable to a user/viewer, by performing a selection of the following: changing the luminance/intensity values of one or more voxels identified as being located on a determined damage; changing one or more chrominance/color values of one or more voxels identified as being located on a determined damage; changing the luminance/intensity values of one or more voxels identified as surrounding a determined damage; changing one or more chrominance/color values of one or more voxels identified as surrounding a determined damage; and/or adding an annotation, symbol or other damage indicator to the image, in connection with one or more voxels identified as being located on, or surrounding, a determined damage.
  • the plurality of anatomical structures are anatomical structures of the knee joint, such as e.g. a selection of femur, patella, tibia, fibula, cartilage, menisci, cruciate ligaments and tendons.
  • the plurality of anatomical structures may alternatively comprise a different selection of different parts of bone, cartilage, ligaments and/or tendons, especially if the anatomical joint is not a knee.
  • the anatomical structures are preferably structures that are relevant to a user who uses the graphical user interface to evaluate the condition of an anatomical joint.
  • a plurality of the anatomical structures is each visualized based on more than one computer file.
  • An anatomical structure is not simply what is visualized using one computer file, but a structure that is of relevance to a user viewing and manipulating the 3D model in the graphical user interface. Many such anatomical structures are each visualized using a number of different computer files.
  • the graphical user interface comprises functionality to select at least one medical image in the medical image stack to visualize through interaction with the 3D model.
  • the graphical user interface comprises functionality to visualize a plurality of medical image stacks simultaneously, and functionality to visualize the position in the imaged joint of the at least one medical image from one medical image stack, that is currently visualized, in in the medical image that is visualized from the other medical image stacks.
  • the processor may be configured to synchronize, or associate, the medical images and the three-dimensional image representation, so that a marking made in one of the images appear in real time in the same position in the other image.
  • the same position is hereinafter interpreted as the same position, or same location, on the anatomical joint that is depicted.
  • the medical images are MR images, and each of the plurality of medical image stacks has been generated during an MR scanning process using a specific MR sequence, and each specific MR sequence uses a unique set of MR parameters, in order to visualize different types of detail by visualizing different medical image stacks.
  • the medical images are CT images, and each of the plurality of medical image stacks has been generated during an CT scanning process using a specific CT sequence, and each specific CT sequence uses a unique set of CT parameters, in order to visualize different types of detail by visualizing different medical image stacks.
  • the medical image stack may for example be captured during a process of scanning through different layers of the anatomical joint or part of it.
  • the anatomical joint is a knee.
  • the anatomical joint may be any other anatomical joint suitable for damage determination using image data analysis, such as an ankle, a hip, a toe, an elbow, a shoulder, a finger or a wrist.
  • the processor may be configured to select a suitable treatment from a predefined set of treatments. The selection may be based on data from the medical images and/or the three- dimensional image representation of the anatomical joint or part of it.
  • the processor may be configured to select a suitable implant from a predefined set of implants with varying dimensions.
  • a suitable implant means an implant having a type and dimensions that match a determined damage, thereby making it suitable for repairing the determined damage.
  • the processor may be configured to visualize the selected implant in the 3D model and/or the displayed medical image.
  • the processor may be configured to propose a transfer guide tool for osteochondral autograft transplantation, possibly also including suitable size and/or suitable harvesting and/or implantation positions for at least one osteochondral autograft plug.
  • a suitable harvesting position means a position where a suitable autograft plug can be harvested from the patient for repairing the determined damage.
  • the graphical user interface is adapted to be used by medical staff, for example a surgeon or orthopedic staff member.
  • the graphical user interface may then include a recommendation for a suitable treatment for repair of at least a part of the determined damage.
  • the graphical user interface includes a recommendation for a suitable design of one or more transfer guide tools for repair of at least a part of the determined damage with osteochondral autograft transplantation.
  • the graphical user interface may in this case also include a recommendation for a suitable harvesting site for such an osteochondral autograft plug.
  • suitable harvesting sites and/or transfer guide tools may further be visualized in the 3D model and/or the displayed medical image.
  • the graphical user interface is adapted to be used by an insurance agent making an assessment regarding a client or potential client, a patient who wants to be informed about the condition of a damaged joint, or any other person who has for example a commercial or academic interest in learning about damage to a depicted anatomical joint.
  • the at least one manipulation tool 150 is typically configured to interpret received user input and to generate control signals in response to said received user input.
