U.S. patent application number 11/637614 was filed with the patent office on 2007-11-01 for anatomical visualization and measurement system.
Invention is credited to David T. Chen, Michael A. McKenna, Steven D. Pieper.
Application Number | 20070253610 11/637614 |
Document ID | / |
Family ID | 24323720 |
Filed Date | 2007-11-01 |
United States Patent
Application |
20070253610 |
Kind Code |
A1 |
Pieper; Steven D. ; et
al. |
November 1, 2007 |
Anatomical visualization and measurement system
Abstract
The present invention provides an anatomical visualization and
measurement system comprising a first database that comprises a
plurality of 2-D slice images generated by scanning a structure.
The 2-D slice images are stored in a first data format. A second
database is also provided that comprises a 3-D computer model of
the scanned structure. The 3-D computer model comprises a first
software object that is defined by a 3-D geometry database.
Apparatus is provided for selecting a particular 2-D slice image
from the first database. Apparatus is also provided for inserting a
second software object into the 3-D computer model so as to augment
the 3-D computer model. The second software object is also defined
by a 3-D geometry database, and includes a planar surface. The
second software object is inserted into the 3-D computer model at
the position which corresponds to the position of the selected 2-D
slice image relative to the scanned structure. Apparatus is also
provided for texture mapping the specific 2-D slice image onto the
planar surface of the second software object. Display apparatus is
provided for displaying an image of the augmented 3-D computer
model so as to simultaneously provide a view of the first software
object and the specific 2-D slice image texture mapped onto the
planar surface of the second software object. Apparatus and method
are also provided for determining structural dimensions and volumes
using appropriate scanned 2-D slice image information. The
apparatus and method are particularly well suited for determining
dimensions with respect to structures which follow a tortuous path
and/or have a complex branching structure, e.g., vascular
structures. Among other things, the present invention permits an
appropriate set of scanned 2-D images to be assembled into a 3-D
database, information regarding selected structural features to be
segmented out of the 3-D database, and measurements to be made
based on these structural features. In addition, the present
invention permits a set of oblique images to be generated based on
these structural features, which oblique images may themselves be
used for measurement purposes.
Inventors: |
Pieper; Steven D.; (Thetford
Center, VT) ; McKenna; Michael A.; (Cambridge,
MA) ; Chen; David T.; (Somerville, MA) |
Correspondence
Address: |
Mark J. Pandiscio;Pandiscio & Pandiscio, P.C.
470 Totten Pond Road
Waltham
MA
02451
US
|
Family ID: |
24323720 |
Appl. No.: |
11/637614 |
Filed: |
December 12, 2006 |
Related U.S. Patent Documents
|
|
|
|
|
|
Application
Number |
Filing Date |
Patent Number |
|
|
10829929 |
Apr 22, 2004 |
7149333 |
|
|
11637614 |
Dec 12, 2006 |
|
|
|
09449509 |
Nov 24, 1999 |
|
|
|
10829929 |
Apr 22, 2004 |
|
|
|
09174798 |
Oct 19, 1998 |
|
|
|
09449509 |
Nov 24, 1999 |
|
|
|
08581055 |
Dec 29, 1995 |
5825908 |
|
|
09174798 |
Oct 19, 1998 |
|
|
|
Current U.S.
Class: |
382/128 |
Current CPC
Class: |
G06T 2207/30004
20130101; G06T 7/62 20170101; G06T 7/66 20170101 |
Class at
Publication: |
382/128 |
International
Class: |
G06K 9/00 20060101
G06K009/00 |
Claims
1. A system for determining a dimension of an anatomical structure
using an appropriate set of 2-D slice images obtained by scanning
said anatomical structure, said system comprising: means for
assembling said set of scanned 2-D slice images into a 3-D
database; means for extracting an anatomical feature from the
information contained in said 3-D database; means for specifying a
measurement to be made based on said extracted anatomical feature;
and means for calculating the measurement so specified.
2. A system according to claim 1 further comprising means for
generating a set of oblique slice images from said 3-D database,
wherein the orientation of said oblique slice images is determined
by the configuration of said anatomical feature.
3. A system according to claim 2 wherein said system comprises
means for specifying a measurement to be made based on one of said
oblique slice images.
