WO2006095221A2 - Procede d'imagerie - Google Patents

Procede d'imagerie Download PDF

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Publication number
WO2006095221A2
WO2006095221A2 PCT/IB2005/054329 IB2005054329W WO2006095221A2 WO 2006095221 A2 WO2006095221 A2 WO 2006095221A2 IB 2005054329 W IB2005054329 W IB 2005054329W WO 2006095221 A2 WO2006095221 A2 WO 2006095221A2
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WO
WIPO (PCT)
Prior art keywords
image
images
coordinates
sensor coordinates
measured
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.)
Ceased
Application number
PCT/IB2005/054329
Other languages
German (de)
English (en)
Other versions
WO2006095221A3 (fr
Inventor
Jörn BORGERT
Jochen KRÜCKER
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.)
Philips Intellectual Property and Standards GmbH
Koninklijke Philips NV
Original Assignee
Philips Intellectual Property and Standards GmbH
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 Philips Intellectual Property and Standards GmbH, Koninklijke Philips Electronics NV filed Critical Philips Intellectual Property and Standards GmbH
Publication of WO2006095221A2 publication Critical patent/WO2006095221A2/fr
Publication of WO2006095221A3 publication Critical patent/WO2006095221A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; Determining position of diagnostic devices within or on the body of the patient
    • 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
    • A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
    • A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
    • A61B6/5229—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image
    • A61B6/5247—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • 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
    • A61B6/12—Arrangements for detecting or locating foreign bodies
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20016—Hierarchical, coarse-to-fine, multiscale or multiresolution image processing; Pyramid transform

