CN103118596B - 用于使用伪特征进行腹部表面匹配的系统 - Google Patents
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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
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- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
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- G06T2207/10072—Tomographic images
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- G—PHYSICS
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- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
Abstract
提供了一种在经皮外科程序应用中使用程序前图像为图像引导疗法(IGT)——也被称为图像引导介入(IGI)——进行配准的系统和方法。伪特征与患者的腹部和器官表面被用于配准并建立引导所需的关系。可以为增强的引导信息生成脉管、肿瘤和器官的三维可视化。本发明促进广泛的程序前规划,籍此显著缩短程序时间。本发明还能最大限度地降低患者对辐射的暴露。
Description
相关申请的交叉引用
本申请要求LoganW.Clements等人在2010年5月4日提交的美国临时申请No.61/331,252的权益和优先权,并且享有该申请日的优先权。该美国临时申请No.61/331,252的说明书、附图和完整公开以所有目的通过引用的方式并入本文。
本发明在NIHSBIR基金合同No.CA119502的名义下利用美国政府的部分支持而进行。政府可能具有本发明的一定权利。
技术领域
本发明一般地涉及用于在经皮外科程序期间进行腹部表面匹配以用于图像引导的系统和相关方法。
背景技术
图像引导疗法(IGT)(常常也被称为图像引导介入(IGI))已经获得了广泛的关注和临床接受以在定位腹部器官内的肿瘤时使用。利用IGT的程序包括但不限于肿瘤活检和消融。
IGT本质上描述了医学图像在经皮程序期间的交互式使用,并且常被称为介入放射学的“全球定位系统”(GPS)。例如,在车辆GPS中,车辆的当前位置被精确定位或“配准”到位于仪表盘上的电子路线图上。当车辆移动时,其位置在该路线图上更新。驾驶者能够使用GPS作为指南以见到他们的车辆所在的位置、曾经所在的位置和将要到达的位置,并且能够按照规划的路线到达选定的目的地。IGT使医师能够利用他们位于患者的高度详细的断层医学图像的3D“路线图”上的跟踪医疗器械完成相同的事情,这些图像在介入程序之前被理想地获得并被良好研究。IGT程序中的关键步骤为真实的“患者”空间与医疗图像空间之间的精确配准。
在理想的IGT程序中,从术前诊断图像建立3D图或规划,这可能在实际程序之前几天且咨询不同科室的多个医师而得到。在经皮程序当天,患者和医疗器械的位置被精确定位或“配准”到介入套件内的这些术前图像上。当医师移动器械时,其尖端的精确位置在3D图像上得到更新。医师随后能够快速地跟随规划的路径到达选定的目的地(例如,感兴趣的肿瘤或其他病变部位)。器械的确切位置利用实时成像的形式确认,这些实时成像形式包括但不限于术中计算机断层扫描术(CT)、2D荧光透视法、或超声(US)成像。