  • the display 140 and the at least one manipulation tool 150 may be integrated in, connected to or communicatively coupled to the system 100.
  • the at least one manipulation tool 150 may for instance be configured to interpret received user input that is being input in connection with the 3D model, and generate control signals in response to said received user input, to trigger display of an image or manipulation of image data being displayed, wherein the manipulation may be temporary or permanent.
  • Such manipulations may for example include providing annotations, moving or changing an image or part of an image, changing the viewing perspective, zooming in or out, and/or any other suitable form of manipulation that enables the user to view and analyze the displayed image data in an improved manner.
  • the at least one manipulation tool 150 may for example comprise a selection of a keyboard, a computer mouse, one or more buttons, touch functionality, a joystick, and/or any other suitable input device.
  • the processor 120 may be configured to receive a control signal from the at least one manipulation tool 150 and to process image data that is being displayed, or in other words manipulate a displayed image, in response to the received control signal.
  • the processor 120 may be configured to use a different medical image stack for obtaining the three- dimensional image representation than each of the medical image stacks used for determining damage to the identified tissue parts in the anatomical joint. In this way, the unique set of parameters used for generating each medical image stack can be optimized to the use of the medical image stack.
  • the processor 120 may further be configured to perform any or all of the method steps of any or all of the embodiments presented herein.
  • Figure 2 is a flow diagram of embodiments of a method for visualizing damage to an anatomical joint of a patient.
  • the method 200 comprises:
  • step 210 receiving a plurality of medical image stacks of at least a part of the anatomical joint.
  • the anatomical joint is a knee.
  • the anatomical joint may be any other anatomical joint suitable for damage determination using image data analysis, such as ankle, a hip, a toe, an elbow, a shoulder, a finger or a wrist.
  • step 220 obtaining a three-dimensional image representation of the at least part of the anatomical joint which is based on at least one of said medical image stacks by generating said three-dimensional image representation in an image segmentation process based on said medical image stack, or receiving said three-dimensional image representation from a storage media 110.
  • step 230 determining damage to at least one of a plurality of anatomical structures in the anatomical joint by analyzing at least one of the plurality of medical image stacks.
  • step 240 marking, based on the determined damage, damage to the anatomical structures in the obtained three-dimensional image representation.
  • step 250 obtaining at least one 3D model based on the three-dimensional image representation, in which 3D model the marked damage is visualized.
  • the 3D model may essentially correspond to the three- dimensional image representation, or be a processed version of the three-dimensional image representation.
  • step 260 creating a graphical user interface for visualization on a display, the graphical user interface comprising: functionality to visualize and enable manipulation, using at least one manipulation tool, of the at least one 3D model; functionality to enable removal of the visualization of at least one of the plurality of anatomical structures from the at least one 3D model; functionality to visualize and enable browsing of at least one of the plurality of medical image stacks; and functionality to, in the 3D model, visualize the position of the at least one medical image that is currently visualized.
  • the marking of method step 240 may include changing the pixel/voxel value of one or more pixels/voxels on, in connection with, or surrounding a pixel/voxel identified to belong to a determined damage, such that the determined damage is visually distinguished and noticeable to a user/viewer.
  • Such a change of pixel/voxel values of one or more pixels/voxels on, in connection with, or surrounding a pixel/voxel identified to belong to a determined damage may for example comprise a selection of the following: changing the luminance/intensity values of one or more pixels/voxels identified as being located on a determined damage; changing one or more chrominance/color values of one or more pixels/voxels identified as being located on a determined damage; changing the luminance/intensity values of one or more pixels/voxels identified as surrounding a determined damage; changing one or more chrominance/color values of one or more pixels/voxels identified as surrounding a determined damage; and/or adding an annotation, symbol or other damage indicator to the image, in connection with one or more pixels/voxels identified as being located on, or surrounding, a determined damage.
  • anatomical structure may each be visualized based on more than one computer file.
  • An anatomical structure is not simply what is visualized using one computer file, but a structure that is of relevance to a user viewing and manipulating the 3D model in the graphical user interface. Many such anatomical structures are each visualized using a number of different computer files.
  • the plurality of anatomical structures are anatomical structures of the knee joint, such as e.g. a selection of femur, patella, tibia, fibula, cartilage, menisci, cruciate ligaments and tendons.
  • the plurality of anatomical structures may alternatively comprise a different selection of different parts of bone, cartilage, ligaments and/or tendons, especially if the anatomical joint is not a knee.