4. A system according to claim 1 wherein said anatomical feature is
the centerline of said anatomical structure.
5. A system according to claim 4 wherein said system comprises a
cumulative sum table derived from said centerline, and further
wherein said means for calculating utilize said cumulative sum
table to determine a length measurement.
6. A system according to claim 1 wherein said system comprises a
cumulative sum table derived from said anatomical feature, and
further wherein said means for calculating utilize said cumulative
sum table to determine a volume measurement.
7. A system for visualizing an anatomical structure using an
appropriate set of 2-D slice images obtained by scanning said
anatomical structure, said system comprising: means for assembling
said set of scanned 2-D slice images into a 3-D database; means for
extracting an anatomical feature from the information contained in
said 3-D database; means for specifying a view to be rendered based
on said extracted anatomical feature; and means for rendering the
view so specified.
8. A system according to claim 7 further comprising means for
generating a set of oblique slice images from said 3-D database,
wherein the orientation of said oblique slice images is determined
by the configuration of said anatomical feature.
9. A system according to claim 7 wherein said anatomical feature is
the centerline of said anatomical structure.
10. A method for determining a dimension of an anatomical structure
using an appropriate set of 2-D slice images obtained by scanning
said anatomical structure, said method comprising the steps of: (1)
assembling said set of scanned 2-D slice images into a 3-D
database; (2) extracting an anatomical feature from the information
contained in said 3-D database; (3) specifying a measurement to be
made based on said extracted anatomical feature; and (4)
calculating the measurement so specified.
11. A method according to claim 10 wherein Step 2 includes the step
of generating a set of oblique slice images from said 3-D database,
wherein the orientation of said oblique slice images is determined
by the configuration of said anatomical feature.
12. A method according to claim 10 wherein said measurement is
specified with respect to at least one of said oblique slice
images.
13. A method according to claim 10 wherein said anatomical feature
is the centerline of said anatomical structure.
14. A method according to claim 13 wherein Step 2 includes the step
of generating a cumulative sum table derived from said centerline,
and further wherein Steps 3 and 4 are conducted with respect to
said cumulative sum table to determine a length measurement.
15. A method for visualizing an anatomical structure using an
appropriate set of 2-D slice images obtained by scanning said
anatomical structure, said method comprising the steps of: (1)
assembling said set of scanned 2-D slice images into a 3-D
database; (2) extracting an anatomical feature from the information
contained in said 3-D database; (3) specifying a view to be
rendered based on said extracted anatomical feature; and (4)
rendering the view so specified.
16. A method according to claim 15 including generating a set of
oblique slice images from said 3-D database, wherein the
orientation of said oblique slice images is determined by the
configuration of said anatomical feature.
17. A method according to claim 15 wherein said anatomical feature
is the centerline of said anatomical structure.
18. Storage media comprising: a first section comprising 2-D axial
slice image data; a second section comprising 2-D coronal slice
image data; a third section comprising 2-D sagittal slice image
data; and a fourth section comprising means usable by a computer
for accessing said image data contained in said first, second and
third sections.
19. Storage media according to claim 18 wherein said media further
comprises a fifth section comprising a 3-D computer model of a
patient's anatomical structure.
20. Storage media according to claim 19 wherein said media further
comprises a table of results from volume calculations.
21. Storage media according to claim 20 wherein said media further
comprises 2-D oblique slice image data.
22. Storage media according to claim 21 wherein said 2-D oblique
slice image data is derived from the centerline of said anatomical
structure.
23. Storage media according to claim 22 wherein said media further
comprises a table of results from length calculations.
24. Storage media according to claim 23 wherein said storage media
comprises a CD ROM.
25. An article of manufacture comprising: a computer usable medium
having computer readable data means embodied therein, said computer
readable data means embodying: a first database comprising 2-D
axial slice image data; a second database comprising 2-D coronal
slice image data; and a third database comprising 2-D sagittal
slice image data.
26. A computer data structure comprising: a first database
comprising 2-D axial slice image data; a second database comprising
2-D coronal slice image data; a third database comprising 2-D
sagittal slice image data; and means usable by a computer for
accessing said image data contained in said first, second and third
databases.
Description
FIELD OF THE INVENTION
[0001] This invention relates to medical apparatus in general, and
more particularly to anatomical visualization and measurement
systems.