题为“Methods,apparatuses,AndSystemsUsefulInConductingImageGuidedInterventions”的美国专利No.7,853,307(其全部公开以所有目的通过具体引用的方式并入本文)公开了一种使用非组织参考标记/皮肤基准标记将术前图像配准至患者空间的方法。该发明使用附接至患者腹部的不透射线的基准标记(又称为皮肤基准标记)以及紧接在程序之前的患者腹部的完整CT扫描(也被称为程序中图像),并且执行基于点的配准以完成基准标记在腹部上的位置与其在程序中CT图像中的相应位置之间的对应。类似地,题为“DeviceandMethodforRegisteringAPositionSensorInAnAnatomicalBody”的美国专利No.6,785,571(其全部公开以所有目的通过具体引用的方式并入本文)公开了一种使用插入患者体内的跟踪器械将术前图像配准至患者空间的方法。
这两种现有技术均有着高度详细的诊断图像无法在介入程序期间方便地使用的缺点。这意味着医师并没有获得对病变部位和脉管的详细可视化,也没有时间创建理想的程序规划。现有技术还需要患者被扫描至少两次(一次用于程序前诊断图像,而第二次用于程序中图像),这增加了患者对X射线的暴露。因此,理想的是通过使用高质量的诊断CT或MR医学图像执行配准而直接使用这些图像用于经皮引导。在现有技术中讨论的基于点的配准技术是不精确的,并且不精确的配准会对介入程序期间的引导精度造成不利影响。
题为“ApparatusAndMethodsForCompensatingForOrganDeformation,RegistrationOfInternalStructuresToImages,AndApplicationsOfTheSame”的美国专利申请No.60/859,439(其全部公开以所有目的通过具体引用的方式并入本文)详述了一种使用术前诊断图像执行配准的方法。在该专利中公开的配准方法使用由术前诊断图像所生成的表面以及在外科程序或介入程序期间所获得的表面以及“显著解剖学特征”(能在两个表面上被轻易识别的解剖学部位),并且执行基于刚性表面的严格配准以将在外科程序或介入程序期间所获得的表面与术前表面对准。但是,该方法依赖于如下假设:即“显著解剖学特征”能够在两组表面上均被轻易识别。进一步地,在经皮程序期间无法获得“显著解剖学特征”。因此,有必要使用除了皮肤标记和显著解剖学特征以外的什么来执行配准。
在以下文献中更全面地描述了在图像引导外科手术中使用显著解剖学特征的表面配准:Clements等人,“Robustsurfaceregistrationusingsalientanatomicalfeaturesinimage-guidedliversurgery,”,MedicalImaging2006:Visualization,Image-guidedProcedures,andDisplay:Proc.OftheSPIE(2006)和Clements等人,“Robustsurfaceregistrationusingsalientanatomicalfeaturesforimage-guidedliversurgery:Algorithmandvalidation,”MedicalPhysics,Vol.35,No.6,pp.2528-2540(2008);上述的副本附于美国临时申请No.61/331,252之后,这些文献的全部公开以所有目的通过具体引用的方式并入本文。
发明内容
在各种实施例中,本发明包括使用对比的程序前图像用于介入引导的系统和方法。由于现有技术使用程序中图像,因此医师没有足够的时间来生成3D可视化,他们也没有时间来生成详细的程序规划。相比之下,本发明使用脉管、肿瘤和器官的3D可视化以用于增强的引导信息。本发明还促进广泛的术前规划,从而显著缩短程序时间。由于本发明使用程序前图像而非程序中图像,因此也在最大程度上降低了患者对辐射的暴露。从工作流程来看,其因并入荧光透视套件而更有效率
在本发明的一个实施例中,伪特征和表面被用于配准并建立引导所需的关系。伪特征包括在患者外表面上识别出的限定特征,并且能够使用非接触式成像设备(例如激光测距扫描)或接触式成像设备(例如手持式超声探针或光学跟踪笔探针)而获得。对应的伪特征则被标记在从患者的术前诊断图像获得的外部术前表面上。配准算法组合伪特征与外部表面。
