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WO2006057663A2 - Procede et systeme de visualisation interactive de structures orientees localement - Google Patents

Procede et systeme de visualisation interactive de structures orientees localement Download PDF

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Publication number
WO2006057663A2
WO2006057663A2 PCT/US2005/015010 US2005015010W WO2006057663A2 WO 2006057663 A2 WO2006057663 A2 WO 2006057663A2 US 2005015010 W US2005015010 W US 2005015010W WO 2006057663 A2 WO2006057663 A2 WO 2006057663A2
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WO
WIPO (PCT)
Prior art keywords
new
point
visualization
points
orientation
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/US2005/015010
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English (en)
Other versions
WO2006057663A3 (fr
Inventor
Pascal Cathier
Jonathan Stoeckel
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.)
Siemens Medical Solutions USA Inc
Original Assignee
Siemens Medical Solutions USA Inc
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
Priority claimed from US11/103,298 external-priority patent/US20060103678A1/en
Application filed by Siemens Medical Solutions USA Inc filed Critical Siemens Medical Solutions USA Inc
Publication of WO2006057663A2 publication Critical patent/WO2006057663A2/fr
Publication of WO2006057663A3 publication Critical patent/WO2006057663A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0012—Biomedical image inspection
    • 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
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30101—Blood vessel; Artery; Vein; Vascular