BACKGROUND OF THE INVENTION
[0002] Many medical procedures must be carried out at an interior
anatomical site which is normally hidden from the view of the
physician. In these situations, the physician typically uses some
sort of scanning device to examine the patient's anatomy at the
interior site prior to, and in preparation for, conducting the
actual medical procedure. Such scanning devices typically include
CT scanners, MRI devices, X-ray machines, ultrasound devices and
the like, and essentially serve to provide the physician with some
sort of visualization of the patient's interior anatomical
structure prior to commencing the actual medical procedure. The
physician can then use this information to plan the medical
procedure in advance, taking into account patient-specific
anatomical structure.
[0003] In addition to the foregoing, the physician can also use the
information obtained from such preliminary scanning to more
precisely identify the location of selected structures (e.g.,
tumors and the like) which may themselves be located within the
interior of internal organs or other internal body structures. As a
result, the physician can then more easily "zero in" on such
selected structures during the subsequent medical procedure.
[0004] Furthermore, in many cases, the anatomical structures of
interest to the physician may be quite small and/or difficult to
identify with the naked eye. In these situations, preliminary
scanning of the patient's interior anatomical structure using high
resolution scanning devices can help the physician locate various
structures of interest during the subsequent medical procedure.
[0005] In addition to the foregoing, scanning devices of the sort
described above are frequently also used in purely diagnostic
procedures. For example, scanning devices of the sort described
above might be used to look for stenosis in a blood vessel, or the
buildup of plaque in a blood vessel, or a thinning of the aorta
wall, etc.
[0006] In general, scanning devices of the sort described above
tend to generate two-dimensional (i.e., "2-D") images of the
patient's anatomical structure. In many cases, the scanning devices
are adapted to provide a set of 2-D images, with each 2-D image in
the set being related to every other 2-D image in the set according
to some pre-determined relationship. For example, CT scanners
typically generate a series of 2-D images, with each 2-D image
corresponding to a specific plane or "slice" taken through the
patient's anatomical structure. Furthermore, with many scanning
devices, the angle and spacing between adjacent image planes or
slices is very well defined, e.g., each image plane or slice may be
set parallel to every other image plane or slice, and adjacent
image planes or slices may be spaced a pre-determined distance
apart. By way of example, the parallel image planes might be set 1
mm apart.
[0007] In a system of the sort just described, the physician can
view each 2-D image individually and, by viewing a series of 2-D
images in proper sequence, can mentally generate a
three-dimensional (i.e., "3-D") impression of the patient's
interior anatomical structure.
[0008] Some scanning devices include, as part of their basic
system, associated computer hardware and software for building a
3-D database of the patient's scanned anatomical structure using a
plurality of the aforementioned 2-D images. For example, some CT
and MRI scanners include such associated computer hardware and
software as part of their basic system. Alternatively, such
associated computer hardware and software may be provided
independently of the scanning devices, as a sort of "add-on" to the
system; in this case, the data from the scanned 2-D images is fed
from the scanning device to the associated computer hardware and
software in a separate step. In either case, a trained operator
using such apparatus can create a set of scanned 2-D images,
assemble the data from these scanned 2-D images into a 3-D database
of the scanned anatomical structure, and then generate various
additional images of the scanned anatomical structure using the 3-D
database. This feature has been found to be a very powerful tool,
since it essentially permits a physician to view the patient's
scanned anatomical structure from a wide variety of different
viewing positions. As a result, the physician's understanding of
the patient's scanned anatomical structure is generally greatly
enhanced.
[0009] In addition, scanning systems of the sort described above
often include hardware and/or software tools to allow measurements
to be made of the patient's scanned anatomical structure. By way of
example, many of these systems let a physician overlay lines on an
image of the patient's anatomical structure, and then calculate the
length of these lines so as to indicate the size of the structure
being viewed.
[0010] While the 2-D slice images generated by the aforementioned
scanning devices, and/or the 3-D database images generated by the
aforementioned associated computer hardware and software, are
generally of great benefit to physicians, certain significant
limitations still exist.