  • the anatomical structures are preferably structures that are relevant to a user who uses the graphical user interface to evaluate the condition of an anatomical joint.
  • the graphical user interface comprises functionality to functionality to select at least one medical image in the medical image stack to visualize through interaction with the 3D model.
  • the graphical user interface comprises functionality to visualize a plurality of medical image stacks simultaneously, and functionality to visualize the position in the imaged joint of the at least one medical image from one medical image stack, that is currently visualized, in in the medical image that is visualized from the other medical image stacks.
  • the medical images are MR images, and each of the plurality of medical image stacks has been generated during an MR scanning process using a specific MR sequence, wherein each specific MR sequence uses a unique set of MR parameters, in order to visualize different types of detail by visualizing different medical image stacks.
  • the medical images are CT images, and each of the plurality of medical image stacks has been generated during a CT scanning process using a specific CT sequence, wherein each specific CT sequence uses a unique set of CT parameters, in order to visualize different types of detail by visualizing different medical image stacks.
  • medical images and the three-dimensional image representation may be associated, or synchronized, so that a marking made in one of the images appears in the same position in the other image
  • the method may thus further comprise:
  • step 270 Associating the medical image and the three-dimensional image representation, so that a marking made in one of the images appear in the same position in the other image.
  • Figure 3 shows an example of a graphical user interface 300 comprising four displayed medical images 310 and a 3D model 320 in which determined damage 330 to an anatomical joint is visualized, in accordance with one or more embodiments described herein.
  • the determined damage 330 may e.g. be visualized by changing the luminance/intensity levels and/or chrominance/color values of a number of pixels/voxels identified as being located on and surrounding the determined damage.
  • any luminance/intensity values and/or chrominance/color values may be chosen, depending on the application, and depending on what provides a clear marking, visualization, or indication that enables a person viewing the graphical user interface to see and analyze the determined damage.
  • a chosen luminance/intensity value and/or chrominance/color value may in embodiments be assigned to a pixel/voxel by replacing the previous pixel/voxel value, or by blending the new pixel/voxel values with the old pixel/voxel value using a scaling factor, such as an alpha blending factor.
  • Determined damage may further be visualized using different assigned pixel/voxel values depending on the type of damage that each pixel represents.
  • visualizing a damage may comprise different new pixel/voxel values for: a full-depth damage, i.e. a cartilage damage down to the bone; a partial depth damage, such as degenerated cartilage, regenerated cartilage/scar tissue, or deformed cartilage; a bone marrow lesion (BML); and a distinct cyst.
  • the graphical user interface may comprise functionality to visualize and enable manipulation, using the at least one manipulation tool, of the at least one 3D model 320.
  • the graphical user interface may further comprise functionality to visualize and enable browsing of at least one of the plurality of medical image stacks.
  • FIG. 3-5 In the graphical user interface illustrated in figures 3-5, four image stacks are visualized. Below each of these image stacks, an indicator shows the position within the image stack of the image that is currently displayed. In the image to the bottom left in figure 3, the indicator shows that the user is browsing through the medical image stack.
  • the position of the image in the medical image stack that is currently visualized, i.e. the intersection in the 3D model that is displayed in the medical image 310, is in figure 3 illustrated with a plane 340 through the 3D model. As the user browses through the medical images, the plane 340 moves in the 3D model 320.
  • Figure 4 illustrates that the angle of such a plane 440 depends on the angle of the slices visualized in the images in the medical image stack, and the plane 340, 440 may thus be at any angle through the 3D model.
  • the user preferably has the option to remove the visualization of this plane 340, 440, for increased clarity when viewing the 3D model.
  • the graphical user interface may further comprise functionality to enable removal of the visualization of at least one of the plurality of anatomical structures from the at least one 3D model.
  • the following anatomical structures are represented by“buttons” which may be manipulated using the at least one manipulation tool: femur, patella, cruciates, tibia, menisci and cartilage. Using these“buttons”, these anatomical structures may be selectively added and removed from the visualization of the 3D model, as illustrated in figure 5.
  • the graphical user interface may further comprise functionality to select at least one medical image 310,
  • a plurality of medical images 310, 410, 510 are shown.
  • the plurality of medical images 310, 410, 510 may e.g. belong to different medical image stacks.
  • the graphical user interface may comprise functionality to browse through a number of different medical image stacks.