Definitions

  • This invention is directed to interactive visualization of vascular and other oriented structures in a digital medical image.
  • the diagnostically superior information available from data acquired from current imaging systems enables the detection of potential problems at earlier and more treatable stages.
  • various algorithms must be developed to efficiently and accurately process image data.
  • advances in image processing are generally performed on digital or digitized images.
  • Digital images are created from an array of numerical values representing a property (such as a grey scale value or magnetic field strength) associable with an anatomical location points referenced by a particular array location.
  • the set of anatomical location points comprises the domain of the image.
  • 2-D digital images, or slice sections the discrete array locations are termed pixels.
  • Three-dimensional digital images can be constructed from stacked slice sections through various construction techniques known in the art.
  • the 3-D images are made up of discrete volume elements, also referred to as voxels, composed of pixels from the 2-D images.
  • the pixel or voxel properties can be processed to ascertain various properties about the anatomy of a patient associated with such pixels or voxels.
  • Computer-aided diagnosis (“CAD”) systems play a critical role in the analysis and visualization of digital imaging data.
  • CT computed tomographic
  • MR magnetic resonance
  • XR 3-D x-ray
  • Information concerning, for example, the most acute stenosis on a selected vessel section, the largest aneurysm on a selected vessel section, or the tortuosity of a vessel is commonly utilized by physicians to allow for surgical planning.
  • the 3D image data sets should be limited to only a small set of significant images.
  • 3D visualization software is provided either on the imaging systems themselves or on analysis workstations, and provides a set of tools to perform length, angle or volume measurements and to visualize a volume in different ways, for example, using cross-sections, navigator or volume rendering.
  • the software can be used to obtain multiple oblique slices of a particular vessel to allow for analysis of the vessel.
  • Analyzing tortuous structures such as airways, vessels, ducts or nerves is one of the major applications of medical imaging systems. This task is accomplished today by using multiple oblique slices to analyze local segments of these structures. These views provide a clear, undistorted picture of short sections from these objects but rarely encompass their full length. Curved reformation images provide synthetic views that capture the whole length of these tubular objects and are therefore well suited to this analysis task. True 3D length measurements along the axis can be obtained from these views and they are not too far from the real anatomy in many cases. Curved reformation images can be generated by sampling values along a curve at equidistant points to generate lines, and then translating this curve by a sampling vector to generate the next image line.
  • New methods and apparatuses for allowing medical imaging systems and related 3D visualization software to produce useful 3D imaging data sets in a more efficient, consistent, repeatable, rapid, and less operator- dependent manner, would be useful.
  • New methods and apparatuses that facilitated vascular analysis, including the analysis and imaging of tubular vessels and related stenoses, aneurysms, and tortuosity, would also be useful. It further would be helpful if such methods and apparatuses could be employed both during imaging and in post-processing after imaging is completed.
  • Exemplary embodiments of the invention as described herein generally include methods and systems for interactive visualization of local vessel structures and other tubular-like structures, and more generally for any structure for which an orientation can be locally defined, such as muscle fibers, neurons, etc.
  • the techniques herein disclosed are improvements upon the techniques disclosed in U.S. Patent Applicant No. 10/945,022, "Method and System for Automatic Orientation of Local Visualization Techniques for Vessel Structures", filed September 20, 2004, the contents of which are herein incorporated by reference in their entirety.
  • the techniques herein disclosed extend the techniques of these inventors' copending application "Method and System for Local Visualization for Tubular Structures", U.S. Patent Application No.
  • a method for visualizing an object in an image including presenting an image with a plurality of intensities corresponding to a domain of points in a D- dimensional space, selecting a point in an object of interest in the image, calculating a main orientation of the object of interest in a region about the selected point, presenting a first visualization of the object of interest about the main orientation, wherein the first visualization has a first display orientation characterized by the direction of a vector normal to the first visualization plane, and selecting a new point as a center of a new visualization of the object of interest, recalculating the main orientation of the object of interest, and presenting the new visualization about the recalculated main orientation, wherein the new visualization has a new display orientation characterized by the direction of a vector normal to the new visualization plane.
  • the new display orientation is chosen to be as close as possible to the display orientation of the first visualization.
  • the method further comprises selecting a second new point, wherein the display orientation of the new visualization is determined from the display orientation of the first visualization and a display orientation of a second visualization centered on the second new point.
  • the method further comprises selecting a set of points between the first point and the new point, and presenting a succession of visualizations, each centered on one of the new set of points.
  • the position of each point of the set of points is based on an interpolation of a path from the first point to the new point. In a further aspect of the invention, the position of each point of the set of points is selected along a geodesic path between the first point and the new point.
  • the position of each point of the set of points is selected along a center-line of a segmentation.
  • the display orientation of each visualization of the succession of visualizations is interpolated from the display orientation of the first visualization and the display orientation of the new visualization.
  • the method further comprises navigating through the object of interest by presenting the succession of visualizations.
  • the method further comprises storing the first point, the new point, and the selected set of points between the first and the new points, to form a stored set of points, reordering the stored set of points, and presenting as succession of visualizations based on the reordered set of points.
  • the method further comprises displaying the selected point in one or more standard orientations.
  • the method further comprises simultaneously presenting a plurality of visualizations, each in its own window, and synchronizing the plurality of visualizations so that a change of orientation in one window is reflected in each of the other windows.
  • a program storage device readable by a computer, tangibly embodying a program of instructions executable by the computer to perform the method steps for visualizing an object in an image Brief Description of the Drawings
  • FIG. 1 is a flow chart of a method for local visualization of a vessel structure, according to an embodiment of the invention.
  • FIG. 2 is a block diagram of an exemplary computer system for implementing a local visualization system, according to an embodiment of the invention.
  • FIG. 3 depicts a window presenting a slice perpendicular to a main object orientation axis with slices being rotated about the main object orientation axis in another window, according to an embodiment of the invention.
  • FIG. 4 depicts a main orientation axis of a tubular object and a display orientation of a viewing window for the object, according to an embodiment of the invention.
  • FIG. 5. depicts how a display orientation of a new point can be determined from the display orientations of a previous point, according to an embodiment of the invention.
  • FIG. 6. depicts how a display orientation of a new point can be determined from the display orientations of previous and next points, according to an embodiment of the invention.
  • FIG. 7 depicts an axial view of an exemplary tubular object, showing the point about which the main orientation is calculated, along with the main orientation axis and minor axes, according to an embodiment of the invention.
  • FIG. 8 depicts a tubular object with intermediate points for generating an animated traversal of the object, according to an embodiment of the invention.
  • Exemplary embodiments of the invention as described herein generally include systems and methods for interactive visualization of locally oriented structures.
  • image refers to multi-dimensional data composed of discrete image elements (e.g., pixels for 2-D images and voxels for 3-D images).
  • the image may be, for example, a medical image of a subject collected by computer tomography, magnetic resonance imaging, ultrasound, or any other medical imaging system known to one of skill in the art.
  • the image may also be provided from non-medical contexts, such as, for example, remote sensing systems, electron microscopy, etc.
  • an image can be thought of as a function from R 3 to R, the methods of the inventions are not limited to such images, and can be applied to images of any dimension, e.g. a 2-D picture or a 3-D volume.
  • the domain of the image is typically a 2- or 3-dimensional rectangular array, wherein each pixel or voxel can be addressed with reference to a set of 2 or 3 mutually orthogonal axes.
  • digital and digitized as used herein will refer to images or volumes, as appropriate, in a digital or digitized format acquired via a digital acquisition system or via conversion from an analog image.