Definitions

  • the invention relates to an imaging method, preferably for medical purposes, to an arrangement for carrying out such a method and to a computer program suitable for this arrangement.
  • imaging techniques are used, for example, in interventional procedures, surgical or diagnostic
  • Instruments such as needles, catheters, etc.
  • Instruments are displayed in a positionally correct manner in an image of the patient taken before or during the procedure. This makes it possible to bring the instrument past vital organs or vessels in the target area.
  • one or more position sensors are attached to the instrument, which continuously monitor their position
  • Sensor coordinates d. H. forward their position to a suitable evaluation unit. After the sensor coordinates have been transformed into image coordinates, a stored image of the instrument can be displayed in the correct position in the image taken by the patient.
  • CT computed tomography
  • the arterial blood vessels may have been visualized with a contrast agent, while a second CT image taken at a later time highlights the venous blood vessels.
  • CT computed tomography
  • different and complementary image information results in different modalities (imaging systems), for example when combining a CT image and an ultrasound image, because these modalities can represent different structures in the human body in different ways. Combining such images with each other results in a combination image that contains more image information than each of the individual images that compose it. It would be conceivable, even in such a case, when recording the
  • Object of the present invention is to provide an imaging method, which is recorded from two at different times
  • Pictures of an examination subject with different image information can then be a combination image with sufficient image quality can be created when the object between the recording of the two images moves or deformed.
  • This object is achieved according to the invention by an imaging method comprising the steps of: a) generating a first image (I ref ) of an examination object provided with position sensors, b) generating a second image (I 1 ) of the position sensor
  • registering one of the images on the other image by comparing the images is meant an image based registration process in which one image is iteratively transformed (ie deformed) until the resulting image optimally matches the other image is determined by evaluating the geometrically corresponding regions of the images with a suitably chosen similarity measure
  • the similarity measure can be, for example, the correlation coefficient, the mutual information, or the absolute sum of the squared voxel differences, then the transformation parameters are varied. in which the highest similarity measure results, it is assumed that the best match is given.
  • Imaging methods of this type are known per se -. B. from DE-A 19920872 or from the publication of CR. Meyer et al. 1997, Apr. 1 (3): 195-206, although they are the most suitable ones, they are: "Demonstration of accuracy and clinical versatility of mutual information for automatic multimodality image fusion using affine and thin-plate spline warped geometric deformations".
  • the registration takes place using the sensor coordinates measured by the position sensors, whereby the registration is considerably accelerated.
  • the sensor coordinates which are measured during the generation of the other image of the examination subject, represent the positions into which the points of the examination subject in which the position sensors are located are transformed by the registration.
  • all voxels of the one image would generally be transformed to a new position until an optimal similarity with the other image is achieved.
  • the search for transformations with optimum similarity is substantially restricted, which considerably speeds up the registration process. It is then also possible to use in interventional examinations, in which it depends on a quick presentation of the examination subject in a combination image.
  • a two-stage registration method results, in which in the first stage the one image is transformed purely geometrically according to the change in the sensor coordinates, resulting in an intermediate image.
  • This intermediate image is a much better approximation to the other image than the image from which it was derived.
  • This intermediate image is then the subject of an image-based registration process in the second stage, with which it is registered on the other image.
  • the spatial change in the intermediate image in the region of the sensor coordinates is limited - preferably no change of the intermediate image takes place at the positions of the sensors.
  • the intermediate image may also be changed in the area of the sensors - but only slightly compared to the rest of the image. - Since the differences between the intermediate image and the other image are smaller than the differences between the one image and the other, the search for the transformation is optimal match, easier and less risk of incorrect resolution of the registration problem. In addition, the registration process will be further accelerated.
  • a further registration is (automatically) initialized with a further image, namely, if it results from the change of the measured sensor coordinates that the examination object has moved or deformed.
  • the position sensors have a double function.
  • they initialize the creation of another image and a further registration and on the other hand, the registration process is considerably simplified and accelerated.
  • the further image is the last previously generated image or (if the images are not automatically generated in the intended temporal sequence) an image whose generation is initiated after the detection of a change in the measured sensor coordinates.
  • the embodiment according to claim 4 relates to the application of the method according to the invention in an interventional procedure.
  • the medical instrument used in the interventional procedure is also superimposed on the combination image.
  • the embodiment according to claim 5 assumes that in the method (two) different imaging systems (modalities) are used. For example, in an interventional procedure, this can be a
  • Computed tomography and an ultrasound imager that provide complementary image information, so that the combination image has a higher information content than each of the two images of which it is composed.
  • the invention may be useful even if only a single modality is used. For example, in a first CT scan (recorded before an interventional procedure) a contrast agent can be used to visualize a tumor that is no longer visible in the CT image acquired during the subsequent intervention without a contrast agent.
  • the use of the sensor coordinates when registering one image to the other assumes that the position of the image coordinate system with respect to the sensor coordinate system is known, so that the measured sensor coordinates can be converted into the image coordinates by a simple coordinate transformation (or vice versa).
  • the relationship between sensor coordinates and image coordinates can also be determined in other ways, eg. B. by measuring the spatial coordinates of the image acquisition device and the sensors. If the spatial coordinates of the image acquisition device are known, the situation of the imaging system also results in the position of the image coordinates of the image generated therewith in relation to the spatial coordinates.
  • Claim 7 specifies an arrangement for carrying out the method according to the invention, and claim 8 relates to a computer program for an image processing unit belonging to this arrangement.
  • Fig. 2 is a symbolized by blocks schematic representation of this
  • FIG. 3 shows the flow of this method in a block diagram
  • FIG 4 shows the images generated or processed by an image processing unit.
  • FIG. 1 shows a medical workstation with which the method according to the invention can be carried out as part of an interventional procedure.
  • a 10 X-ray computed tomography
  • a patient 1 is located.
  • the patient can be moved from the treatment position shown in the drawing with the table top 11 in a defined image pickup position.
  • the length of the distance between the image acquisition position and the treatment position is adjustable and is registered by the system.
  • an ultrasound device 20 is provided with an ultrasound imager 21, which generates a plurality of ultrasound images during the treatment. These are three-dimensional - as is the image supplied by the computer tomograph.
  • the ultrasound images and the CT images taken by the ultrasound device 20 are combined in a workstation 30, and the resulting combination image is displayed on a monitor.
  • the interventional treatment is performed with a surgical instrument, e.g. A needle 60 which is to be inserted into a tumor of the patient for radiofrequency ablation.
  • a system 50, 54 is provided which allows electromagnetic tracking of the needle 60, the ultrasound imager 21 and the patient 1.
  • the system comprises a number of patient-mounted position sensors 51, a position sensor 52 attached to the needle 60, and two position sensors 53 arranged at right angles to each other and attached to the ultrasound imager 21.