  • the graphical user interface may further include a recommendation and/or a position indication of a suitable implant for the determined bone and/or cartilage damage. Such a suitable implant may further be visualized in the 3D model and/or the displayed medical image.
  • figure 6 An example of how or a type and placement of a suitable implant may be indicated in the graphical user interface is shown in figure 6, which comprises four displayed medical images 610 and a 3D model 620.
  • the type and placement of a suitable implant 650, 660 is in figure 6 indicated both in the in the medical image 610 and in the 3D model 620, but it may be indicated in just the 3D model 620.
  • the graphical user interface is adapted to be used by medical staff, for example a surgeon or orthopedic staff member. In one or more embodiments, the graphical user interface is adapted to be used by medical staff, for example a surgeon or orthopedic staff member, and may further include a recommendation for a suitable implant, according to any of the embodiments described above.
  • the graphical user interface is adapted to be used by an insurance agent making an assessment regarding a client or potential client, a patient who wants to be informed about the condition of a damaged joint, or any other person who has for example a commercial or academic interest in learning about damage to a depicted anatomical joint.
  • Figure 7 is a flow diagram of one or more method embodiments for determining and visualizing damage to an anatomical joint of a patient where damage to the joint is visualized in a graphical user interface, and further the optional method steps of including in the images a recommendation of a suitable implant for repairing a determined damage. Steps 210-270 of figure 7 correspond to the same steps of figure 2, and the method embodiments of figure 7 further comprise the following additional steps:
  • step 780 selecting a suitable implant from a predefined set of implants with varying dimensions, based on data from the medical image and/or the three-dimensional image representation of the anatomical joint or part of it.
  • a suitable implant means an implant having a type and dimensions that match a determined damage, thereby making it suitable for repairing the determined damage.
  • step 790 visualizing the selected implant in the 3D model.
  • the graphical user interface may be manipulated by a user using at least one manipulation tool integrated in, connected to, or communicatively coupled to the display or a system comprising the display.
  • the method of figure 2 or 7 may further optionally comprise receiving user input from at least one manipulation tool, interpret the received user input, and generate one or more control signals in response to the received user input.
  • the received user input may e.g. relate to the 3D model, and generate control signals in response to said received user input to manipulate what is being displayed, temporarily or permanently.
  • the manipulation may for example include providing annotations, moving or changing an image or part of an image, changing the viewing perspective, zooming in or out, and/or any other suitable form of manipulation that enables the user to view and analyze the displayed image data in an improved manner.
  • the method of figure 2 or 7 may comprise receiving a control signal from at least one manipulation tool and processing the image data that is being displayed, or in other words manipulate the displayed image, in response to the control signal.
  • Each of the medical image stacks used for determining damage to the identified tissue parts in the anatomical joint may be different from the medical image stack used for obtaining the three-dimensional image representation. In this way, the unique set of parameters used for generating each medical image stack can be optimized to the use of the medical image stack.
  • the method may further comprise marking, in the 3D model, the position of the displayed medical image.
  • the functionality to browse the medical image stack may also comprise functionality to select a medical image in the medical image stack through interaction with the 3D model. This is an easy way for the user to visualize interesting parts of the joint.
  • Any or all of the method steps of any or all of the embodiments presented herein may be performed automatically, e.g. by at least one processor.
  • the damage marking and the creation of the graphical user interface may in use case embodiments be preceded by capturing and/or obtaining medical image data representing an anatomical joint or part of it, and may further be followed by actions to be taken in view of repairing any determined damage.
  • Figure 8 is a flow diagram exemplifying one such larger context, including obtaining medical image data from an image source, determining damage to a depicted anatomical joint, and creating of a graphical user interface in accordance with one or more embodiments described herein.
  • Figure 8 further includes steps of designing and producing an implant and/or guide tool suitable for repairing a determined damage in an anatomical joint.
  • everything except the determination of damage, damage marking and graphical user interface creation of step 840, using the input medical image data 830 and resulting in the output graphical user interface 850, is marked with dashed lines to clarify they are optional steps shown in the figure to provide context only, and not essential to any of the embodiments presented herein.
  • steps 870 and 880 relating to diagnosis/decision on treatment and design and production of implant/guide tool are not part of the embodiments presented herein.
  • medical image data 830 may be obtained in a step 800 in the form of medical image data from a medical imaging system.
  • the medical image data obtained may for example be radiology data, generated using one or more of a variety of medical imaging techniques such as X-ray images, ultrasound images, computed tomography (CT) images, nuclear medicine including positron emission tomography (PET) images, and magnetic resonance imaging (MRI) images.