  • Vascular structures are examples of tubular-shaped objects, which are commonly found in medical images.
  • Other examples of tubular objects in medical images can include vessels, bronchi, bowels, ducts, nerves and specific bones.
  • Representation and analysis of tubular objects in medical images can aid medical personnel in understanding the complex anatomy of a patient and facilitate medical treatments.
  • a physician can use axial slices to detect any abnormal structures (e.g. nodules or emboli), but to further analyze the shape of the structure, additional views are useful.
  • One possibility is the cartwheel projection, where the projection plane is turned around an axis. It makes it easier for a physician to assess whether a structure is round or not.
  • Another possibility is to analyze projection planes orthogonal to the vessel axis. These techniques require an axis as an input. This axis should preferably be the axis of the vessel. Taking an arbitrary axis by default can sometimes yield bad visualization results.
  • a physician reviews a volumetric image, such as a CT image of the lungs, looking for spherical structures.
  • the images are huge in all three dimensions.
  • the physician only looks at axial images, i.e. X-Y slices of the volume, one at a time, usually starting from the head down, and back.
  • the slices are typically 512x512 pixels, while the structures the physician is looking at are typically a few pixels wide. So, while the physician can easily dismiss most of the image, sometimes he or she may want to have a closer look at a structure. What's more, when having a closer look, he or she may want to have full 3D information, instead of just the X-Y cut.
  • a point in a tubular structure that has been selected, either automatically or manually by a user, can be the basis of visualizations using the methods disclosed in the inventors' copending application, "Method and System for Local Visualization for Tubular Structures".
  • a new point is selected, either manually or automatically, as the center of a visualization, the main orientation of the tubular structure can be calculated and the visualization can be updated as if this was the original selected point.
  • one or more of visualization methods can be presented simultaneously in their own windows and be synchronized with each other so that a change of orientation or view in one window is reflected in each of the other windows.
  • a user could be presented with a slice perpendicular to the main object orientation axis in one window and with slices being rotated about the main object orientation axis in another window, as illustrated in FIG. 3.
  • FIG. 3a a tubular object 300 is shown, with a selected point 301 , and main orientation axis 302 at point 301.
  • FIG. 3b depicts a plurality of viewing direction axes 311 , 312, 313, 314, 315, 316, 317, 318 in the plane perpendicular to the object main orientation axis 302, and viewing planes 321 , 322, 323, 324, 325, 326, 327, 328 each of which is normal to its respective direction axis.
  • FIG. 3b depicts a plurality of viewing direction axes 311 , 312, 313, 314, 315, 316, 317, 318 in the plane perpendicular to the object main orientation axis 302, and viewing planes 321 , 322, 323, 324, 325, 326, 327, 328 each of which is normal to its respective direction axis.
  • FIG. 3b depicts a plurality of viewing direction axes 311 , 312, 313, 314, 315, 316, 317, 318 in the plane perpendicular to the object main orientation axis 302, and viewing planes 321 , 322,
  • 3d depicts a window in which the viewing planes 321 , 322, 323, 324, 325, 326, 327, 328 can be successively displayed, presenting the user with the impression of circling around the object displayed in FIG. 3c.
  • the slices being presented in the other window will be re ⁇ orientated to reflect the new main orientation axis.
  • tubular object 400 has main orientation direction 402 defined at point 401
  • display plane 406 is defined by perpendicular axes 403, 405, and has a display orientation defined by the vector 404 normal to plane 406.
  • the orientation used for display purposes can be chosen to meet specific requirements, and can be chosen to point in any direction, such as upward, rightward, etc.
  • one can use anatomical knowledge to determine a display orientation e.g. in the case of lungs, one might want to have the orientation to point always in the direction of the heart, or in the direction of the pleura.
  • tubular object 500 has a fist point about which a main orientation 503 has been determined, and is displayed in viewing plane 504 with a display orientation determined by the normal vector to the plane 502.
  • a new point 505 is selected for display.
  • the main orientation 506 of the object at the new point is determined, and a new display orientation 507 is also determined.
  • the first display orientation vector 502' has been translated to originate from the new point 505, and is shown next to new display orientation 507. The difference in direction of the first display orientation and the new display orientation is exaggerated for clarity.
  • tubular object 600 has a first point 610, a second point 602, and a current point 603, with main orientations 604, 606, and 608, respectively.
  • First point has a display orientation vector 605, and second point has a display orientation vector 607.
  • display direction vector 609 which can be determined from the translated first and second display orientation vectors 605' and 607'.
  • FIG. 7 depicts an axial view of one exemplary tubular object, a rib bone 700.
  • the point 701 about which the main orientation 703 was determined is indicated by a cross inside a circle, and minor orientations 702, 704 are also shown.
  • FIG. 8 depicts a tubular object with intermediate points for generating an animated traversal of the object.
  • tubular object 800 has three points 801 , 803, 805 selected for determining their respective main orientations 802, 804, 806. In the interest of clarity, the viewing planes and display orientation vectors are not shown. A plurality of intermediate points 807 have been generated between the selected points about which new main orientation axes and new display orientation axes will be calculated. Note that a path connecting these points is a geodesic path that lies completely within the tubular object.
  • an automatic navigation can be generated through the structure.
  • the path can be determined either by image information, by extrapolation of the previous position or orientation, or any combination of these.
  • the points selected for visualizing the image or for navigating through a structure can be stored in such a way that, either automatically or manually, one can go through those points in any order, including the original order and an inverted order when requested.
  • FIG. 1 presents a flow chart of a method of visualizing an object-of- interest in an image.
  • a user such as a physician or a medical technician
  • an image generated by a modality such as CT or MRI, as are known in the art.
  • the image can be presented on the monitor of a computer system adapted to process and display digital medical images.
  • the user selects a first point in an object of interest in the image. The selection can be performed, for example, by the user clicking on the object of interest with a computer mouse or other input device.
  • the main orientation of the object of interest is calculated, and at step 13, a visualization of the object of interest is presented to the user.
  • This visualization has a display orientation that can be, and typically will be different from the orientation of the object.
  • This display orientation can be characterized by the direction of a vector normal to the visualization plane.
  • a new point is selected as a center of a new visualization. This new point can be selected manually by the user, or automatically by the system processing the image.
  • This new visualization is presented to the user at step 15.
  • the new visualization also has a display orientation characterized by the direction of a vector normal to the new visualization plane.
  • a set of points is selected between the first point and the new point, and a succession of visualizations, each centered on one of the new set of points, is presented to the user at step 17. At step 18, these points are stored for future use.
  • the present invention can be implemented in various forms of hardware, software, firmware, special purpose processes, or a combination thereof.
  • the present invention can be implemented in software as an application program tangible embodied on a computer readable program storage device.
  • the application program can be uploaded to, and executed by, a machine comprising any suitable architecture.
  • a computer system 21 for implementing the present invention can comprise, inter alia, a central processing unit (CPU) 22, a memory 23 and an input/output (I/O) interface 24.
  • the computer system 21 is generally coupled through the I/O interface 24 to a display 25 and various input devices 26 such as a mouse and a keyboard.
  • the support circuits can include circuits such as cache, power supplies, clock circuits, and a communication bus.
  • the memory 23 can include random access memory (RAM), read only memory (ROM), disk drive, tape drive, etc., or a combinations thereof.
  • the present invention can be implemented as a routine 27 that is stored in memory 23 and executed by the CPU 22 to process the signal from the signal source 28.
  • the computer system 21 is a general purpose computer system that becomes a specific purpose computer system when executing the routine 27 of the present invention.
  • the computer system 21 also includes an operating system and micro instruction code.
  • the various processes and functions described herein can either be part of the micro instruction code or part of the application program (or combination thereof) which is executed via the operating system.
  • various other peripheral devices can be connected to the computer platform such as an additional data storage device and a printing device.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Geometry (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Quality & Reliability (AREA)
  • Processing Or Creating Images (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