[0011] For one thing, with current systems, each scanned 2-D slice
image is displayed as a separate and distinct image, and each image
generated from the 3-D database is displayed as a separate and
distinct image. Unfortunately, physicians can sometimes have
difficulty correlating what they see on one image with what they
see on another image. By way of example but not limitation,
physicians can sometimes have difficulty correlating what they see
on a particular scanned 2-D slice image with what they see on a
particular image generated from the 3-D database.
[0012] For another thing, in many situations a physician may be
viewing images of a patient's scanned anatomical structure in
preparation for conducting a subsequent medical procedure in which
a prosthetic device must be fitted in the patient. In these
situations it can be relatively difficult and/or time-consuming for
the physician to accurately measure and record all of the
anatomical dimensions needed for proper sizing of the prosthetic
device to the patient. By way of example, in certain situations a
patient may develop an abdominal aortic aneurysm ("AAA") in the
vicinity of the aorta's iliac branching, and repair or replacement
of the affected vascular structure with a prosthetic device may be
indicated. In this case it is extremely important for the physician
to determine, prior to commencing the procedure, accurate length
and cross-sectional dimensions for each affected portion of blood
vessel so as to ensure proper sizing of the appropriate prosthetic
device to the patient. Unfortunately, it can be difficult and/or
impossible to make accurate anatomical measurements with existing
visualization systems. This has proven to be particularly true when
dealing with anatomical structures which extend along a tortuous
path and/or which have a complex and varied branching structure,
e.g., blood vessels.
[0013] Furthermore, in many cases it may be desirable to provide a
physician with a particular oblique view of a specified portion of
a patient's anatomical structure. For example, it may be desirable
to provide a physician with a view taken perpendicular to the
length of a blood vessel, with that view being taken at a very
specific location along that blood vessel. Such a view might be
desired for comprehensional and/or measurement purposes.
Unfortunately, it can be difficult and/or impossible to accurately
generate such a view using existing visualization systems.
[0014] In addition to the foregoing, in many situations a physician
may be interested in accurately calculating a volume associated
with a specific part of a patient's anatomy. By way of example but
not limitation, a physician might wish to track the volume of a
thrombus in an aorta over time, or the size of a tumor during
chemotherapy, etc. Unfortunately, it can be difficult and/or
impossible to accurately make such a calculation using existing
visualization systems.
OBJECTS OF THE INVENTION
[0015] Accordingly, one object of the present invention is to
provide an improved anatomical visualization and measurement system
for visualizing and measuring anatomical structures.
[0016] Another object of the present invention is to provide an
improved anatomical visualization and measurement system wherein a
scanned 2-D slice image can be appropriately combined with an image
generated from a 3-D database so as to create a single composite
image.
[0017] Another object of the present invention is to provide an
improved anatomical visualization and measurement system wherein a
marker can be placed onto a 2-D slice image displayed on a screen,
and this marker will be automatically incorporated, as appropriate,
into a 3-D computer model maintained by the system, as well as into
any other 2-D slice image data maintained by the system.
[0018] Still another object of the present invention is to provide
an improved anatomical visualization and measurement system wherein
a margin of pre-determined size can be associated with a marker of
the sort described above, and further wherein the margin will be
automatically incorporated into the 3-D computer model, and into
any other 2-D slice image data, in association with that
marker.
[0019] Yet another object of the present invention is to provide an
improved anatomical visualization and measurement system wherein
the periphery of objects contained in a 3-D computer model
maintained by the system can be automatically identified in any 2-D
slice image data maintained by the system, and further wherein the
periphery of such objects can be highlighted as appropriate in 2-D
slice images displayed by the system.
[0020] Another object of the present invention is to provide an
improved anatomical visualization and measurement system wherein
patient-specific anatomical dimensions such as length and/or
cross-sectional dimensions can be quickly, easily and accurately
determined.
[0021] Still another object of the present invention is to provide
an improved anatomical visualization and measurement system which
is particularly well adapted to determine patient-specific
anatomical dimensions for structures which have a tortuous and/or
branching configuration, e.g., blood vessels.
[0022] And another object of the present invention is to provide an
improved anatomical visualization and measurement system wherein an
appropriate set of scanned 2-D images can be assembled into a 3-D
database, information regarding patient-specific anatomical
structures can be segmented from the information contained in this
3-D database, and this segmented information can then be used to
determine anatomical features such as a centerline for the
anatomical structure which has been segmented.