  • CT computed tomography
  • PET positron emission tomography
  • MRI magnetic resonance imaging
  • the medical image data may e.g. be captured during a process of scanning images through different layers of the anatomical joint or part of it.
  • Each medical image stack may e.g. have been generated during a scanning process using a specific sequence, where each specific sequence uses a unique set of parameters.
  • a scanning process may be any type of scanning process for generating a series of radiology images where different sets of parameters may be used to generate images with different types of detail.
  • the use of more than sequence allows the visualization of more detail in the image, since some types of detail may be more clearly visible using one set of parameters and other types of detail may be more clearly visible using another set of parameters.
  • the scanning processes used for generating the medical image stacks may e.g. be MR scanning process using different specific MR sequences, where each MR sequence uses a unique set of MR parameters.
  • the MR parameters may e.g. be the repetition time TR (the time between the RF pulses) and the echo time TE (the time between an RF pulse and its echo).
  • the set of MR parameters may e.g. cause a T1 weighted MR sequence if a short TR and a short TE is selected, a T2 weighted MR sequence if a long TR and a long TE is selected, or an intermediately weighted MR sequence of a long TR and a short TE is selected.
  • the different sets of MR parameters do not necessarily have to cause MR sequences of different types - two different sets of MR parameters may e.g. both cause T1 weighted sequences, but one of the sets may cause a stronger T 1 weighting than the other.
  • the scanning processes used for generating the medical image stacks may also be CT scanning processes using different specific CT sequences, where each CT sequence uses a unique set of CT parameters.
  • the CT parameters may e.g. be the tube potential (kV), the tube current (mA), the tube current product (mAs), the effective tube current-time product (mAs/slice), the tube current modulation (TCM), the table feed per rotation (pitch), the detector configuration, the collimation, the reconstruction algorithm, the patient positioning, the scan range and/or the reconstructed slice thickness.
  • CT scanning it may be advantageous to use very different sets of CT parameters for generating the medical image stack used for generating the 3D model and for generating the other medical image stacks.
  • the image data obtained in step 800 may further be processed in a step 810, by performing segmentation and 3D modulation to obtain a three-dimensional image representation of what is depicted in the captured image data. For instance, if the image data captured depict an anatomical joint, the three-dimensional image representation would be a three-dimensional image representation of the anatomical joint.
  • Medical images may also be obtained in a step 820 from a different kind of image source that provides medical images.
  • the three-dimensional image representation and the medical images both depict the same object, namely the anatomical joint of interest for damage determination.
  • the medical image data 830 may therefore, as described herein, comprise a three-dimensional image representation and/or medical images representing an anatomical joint.
  • the medical image data 830 may represent only a part of the anatomical joint.
  • the three-dimensional image representation and the medical images may in embodiments be associated, or synchronized, such that a position on an object depicted in the three-dimensional image representation is associated with the same position on the same object in the medical images.
  • a marking of a determined damage is done in the three-dimensional image representation, it will appear in the same position on the depicted anatomical joint in the medical images, and vice versa.
  • the same would apply to for example annotations placed in connection with a position of the depicted joint, or any modification done to the three-dimensional image representation or the medical images.
  • the graphical user interface 850 may, in accordance with embodiments described herein, comprise functionality to visualize and enable manipulation, using the at least one manipulation tool, of at least one 3D model; functionality to enable removal of the visualization of at least one of a plurality of anatomical structures from the at least one 3D model; functionality to visualize and enable browsing of at least one of a plurality of medical image stacks; functionality to select at least one medical image in the medical image stack to visualize through interaction with the 3D model; and functionality to visualize, in the 3D model, the position of the at least one medical image that is currently visualized.
  • the graphical user interface 850 may optionally, in accordance with embodiments described herein, comprise an indication of one or more suitable implants and/or guide tools that may be used for repairing a determined damage.
  • a suitable implant and/or guide tool means an implant and/or guide tool having a type and dimensions that match the determined damage, thereby making it suitable for repairing the determined damage.
  • the one or more suitable implants and/or guide tools may be selected in the optional step 860, and may be presented graphically in connection with the 3D model and/or the medical images of the graphical user interface 850, for example in the position where the implant and/or guide tool should optimally be inserted to repair the determined damage.
  • the one or more suitable implants and/or guide tools may be selected in the optional step 860 and may be presented separated from the 3D model and/or the medical images, for example as a graphical representation and/or a text annotation.