在另一实施例中,除伪特征以外,本发明还使用器官表面以用于配准。在一个示例性实施例中,使用从术前诊断图像获得的器官表面例如肝脏表面,以及由术中成像装置(例如术中超声波或术中CT)获得的肝脏的术中表面表述。这些器官表面被用来精调使用外部表面和伪特征所获得的配准,或被用作配准的主表面。
配准的其他示例性实施例包括但不限于使用术前诊断图像和正被获得的程序中图像的基于图像的配准。
附图说明
图1示出了用于腹部表面采集的硬件的示例。
图2示出了用于将跟踪式经皮消融器械的位置映射到程序前断层扫描图像数据上的导航软件程序界面的示例。
图3示出了从程序前图像数据中界定伪特征的过程。
图4示出了界定伪特征区域之后的表面配准的过程。
图5示出了在验证试验中使用的腹部表面和器官模型的可视化示例。
图6示出了样本腹部配准结果以及两表面间的最近点距离测量的纹理映射的可视化的示例。
图7示出了样本腹部配准结果以及两表面间的最近点距离测量的纹理映射的可视化的另一示例。
图8示出了样本腹部配准结果以及两表面间的最近点距离测量的纹理映射的可视化的另一示例。
具体实施方式
在一个示例性实施例中,本发明旨在提供用于将腹部的程序中表面图像与从程序前图像数据(例如,磁共振成像(MRI)和计算机断层扫描(CT)容积)提取的表面相配准的框架,以实现在经皮外科程序期间提供图像引导的目的。配准是一种确定在两个坐标空间之间的数学关系的方法,并且是图像引导外科程序(IGS)设备中的关键部分。IGS的目的在于使临床医生能够在介入期间经由跟踪式外科程序器械的叠加显示而交互地使用高分辨率的、高对比度的程序前断层扫描图像数据。
腹部的程序中表面图像可以使用激光测距扫描(LRS)技术、手动利用光学跟踪触笔、或者经由能用于腹部表面提取的任意其他成像模态(例如,在程序期间采集的超声、CT或MRI图像)而获得。随后在图像引导系统内使用该配准过程以便提供交互使用程序前图像数据用于介入期间引导所需的数学映射。
在本发明的示例性实施例中使用的主要硬件部件包括尤其属于经皮程序期间的表面和伪特征采集的方法的部件。图1中示出了这些硬件的示例,包括光学跟踪探针2(左)和激光测距扫描仪4(右)。设计用于与现成的跟踪装备(例如由安大略省滑铁卢的NorthernDigital,Inc.所提供)一起使用的光学跟踪探针能够用于手动的表面采集和伪特征界定。激光测距扫描(LRS)技术能被用来以非接触方式生成高分辨率的表面扫描数据。尽管这两种技术等同地用作示例性实施例,但也可使用腹部表面采集的其他方法,包括但不限于术中US、CT或MR。
除了能在经皮程序期间执行表面数据采集的硬件以外,使用本发明的实施例的方法和系统的图像引导设备可以经由软件界面提供引导信息。图2示出了使用本发明的实施例的导航软件界面以将跟踪式经皮消融器械的位置映射到程序前断层扫描数据上的例子。在一个具体示例中,本发明的示例性实施例被用来计算能在术前断层扫描图像数据上显示跟踪器械的位置(如图2中的十字线6所示)的数学变换。十字线6的位置指示跟踪尖端的位置,而线8(蓝色,在一个实施例中)指示器械的轨迹。可以提供其中能够显示设备轨迹并且能够相对于在手术之前规划的靶来显示轨迹和设备位置的更为复杂的可视化。应当注意的是,这种能力是本发明的示例性实施例与现有技术之间的区别性因素。具体地,程序前图像数据用于引导,这容许术前规划和3D模型的生成。现有技术目前不可能获得诸如在图2的右下象限示出的引导可视化。
在一个示例性实施例中,本发明的配准的方法包括以下步骤。
1.从程序前图像数据提取腹部表面并界定伪特征。
首先,从术前图像数据提取腹部表面。在一个实施例中,该腹部表面提取方法为半自动化的过程,其由在腹部器官的薄壁组织内的种子点的输入所初始。能够从该种子点确定组织与空气区域之间的差异,并且能够提取所述腹部。腹部表面随后以与在现有技术中用于肝脏表面生成所述方法相似的方式而由分段腹部图像嵌合。在另一实施例中,腹部表面被自动生成。
给定嵌合的腹部表面,随后在腹部表面上手动标记一组伪特征用以在配准过程中使用。与现有技术中描述的“显著解剖学特征”相反,伪特征是患者腹部上可在程序期间被识别的区域,其不直接对应于腹部本身的特定解剖学界标并且不与内部器官解剖学区域相关联。“伪特征”区域被用来在配准过程期间初始地对准表面数据。如图3中所示的潜在伪特征区域的示例涉及沿着患者中线在上下方向上被标记的特征点条带10以及与重直线垂直相交于肚脐处的横跨患者腹部而被标记的特征点条带20。这容许生成与上、下、左、和右方向相对应的四个分开的特征。