  • the sensors are formed by coils a few mm in length exposed to a magnetic field periodically changes and its direction is changed in a defined way. This is generated by a magnetic field generator 54 arranged in a defined position relative to the computer tomograph 10.
  • the signals generated in the coils or the position sensors are supplied to a registration unit 50, which is connected to the workstation 30.
  • the signal provided by a coil depends on the position of the coil in space (or with respect to the magnetic field generator 54) and also changes upon pivoting of the coil about an axis perpendicular to the coil axis. On a pivoting or rotation of the coil about its longitudinal axis, the signal does not respond. From the coil signal can thus u. a. derive the position of the coil in space (ie the sensor coordinates).
  • the two coils 53 arranged perpendicular to one another on the ultrasound imager 21 thus determine the location coordinates and the orientation in all three spatial directions.
  • Position detection systems of this type are known and z. B. under the name Aurora of the company Northern Digital Inc. (in Waterloo, Canada) available. However, other than such a position measuring system may be used
  • Position measuring systems are used, for example, optical systems with light-emitting diodes whose position is measured by distributed in space light receivers.
  • An interventional procedure is initiated by providing the patient 1 with a number of position sensors 51.
  • the table top 11 is then moved back from the treatment position to the receiving position and after creating a three-dimensional CT image back to the treatment position.
  • Fig. 4b shows - by way of example and schematically - the resulting CT image. It can be seen in comparison to Fig. 4a, which represents the relevant area for treatment completely that only some of the anatomical structures are well represented, including a tumor 41, while other structures, eg. B. the blood vessels are shown only insufficient.
  • the three-dimensional image generated in the treatment position with the aid of the ultrasound image generator which is shown schematically in FIG. 4c, represents the blood vessels and other anatomical structures-but not the tumor 41-with sufficient quality. It will then be explained in the following generates a combination image containing image information from both the CT image and the ultrasound image. The surgeon can then use the image to plan where and under which
  • Fig. 2 shows in the form of blocks schematically the interaction of the components according to Fig. 1, wherein these are designated in both images with the same reference numerals.
  • the ensemble is attached to the patient
  • Position sensors 51 denotes.
  • the sensor signals are detected by the unit 50 and converted into digital sensor coordinates, which are further processed by the control and image processing unit 30 formed by the workstation.
  • This unit is also the images of the imaging system 10 and 20, which can be displayed after further processing to a combination image on a monitor 40.
  • the respective ultrasound images in conjunction with the needle 60 can also be displayed on the monitor.
  • the unit 30 is divided into two modules.
  • the module 31 calculates, as will be explained, analytical the rigid transformation between the sensor coordinates at the time of the CT image acquisition and the image coordinates associated with the sensor positions.
  • the module 35 in turn is divided into two submodules 32 and 33.
  • the sub-module 32 continuously analyzes the sensor coordinates and, in the case of changes, calculates an elastic transformation that transforms the sensor coordinates when the CT image is acquired to the current sensor coordinates. This transformation is applied to the CT image.
  • Submodule 33 performs image-based registration between the intermediate image resulting from the transformation in submodule 32 and the ultrasound image.
  • a three-dimensional CT image Iref (u, v, w) is generated by means of the computer tomograph 10.
  • the coordinates of the sensors S re f (x, y, z) are determined (block 102).
  • the image coordinates of the sensors S ref (u, v, w) are determined by segmentation of the CT image I ref (u, v, w).
  • the attached to the patient sensors (electric coils) are indeed displayed in the CT image.
  • a rigid transformation T re f is determined by which the spatial coordinates of the sensors S re f (x, y, z) are converted into their image coordinates S re f (u, v, w).
  • the prerequisite for this transformation is that the sensor coordinates can be segmented in the image. If this is not possible or not desired, the location coordinates of the computer tomograph 10 can be determined instead.
  • the image coordinates of the CT image I ref (u, v, w) generated with the computer tomograph can then be assigned to these images, so that registration between spatial and image coordinates becomes possible in this way.
  • the sub-module 32 analyzes the sensor coordinates continuously measured by the sensors. If these coordinates deviate from coordinates S ref (x, y, z) measured when taking the CT image, there is movement or deformation of the patient registered in block 105. This initializes a registration of the CT image I re f (u, v, w) with another image.
  • the initialization results in the step 106 acquiring a (further) three-dimensional image by the ultrasound device 20, if it has not already been generated (namely, ultrasound images can also be generated without the initialization at regular time intervals).
  • the picture coordinates deviate of the ultrasound image from the image coordinates u, v, w of the CT image;
  • the image coordinates of the ultrasound image can be converted into spatial coordinates x, y, z.
  • the image coordinates of the ultrasound image can be converted into the image coordinates u, v, w of the CT image Iref (u, v, w).
  • the sensor coordinates S 1 (x, y, z) measured simultaneously with the acquisition of the correspondingly transformed ultrasound image I 1 (u, v, w) are stored (block 107).
  • the position of the interventional instrument, ie the needle 60, when taking the ultrasound image is also measured and stored with the sensor 52 (block 108).
  • the CT image I re f (u, v, w) is shown in Fig. 4b, while the ultrasound image I 1 (u, v, w) is shown in Fig. 4c. If one were to superimpose the two images directly, this would result in the image shown in Fig. 4d, which at best is blurred due to the movement or deformation, but usually confusing and therefore less useful than the CT image or the ultrasound image.
  • step 109 the sensor coordinates S ref (x, y, z) are registered during generation of the CT image with the sensor coordinates S 1 (x, y, z) during generation of the ultrasound image, ie an elastic transformation T 1 , which converts the sensor coordinates S re f (x, y, z) into the sensor coordinates S 1 (x, y, z).
  • step 110 the determined transformation T 1 is applied to the CT image Iref (u, v, w) and, in addition, the transformation T re f determined in step 104.
  • the result of this twofold transformation is an intermediate image I z (u, v, w), which in the positions of the sensors corresponds to the ultrasound image I 1 (u, v, w) and which only approximates this image at all positions between the sensors is.
  • this transformed image I z is much better in agreement with the image I 1 than the CT image I ref .
  • step 111 an image-based registration of the intermediate image I z (u, v, w) then takes place on the ultrasound image I 1 (u, v, w) with the aid of the submodule 33.
  • the coordinates of the pixels of the intermediate image changed iteratively.
  • the coordinates of the sensors are considered as fixed points whose position is not or - because of any measurement inaccuracies - may be changed only limited. The registration is allowed thus allow only such transformations, which practically does not change the positions of the sensors in the intermediate image I z .
  • the image I e resulting from the image-based registration has such a deformation with respect to the reference image I re f that it optimally matches the image I 1 .
  • Image I e is then combined with image I 1 (step 112) by superimposing the images semi-transparently, ie by summing the images voxel for voxels with adjustable weight. Illustrated and largely to the "ideal" according to Fig. 4a corresponding composite image I c to cover the mutually corresponding anatomical structures, so that it has no motion artefacts in the thus formed and shown in Fig. 4e.
  • the composite image I c is also the (virtual When the needle advances, the needle changes its position in the combination image.
  • the further monitored sensor coordinates deviate significantly from the sensor coordinates measured during the acquisition of the ultrasound image, a movement or deformation of the patient, eg. By breathing, which is detected and registered in step 105, and registration of the CT image Iref (u, v, w) is initiated with another ultrasound image (the last one) - and, if necessary, the generation of this ultrasound image .
  • the sensor coordinates measured and stored during the recording of the further ultrasound image are used for the registration of the CT image I re f with this further image in the steps 109-112 that have been carried out again.