  • a medical staff member for example a surgeon or orthopedic staff member, may use a created graphical user interface 850 to make a correct diagnosis and make a decision 870 on an decision of optimal treatment of the patient whose anatomical joint has been depicted. If the medical staff member decides that an implant is required, this may lead up to the step 880 of designing and producing a suitable implant and/or guide tool, possible according to an indication that may be provided in the graphical user interface, as described herein, for repairing the determined damage.
  • a person using the graphical user interface 850 may be a person other than a medical staff member that has an interest in learning about any damage to the depicted anatomical joint, for example an insurance agent assessing a client or a potential client, a patient who wants to be informed about the condition of a damaged joint, or any other person who has for example a commercial or academic an interest in learning about any damage to a depicted anatomical joint.
  • various embodiments provided by the present disclosure can be implemented using hardware, software, or combinations of hardware and software. Also where applicable, the various hardware components and/or software components set forth herein can be combined into composite components comprising software, hardware, and/or both without departing from the claimed scope of the present disclosure. Where applicable, the various hardware components and/or software components set forth herein can be separated into sub-components comprising software, hardware, or both without departing from the claimed scope of the present disclosure. In addition, where applicable, it is contemplated that software components can be implemented as hardware components, and vice-versa. The method steps of one or more embodiments described herein may be performed automatically, by any suitable processing unit, or one or more steps may be performed manually.
  • a non-transitory computer readable memory on which is stored computer readable and computer executable code configured to, when executed in a processor, perform any or all of the method steps described herein.
  • a non-transitory machine-readable medium on which is stored machine-readable code which, when executed by a processor, controls the processor to perform the method of any or all of the method embodiments presented herein.

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Abstract

Un ou plusieurs modes de réalisation de la présente invention concernent un système pour déterminer et visualiser une lésion d'une articulation anatomique d'un patient. Le système comprend un dispositif d'affichage, au moins un outil de manipulation, un support de stockage et au moins un processeur. Le ou les processeurs sont configurés pour : i) recevoir une pluralité de piles d'images médicales d'au moins une partie de l'articulation anatomique en provenance du support de stockage ; ii) obtenir une représentation d'image tridimensionnelle de la ou des parties de l'articulation anatomique qui est basée sur au moins l'une desdites piles d'images médicales, par génération de ladite représentation d'image tridimensionnelle au cours d'un processus de segmentation d'image sur la base de ladite pile d'images médicales ou réception de ladite représentation d'image tridimensionnelle en provenance du support de stockage ; iii) déterminer une lésion d'au moins une structure anatomique parmi une pluralité de structures anatomiques dans l'articulation anatomique par analyse d'au moins une pile de ladite pluralité de piles d'images médicales ; iv) marquer, sur la base de la lésion déterminée, une lésion des structures anatomiques dans la représentation d'image tridimensionnelle obtenue ; v) obtenir au moins un modèle 3D pour une visualisation sur la base de la représentation d'image tridimensionnelle, modèle 3D dans lequel la lésion marquée est visualisée ; et vi) créer une interface utilisateur graphique pour une visualisation sur le dispositif d'affichage. L'interface utilisateur graphique peut comprendre : une fonctionnalité pour visualiser et permettre la manipulation, à l'aide du ou des outils de manipulation, du ou des modèles 3D ; une fonctionnalité pour permettre l'élimination de la visualisation d'au moins une structure anatomique de la pluralité de structures anatomiques du ou des modèles 3D ; une fonctionnalité pour visualiser et permettre l'exploration d'au moins une pile de la pluralité de piles d'images médicales ; et une fonctionnalité pour visualiser, dans le modèle 3D, la position de la ou des images médicales qui sont actuellement visualisées.
PCT/EP2018/085055 2018-12-14 2018-12-14 Détermination et visualisation d'une lésion d'une articulation anatomique WO2020119930A1 (fr)

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PCT/EP2018/085055 WO2020119930A1 (fr) 2018-12-14 2018-12-14 Détermination et visualisation d'une lésion d'une articulation anatomique
EP19817291.8A EP3895175A1 (fr) 2018-12-14 2019-12-10 Détermination et visualisation d'une lésion d'une articulation anatomique
PCT/EP2019/084474 WO2020120494A1 (fr) 2018-12-14 2019-12-10 Détermination et visualisation d'une lésion d'une articulation anatomique

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