另外,生成代表四个特征区域的交叉的第五特征30。通过首先找到重叠点执行交叉区域界定。在找到四个区域内的重叠点之后,该方法计算该组重叠点的平均位置,并在随后收集在平均重叠点的指定半径内的所有点。使用这五个特征区域的配准精度适于在IGS系统中使用。在一个示例性实施例中,配准试验使用从静脉和动脉相CT组中提取的腹部表面执行,其中误差经由手动选择图像集中的三个血管分叉靶而确定。平均表面残余误差为0.77mm(最大值为2.7mm),而子表面靶误差为3.3mm(最大值为3.6mm)。
2.采集程序中表面和特征。
程序中协议涉及首先使用LRS设备、光学跟踪触笔、或能从其中提取腹部表面的任意其他成像模态采集患者腹部的表面图像。一旦腹部表面图像已被采集(如图4中所示),就进行特征采集协议的突出显示。光学跟踪触笔或类似设备由医师用来数字化在上下方向沿着患者中线的轮廓。其次,数字化与第一轮廓在肚脐处相交的、与中线轮廓法向的、从患者左边到患者右边的轮廓。如图3中所示,随后生成在配准过程中使用五个分开的特征。给出关于轮廓采集顺序的先验信息,则能够从两个试样轮廓自动地生成所述五个特征。
3.配准变换的计算。
在生成模型并界定上述伪特征区域之后,执行表面配准。表面配准方法可以使现有技术中所述的那些方法。
本发明与现有技术相比具有很多优点。现有技术提出了使用解剖学特征来配准采集的内部器官表面的表面数据。但是,在本发明的方法中,使用的特征区域是“伪特征”且不落在“显著解剖学特征”的定义(其指的是正式定义的解剖学界标)内。另外,本发明生成配准以在用于经皮程序的IGS技术中使用,而现有技术生成在将对其执行外科手术的感兴趣的特定器官上的配准。换言之,由本发明生成的腹部表面配准可用于针对任意腹部器官(例如,肾脏、肝脏等)的经皮介入,而现有技术的配准仅能对例如肝脏执行,并且引导信息对患者的肾脏会是不精确的。
尽管经皮应用是现有技术中已知的,但是本发明是显著不同的。现有技术的经皮系统使用基于点的方法来执行配准;相比之下,本发明则是基于表面的配准的方法。基于点的配准使用附于皮肤的基准标记执行。一般而言,用于替换实施例的配准协议涉及能够在介入套件中被跟踪的附于皮肤的标记的布置。随后获得其中附于皮肤的标记的位置能够被识别且用于配准的完整CT断层扫描图像集。
在使用附于皮肤的基准标记以用于配准与本发明的基于表面的方法之间的区别具有多个直接影响。首先,由于在采集造影的程序前诊断断层扫描图像集期间使用附于皮肤的标记是不可行的,因此当前可用系统的使用需要紧接在执行程序之前附于患者腹部的基准标记配置。一旦基准标记设置已被附接至患者,就执行完整的患者腹部CT扫描。尽管这种完整的CT扫描在CT引导的经皮程序中例行地执行,但是在不使用造影剂的情况下(其会削弱病变部位和血管的可视化)采集该数据集并不少见。由于不需要基准标记,本发明能够在不使用紧接在程序之前的CT扫描的情况下进行用于执行引导的初始配准。这促进了相比于由当前系统所提供的甚至是更大程度上的辐射剂量最小化。
另外,通过使用对比的、程序前图像数据用于介入引导,本发明能够利用脉管、肿瘤和器官的广泛的3D可视化来增强引导信息。由于目前的技术不能使用程序前CT数据用于引导(归因于基准标记约束),因此没有足够时间用来生成在程序期间使用的3D可视化。
另外,通过绕过紧接在执行图象引导之前采集CT图像集的需求,本发明从工作流程的角度而言因并入了荧光透视套件而更加有效。荧光透视容许采集实时的2D投影图像,并且被频繁用于将极大地获益于3D图像引导的导管布置程序。如上所讨论的,在替换实施例中的附于皮肤的基准的要求必然需要紧接在引导系统的使用之前采集CT扫描。这种要求的扫描会使得工作流程的效率要低于使用本发明的设备所需的工作流程。
最后,鉴于使用程序前图像数据的能力,更广泛的程序规划能够与本发明相结合地使用。规划在腹部上的落针点和所需的针轨迹在缩短程序时间和降低患者对辐射的暴露方面是显著有益的。