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  • Heart & Thoracic Surgery (AREA)
  • Radiology & Medical Imaging (AREA)
  • Optics & Photonics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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  • High Energy & Nuclear Physics (AREA)
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Abstract

L'invention concerne un procédé d'imagerie, de préférence d'imagerie médicale, consistant à combiner deux images d'un objet à examiner, ayant des contenus d'image différents. Pour obtenir une image combinée de qualité à partir de cette combinaison, même en cas de mouvement de l'objet à examiner, ce dernier est pourvu de capteurs de position mesurant leurs coordonnées. Avant combinaison des deux images, une des images est enregistrée sur l'autre image par comparaison des images et au moyen des coordonnées mesurées par les capteurs de position.
PCT/IB2005/054329 2005-03-11 2005-12-20 Procede d'imagerie Ceased WO2006095221A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US66064805P 2005-03-11 2005-03-11
US60/660,648 2005-03-11

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WO2006095221A2 true WO2006095221A2 (fr) 2006-09-14
WO2006095221A3 WO2006095221A3 (fr) 2007-03-22

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008065600A3 (fr) * 2006-11-27 2009-11-26 Koninklijke Philips Electronics, N.V. Système et procédé permettant de fondre en temps réel des images ultrasons et des clichés médicaux préalablement acquis
EP2192855A4 (fr) * 2007-07-09 2013-08-07 Superdimension Ltd Modélisation de la respiration d'un patient

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10015826A1 (de) * 2000-03-30 2001-10-11 Siemens Ag System und Verfahren zur Erzeugung eines Bildes
DE10253784A1 (de) * 2002-11-19 2005-06-02 Universität Zu Lübeck Verfahren zur Bildregistrierung

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008065600A3 (fr) * 2006-11-27 2009-11-26 Koninklijke Philips Electronics, N.V. Système et procédé permettant de fondre en temps réel des images ultrasons et des clichés médicaux préalablement acquis
RU2468436C2 (ru) * 2006-11-27 2012-11-27 Конинклейке Филипс Электроникс, Н.В. Система и способ для объединения ультразвуковых изображений в реальном времени с ранее полученными медицинскими изображениями
US8731264B2 (en) 2006-11-27 2014-05-20 Koninklijke Philips N.V. System and method for fusing real-time ultrasound images with pre-acquired medical images
EP2192855A4 (fr) * 2007-07-09 2013-08-07 Superdimension Ltd Modélisation de la respiration d'un patient
US10292619B2 (en) 2007-07-09 2019-05-21 Covidien Lp Patient breathing modeling
US11089974B2 (en) 2007-07-09 2021-08-17 Covidien Lp Monitoring the location of a probe during patient breathing

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