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1. EP2804557 - METHOD FOR THREE-DIMENSIONAL LOCALIZATION OF AN OBJECT FROM A TWO-DIMENSIONAL MEDICAL IMAGE

Office European Patent Office
Application Number 13738653
Application Date 16.01.2013
Publication Number 2804557
Publication Date 26.11.2014
Publication Kind B1
IPC
A61B 6/12
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
6Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
12Devices for detecting or locating foreign bodies
A61B 6/00
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
6Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
A61B 34/20
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/00
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/-A61B50/171
G06T 7/00
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
G06T 7/73
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
70Determining position or orientation of objects or cameras
73using feature-based methods
CPC
A61B 6/12
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
6Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
12Devices for detecting or locating foreign bodies
A61B 6/5294
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
6Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
52Devices using data or image processing specially adapted for radiation diagnosis
5294involving using additional data, e.g. patient information, image labeling, acquisition parameters
A61B 34/20
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 2034/2065
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
2046Tracking techniques
2065Tracking using image or pattern recognition
A61B 2090/376
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, 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
36Image-producing devices or illumination devices not otherwise provided for
37Surgical systems with images on a monitor during operation
376using X-rays, e.g. fluoroscopy
A61B 2090/3966
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, 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
39Markers, e.g. radio-opaque or breast lesions markers
3966Radiopaque markers visible in an X-ray image
Applicants SUNNYBROOK HEALTH SCIENCES CT
Inventors ROBERT NORMAND
CRYSTAL EUGENE
Designated States
Priority Data 2013050023 16.01.2013 CA
201261587469 17.01.2012 US
Title
(DE) VERFAHREN ZUR DREIDIMENSIONALEN LOKALISIERUNG EINES OBJEKTS AUS EINEM ZWEIDIMENSIONALEN MEDIZINISCHEN BILD
(EN) METHOD FOR THREE-DIMENSIONAL LOCALIZATION OF AN OBJECT FROM A TWO-DIMENSIONAL MEDICAL IMAGE
(FR) PROCÉDÉ DE LOCALISATION EN TROIS DIMENSIONS D'UN OBJET À PARTIR D'UNE IMAGE MÉDICALE EN DEUX DIMENSIONS
Abstract
(EN)
A method for determining the three-dimensional location of an object in realtime from a two-dimensional medical image obtained with a medical imaging system is provided. For example, the three-dimensional location of an interventional medical device or a marker positioned on such a device may be determined from a two- dimensional x-ray image obtained with an interventional x-ray imaging system. Template images corresponding to the object under different imaging geometries and orientations are produced and are compared to images acquired with the medical imaging system. Similarity measures, such as normalized cross correlation and normalized similarity integral, are used to determine the similarity between a selected template image and the medical images in different stages of refining the position information for the object.

(FR)
La présente invention concerne un procédé de détermination de la localisation en trois dimensions d'un objet en temps réel, à partir d'une image médicale en deux dimensions obtenue avec un système d'imagerie médicale. Ainsi, par exemple, la localisation en trois dimensions d'un dispositif médical interventionnel ou d'un marqueur placé sur un tel dispositif peut être déterminée à partir d'une image aux rayons X en deux dimensions obtenue avec un système d'imagerie interventionnel aux rayons X. Les images de modèle correspondant à l'objet sous différentes géométries et orientations d'imagerie sont produites et comparées aux images acquises avec le système d'imagerie médicale. Des mesures de similarité, comme la corrélation croisée normalisée et l'intégrale de similarité normalisée, sont utilisées pour déterminer la similarité entre une image de modèle sélectionnée et les images médicales à différentes étapes de l'affinement des informations de position pour l'objet.