为了证实本发明的方法的应用性和有效性,执行一组模拟配准试验。腹部表面和器官模型从图5中所示的CT图像样本集生成。图5的可视化包括肝脏、肝静脉和门静脉、胰腺、肾脏、和脾脏的模型,以及用来计算模拟实验中的靶误差的解剖学基准位置。在实验中使用的解剖学靶点如下:(1)右肝静脉插入、(2)门静脉分叉、(3)胆囊窝、(4)右肾静脉插入、(5)左肾静脉插入、(6)脾静脉插入、和(7)胰腺附近的肠系膜上动脉。
一旦生成腹部表面和器官表面模型,就在腹部表面上界定伪特征。使用从CT图像集生成的完整腹部表面的一部分来生成基于LRS和基于探针的模拟腹部表面采集,并且执行一组扰动试验以确保使用两个潜在实施例的设备的配准精度。
基于LRS的模拟表面采集包括由12,000和5,000个总表面和伪特征点构成的表面。由于手动采集的表面在与LRS数据相比时将是稀疏的,因此基于探针的模拟表面包括5,000和3,000个点。在生成模拟表面中使用的完整CT腹部表面的整体情况是对能够在经皮介入期间采集的腹部情况的合理估计。
为了模拟在表面采集过程中的定位误差,表面点中的每一个通过随机位移矢量进行扰动。配准试验(N=200)在三种不同的最大矢量幅度上执行。为基于LRS的模拟采集选取1mm和5mm的最大矢量幅度,而为基于探针的模拟表面采集选取10mm和20mm的矢量幅度。为基于探针的模拟表面选取更高的幅度是归因于如下事实:在使用该技术的表面采集中存在更高的手动误差倾向,例如在采集期间将探针抬高稍微离开腹部表面。应当注意的是,5mm和20mm的矢量幅度代表与使用这两种示例性实施例的表面采集相关的可想象到的误差范围的极高上限。随机矢量和幅度使用均匀分布的随机数发生器产生。
除了位移矢量扰动之外,表面的初始对准也对每个配准试验进行扰动。随机变换通过产生一组六个的随机参数(即,三个平移和三个旋转)而进行计算。均匀分布的随机数发生器被用来提供针对扰动变换矩阵的旋转参数(θx,θy,θz)及平移参数(tx,ty,tz)。旋转参数在间距[-180°,180°](μ=-0.7±106.1)上产生,而平移参数在间距[-200mm,200mm](μ=-3.4±119.3)上产生。配准随后使用由现有技术描述的表面配准算法(即,在前指明的Clements等人的参考文献中所描述的)进行计算。
基于LRS的模拟腹部配准的结果总结在如下表1中。扰动配准的结果就表面平方根(RMS)残差(即源与靶表面之间的最近点距离的RMS)和子表面界标靶配准误差(即配准后内部解剖学靶位置间的RMS距离)这两方面均进行报告。图3示出了在配准试验中使用的七个子表面解剖学靶的分布。选取的靶包括在能被靶向用于经皮介入程序的多个内部腹部器官内的各脉管靶。
表1
表1总结了就使用基于LRS的模拟表面采集的子表面靶误差[以mm为单位表述——均值±标准方差(最大值)]而言的配准结果。所使用的表面包括总共大约12,000和5,000个表面和伪特征点,并且对于表面采样和噪声位移幅度的每种组合执行200个扰动配准。作为参考,在使用12000点表面的试验中的最近点距离对于1mm和5mm的最大位移幅度而言为0.72±0.16mm(最大值为0.93mm)和1.84±0.02mm(最大值为2.04mm)。使用5000点表面的最近点距离误差对于1mm和5mm最大位移幅度而言为0.73±0.17mm(最大值为0.96mm)和1.84±0.02mm(最大值为1.88mm)。
图6示出了来自配准试验之一的示例配准结果。图6是样本腹部配准结果(左)和两表面间的最近点距离测量的纹理映射(右)的可视化,其计算用于包括大约12,000个总表面和伪特征点以及5mm的最大噪声幅度的基于LRS的模拟腹部表面采集。作为参考,发现表面间的最近点距离均值为1.16mm(最大值为3.57)。
应当注意的是,对于所有配准试验(N=800)且对于所有解剖学靶,平均靶配准误差(TRE)都小于1mm。另外,在表面误差扰动的程度与示例性实施例的总体靶精度之间似乎不太存在相关性。但是,总体表面误差的确随着随机扰动矢量的最大幅度(代表表面采集中的噪声)而增大。但是,该测试证实,本发明的基于LRS的实施例提供了足够在经皮介入中使用的引导精度。