[0023] Still another object of the present invention is to provide
an improved anatomical visualization and measurement system which
is able to easily and accurately present a physician with a
particular oblique view of a specified portion of a patient's
anatomical structure, e.g., a view taken perpendicular to the
length of a blood vessel, with that view being taken at a very
specific location along that blood vessel.
[0024] Another object of the present invention is to provide an
improved anatomical visualization and measurement system wherein
patient-specific anatomical volumes can be quickly, easily and
accurately determined.
[0025] And another object of the present invention is to provide an
improved anatomical visualization and measurement system wherein an
appropriate set of scanned 2-D images can be assembled into a 3-D
database, information regarding patient-specific anatomical
structures can be segmented from the information contained in this
3-D database, and this segmented information can then be used to
calculate desired patient-specific anatomical volumes.
[0026] Another object of the present invention is to provide an
improved method for visualizing and measuring anatomical
structures.
[0027] And another object of the present invention is to provide an
improved method wherein patient-specific anatomical dimensions such
as length and/or cross-sectional dimensions can be quickly, easily
and accurately determined.
[0028] Still another object of the present invention is to provide
an improved method wherein an appropriate set of scanned 2-D images
can be assembled into a 3-D database, information regarding
patient-specific anatomical structures can be segmented from the
information contained in this 3-D database, and this segmented
information can then be used to determine anatomical features such
as a centerline for the anatomical structure which has been
segmented.
[0029] And another object of the present invention is to provide a
method for easily and accurately presenting a physician with a
particular oblique view of a specified portion of a patient's
anatomical structure, e.g., a view taken perpendicular to the
length of a blood vessel, with that view being taken at a very
specific location along that blood vessel.
[0030] Yet another object of the present invention is to provide an
improved method for quickly, easily and accurately determining
patient-specific anatomical volumes.
SUMMARY Of THE INVENTION
[0031] These and other objects are addressed by the present
invention, which comprises an anatomical visualization and
measurement system comprising a first database which comprises a
plurality of 2-D slice images generated by scanning an anatomical
structure. These 2-D slice images are stored in a first data
format. A second database is also provided which comprises a 3-D
computer model of the scanned anatomical structure. This 3-D
computer model comprises a first software object which is
representative of the scanned anatomical structure and which is
defined by a 3-D geometry database.
[0032] In one embodiment of the present invention, means are
provided for selecting a particular 2-D slice image from the first
database. Means are also provided for inserting a second software
object into the 3-D computer model so as to augment the 3-D
computer model. The second software object is also defined by a 3-D
geometry database, and includes a planar surface. In this
embodiment of the invention, the second software object is inserted
into the 3-D computer model at the position which corresponds to
the position of the selected 2-D slice image relative to the
scanned anatomical structure. Means for texture mapping the
specific 2-D slice image onto the planar surface of the second
software object are also provided. Means are also provided for
displaying an image of the augmented 3-D computer model so as to
simultaneously provide a view of both the first software object and
the specific 2-D slice image which has been texture mapped onto the
planar surface of the second software object.
[0033] In another embodiment of the invention, the system comprises
a first database which comprises a plurality of 2-D slice images
generated by scanning an anatomical structure. These 2-D slice
images are stored in a first data format. A second database is also
provided which comprises a 3-D computer model of the scanned
anatomical structure. This 3-D computer model comprises a first
software object which is representative of the scanned anatomical
structure and which is defined by a 3-D geometry database. In this
second embodiment of the invention, means are also provided for
inserting a second software object into the 3-D computer model so
as to augment the 3-D computer model. The second software object is
also defined by a 3-D geometry database, and includes a planar
surface. Furthermore, means are also provided for determining the
specific 2-D slice image which corresponds to the position of the
planar surface of the second software object which has been
inserted into the augmented 3-D computer model. In this embodiment
of the invention, means are also provided for texture mapping the
specific 2-D slice image corresponding to the position of that
planar surface onto the planar surface of the second software
object. In this embodiment of the invention, display means are also
provided for displaying an image of the augmented 3-D computer
model to a physician so as to simultaneously provide a view of the
first software object and the specific 2-D slice image which has
been texture mapped onto the planar surface of the second software
object.