L'invention concerne un procédé permettant de visualiser un objet dans une image consistant à présenter (10) une image, à sélectionner (11) un point dans objet d'intérêt de ladite image, à déterminer (12) une orientation principale dudit objet d'intérêt, à présenter (13) une première visualisation dudit objet d'intérêt, cette première visualisation présentant une première orientation d'affichage caractérisée par la direction d'un vecteur perpendiculaire au premier plan de visualisation et à sélectionner (14) un nouveau point comme centre d'une nouvelle visualisation et à présenter (15) cette nouvelle visualisation, laquelle présente une nouvelle orientation d'affichage caractérisée par la direction d'un vecteur perpendiculaire au nouveau plan de visualisation
PCT/US2005/015010 2004-11-24 2005-04-29 Procede et systeme de visualisation interactive de structures orientees localement Ceased WO2006057663A2 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US63076004P 2004-11-24 2004-11-24
US60/630,760 2004-11-24
US11/103,298 US20060103678A1 (en) 2004-11-18 2005-04-11 Method and system for interactive visualization of locally oriented structures
US11/103,298 2005-04-11

Publications (2)

Publication Number Publication Date
WO2006057663A2 true WO2006057663A2 (fr) 2006-06-01
WO2006057663A3 WO2006057663A3 (fr) 2006-07-13

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2611972A (en) * 2018-10-03 2023-04-19 Cmr Surgical Ltd Feature identification
US12274512B2 (en) 2018-10-03 2025-04-15 Cmr Surgical Limited Indicator system
US12357392B2 (en) 2018-10-03 2025-07-15 Cmr Surgical Limited Navigational aid

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003511126A (ja) * 1999-10-01 2003-03-25 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ 多次元空間上の対象物データセットの分析
US6728566B1 (en) * 2001-11-21 2004-04-27 Koninklijke Philips Electronics, N.V. Vessel tracking and tree extraction method and apparatus

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2611972A (en) * 2018-10-03 2023-04-19 Cmr Surgical Ltd Feature identification
GB2611972B (en) * 2018-10-03 2023-07-26 Cmr Surgical Ltd Feature identification
US12274512B2 (en) 2018-10-03 2025-04-15 Cmr Surgical Limited Indicator system
US12357392B2 (en) 2018-10-03 2025-07-15 Cmr Surgical Limited Navigational aid

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