基于探针的模拟表面配准的结果在如下表2中总结。
表2
表2总结了就用于基于探针的模拟表面采集的子表面靶误差[以mm为单位表述——均值±标准方差(最大值)]而言的配准结果。所使用的表面包括总共大约5,000和3,000个表面和伪特征点,并且对于表面采样和噪声位移幅度的每种组合执行200个扰动配准。作为参考,在使用5000点表面的试验中的最近点距离对于10mm和20mm的最大位移幅度而言分别为3.42±0.04mm(最大值为3.5mm)和6.68±0.07mm(最大值为6.8mm)。使用3000点表面的试验中的最近点距离误差对于10mm和20mm最大位移幅度而言分别为3.42±0.04mm(最大值为3.5mm)和6.67±0.09mm(最大值为6.9mm)。
图5中提供了用于可视化的来自配准试验之一的样品配准结果。所示的是腹部配准结果(左)和两表面间的最近点距离测量的纹理映射(右),其计算用于包括大约3,000个总表面和伪特征点以及20mm的最大噪声幅度的基于探针的模拟腹部表面采集。作为参考,发现在表面之间的最近点距离均值为2.91mm(最大值为14.95)。
应当注意的是,尽管极大的最大扰动矢量幅度被用来模拟手动腹部表面采集过程中的噪声,但是发现平均靶误差对于所有试验(在3,000点处采用且经受2cm的最大噪声矢量幅度的情况除外)均小于1mm。即使给定为使用极值噪声扰动幅度,发现在所有试验(N=800)上且在所有解剖学靶上的最大误差小于4mm。表2所示的TRE误差表明基于探针的、手动腹部表面和伪特征采集以用于在经皮图像引导中的配准的示例性实施例提供了对于临床可用性而言已足够的精度信息。
除了简单地使用腹部表面以用于经皮图像引导的配准之外,在另一示例性实施例中,使用内部器官的附加表面数据采集来促进配准。这种表面数据能够通过多种成像模态而被采集。在一个实施例中,器官表面成像由超声成像导出。这类附加表面数据有助于提高设备关于特定内部器官的精度。另外,该具体实施例就在经皮程序中使用的现有技术而言是完全新颖的。在经皮图像引导领域中的所有已知的现有技术使用附接至患者腹部的基准装置以用于配准,并且不会使用来自内部器官的成像的表面或其他信息。
在另一实验中,肝脏的模拟超声表面数据被生成以便附加于在上述的在前配准试验中使用的模拟腹部表面数据而使用。在配准实验中使用的表面采样包括5000点腹部和伪特征表面,以及由1000点超声导出的模拟肝脏表面。另外,3000点腹部和伪特征表面与500点模拟肝脏表面相结合地使用。
如在前实验中执行的,在表面采集中的噪声经由添加为模拟表面点中的每一个生成的随机位移矢量而模拟。试验使用10mm的最大位移矢量幅度执行。另外,在两表面间的初始对准经由利用前述随机变换矩阵的扰动而生成。所执行的表面配准随后如在现有技术中描述的进行(如在以上指明的Clements参考文献中描述的)。
与内部器官表面数据相结合使用的模拟腹部表面和伪特征数据的结果在如下表3中总结。
表3
表3总结了就与由超声成像导出的模拟肝脏表面数据相结合地使用基于探针的模拟表面采集的子表面靶误差[以mm为单位表述——均值±标准方差(最大值)]而言的配准结果。所使用的表面包括总共大约5,000个表面和伪特征点(具有1,000个肝脏表面点)以及3,000个表面和伪特征点(具有500个肝脏表面点)。对于表面采样和噪声位移幅度的每种组合执行200个扰动配准。作为参考,在使用5000点腹部表面和1,000点肝脏表面的试验中的最近点距离为3.42±0.03mm(最大值为3.5mm)。使用3000点腹部表面和500点肝脏表面执行的试验中的最近点距离为3.42±0.04mm(最大值为3.5mm)。
图8中示出了作为该实验的一部分执行的样品配准的可视化。示出的是样品腹部配准结果(左)和介于两表面间的最近点距离的纹理映射(右),其计算用于包括肝脏的模拟超声表面数据的基于探针的模拟腹部表面采集。所示的模拟表面包括大约5000个总腹部表面和伪特征点以及经由超声成像采集的大约1000个模拟肝表面点。在该可视化配准中使用10mm的最大噪声矢量幅度。作为参考,发现在表面间的最近点距离均值为1.84mm(最大值为6.70mm)。
结果表明,包括内部器官的表面数据导致平均小于1mm的TRE测量结果并且配准精度类似于表2中所报告的精度。另外,对于所有配准试验(N=400)且对于所有解剖学靶而言,发现最大TRE测量结果为2.3mm。就使用基于探针的腹部和伪特征采集的示例性实施例而言,表3中的数据示出了包括内部器官表面还提供了用于经皮图像引导目的的合适配准精度。
附加实施例包括但不限于如下:
●使用不同的成像和器械采集腹部表面和伪特征数据。
○实施例的示例包括使用用于手动使用的光学或磁性跟踪触笔设备以及能够用于腹部表面和表面伪特征的自动采集的非接触式成像设备(例如,激光测距扫描)进行表面采集。
○具有伪特征的腹部表面随后用于计算在成像引导设备中使用所需的数学配准变换。
●使用腹部表面和从其他成像模态提取的伪特征和内部器官表面的组合来执行用于经皮图像引导的表面匹配。
○示例性实施例包括使用从超声(US)图像提取的肝脏表面数据和利用跟踪触笔采集的腹部表面数据以执行用于经皮图像引导的配准。
●利用从其他成像模态提取的器官表面采集来精调腹部表面与伪特征的配准。
○示例性实施例是用于引导系统来计算在程序前断层扫描图像数据与术中腹部表面(具有伪特征)之间的配准。这种初始配准随后用作初始姿态以计算在手术套件中所采集的内部腹部器官表面与从程序前图像数据所提取的器官表面之间的精调配准。
●经由程序图像数据与程序前图像数据的逐图像配准而在程序断层扫描图像集上提供经皮引导信息。
○由于经皮图像引导设备执行程序前断层扫描图像之间的配准,因此可以通过执行在“实时”程序图像数据与程序前图像数据之间的配准而经皮引导信息扩展至贯穿整个程序“实时”采集的图像数据。
因此,应当理解的是,已经选取并描述了本文所述的实施例和示例以最佳地说明本发明的原理及其实际应用,籍此使本领域普通技术人员能够以各个实施例以及如适于所构思的具体用途的各种修改而最佳地利用本发明。尽管已经描述了本发明的特定实施例,但是它们并非被描述为排他性的。存在对本领域技术人员而言显见的各种变形。
Claims (9)
1.一种收集并处理物理空间数据以供在执行图象引导外科(IGS)程序时使用的系统,所述系统包括:
存储介质,用于存储基于程序前数据的患者外表面的一部分的计算机模型;
至少一个传感器设备,用于生成与所述患者外表面相关联的术中表面数据;以及
通信耦合至所述存储介质和所述传感器装置的处理元件,其中所述处理元件被配置为获取所述计算机模型和术中表面数据的对准;
其中所述对准是通过生成用于所述计算机模型和所述术中表面数据的对应伪特征而获得的。
2.如权利要求1所述的系统,还包括通信耦合至所述处理元件的显示设备,所述显示设备被配置为显示数据以基于所述对准促进所述IGS程序。
3.如权利要求2所述的系统,其中所述显示还包括患者的一部分的三维模型。
4.如权利要求3所述的系统,其中所述三维模型包括所述患者腹部的表面,以及位于所述腹部内部的一个或多个器官。
5.如权利要求1所述的系统,其中所述IGS程序是经皮程序。
6.如权利要求1所述的系统,其中所述存储介质还可以存储所述患者体内的感兴趣的非刚性结构的计算机模型。
7.如权利要求1所述的系统,其中患者外表面的所述部分包括患者的腹部。
8.如权利要求1所述的系统,其中传感器设备包括激光测距扫描仪、或者光学或磁性跟踪器械。
9.如权利要求8所述的系统,其中所述器械是触笔。
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CN103118596A (zh) | 2013-05-22 |
US20110274324A1 (en) | 2011-11-10 |
US20150133770A1 (en) | 2015-05-14 |
US8781186B2 (en) | 2014-07-15 |
JP2013530028A (ja) | 2013-07-25 |
EP2566392A2 (en) | 2013-03-13 |
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