[0034] In each of the foregoing embodiments of the present
invention, the 3-D geometry database may comprise a surface
model.
[0035] Likewise, the system may further comprise means for
inserting a marker into the first database, whereby the marker will
be automatically incorporated into the second database, and further
wherein the marker will be automatically displayed where
appropriate in any image displayed by the system.
[0036] Also, the system may further comprise a margin of
pre-determined size associated with the aforementioned marker.
[0037] Additionally, the system may further comprise means for
automatically identifying the periphery of any objects contained in
the second database and for identifying the corresponding data
points in the first database, whereby the periphery of such objects
can be highlighted as appropriate in any image displayed by the
system.
[0038] Often, the scanned structure will comprise an interior
anatomical structure.
[0039] In yet another form of the present invention, the
visualization and measurement system may incorporate means for
determining patient-specific anatomical dimensions, such as length
and/or cross-sectional dimensions, using appropriate scanned 2-D
image data. More particularly, the visualization and measurement
system may include means for assembling an appropriate set of
scanned 2-D images into a 3-D database, means for segmenting
information regarding patient-specific anatomical structures from
the information contained in the 3-D database, means for
determining from this segmented information anatomical features
such as a centerline for the anatomical structure which has been
segmented, means for specifying a measurement to be made based on
the determined anatomical feature, and means for calculating the
measurements so specified.
[0040] In a more particular form of the present invention, the
visualization and measurement system is particularly well adapted
to determine patient-specific anatomical dimensions for structures
which have a tortuous and/or branching configuration, e.g., blood
vessels. In this form of the invention, the visualization and
measurement system is adapted to facilitate (1) assembling an
appropriate set of scanned 2-D images into a 3-D database; (2)
segmenting the volumetric data contained in the 3-D database into a
set of 3-D locations corresponding to the specific anatomical
structure to be measured; (3) specifying, for each branching
structure contained within the specific anatomical structure of
interest, a branch line in the volumetric data set that uniquely
indicates that branch structure, with the branch line being
specified by selecting appropriate start and end locations on two
of the set of scanned 2-D images; (4) calculating, for each
branching structure contained within the specific anatomical
structure of interest, a centroid path in the volumetric data set
for that branching structure, with the centroid path being
determined by calculating, for each scanned 2-D image corresponding
to the branch line, the centroid for the branch structure contained
in that particular scanned 2-D image; (5) applying a curve-fitting
algorithm to the centroid paths determined above so as to supply
data for any portions of the anatomical structure which may lie
between the aforementioned branch lines, and for "smoothing out"
any noise that may occur in the system; and (6) applying known
techniques to the resulting space curves so as to determine the
desired anatomical dimensions.
[0041] In still another form of the present invention, the
visualization and measurement system may incorporate means for
easily and accurately presenting a physician with a particular
oblique view of a specified portion of a patient's anatomical
structure, e.g., a view taken perpendicular to a blood vessel, at a
very specific location along that blood vessel.
[0042] In another form of the present invention, the visualization
and measurement system may incorporate means for more accurately
measuring the dimensions of an anatomical structure by utilizing
one or more oblique views taken along the length of that anatomical
structure.
[0043] In yet another form of the present invention, the
visualization and measurement system may incorporate means for
determining patient-specific anatomical volumes using appropriate
scanned 2-D image data. More particularly, the visualization and
measurement system may include means for assembling an appropriate
set of scanned 2-D images into a 3-D database, means for segmenting
information regarding patient-specific anatomical structures from
the information contained in the 3-D database, means for
determining from this segmented information anatomical volumes from
the anatomical structure which has been segmented, means for
specifying a structure of interest, and means for calculating the
volume of the specified structure.
[0044] The present invention also comprises an improved method for
visualizing and measuring anatomical structures.
[0045] The present invention also comprises a method for
calculating patient-specific anatomical dimensions using
appropriate scanned 2-D image data. In one form of the present
invention, the method comprises the steps of (1) assembling an
appropriate set of scanned 2-D images into a 3-D database; (2)
segmenting information regarding patient-specific anatomical
structures from the information contained in the 3-D database, (3)
determining for this segmented information anatomical features such
as a centerline for the anatomical structure which has been
segmented; (4) specifying a measurement to be made based on the
determined anatomical feature; and (5) calculating the measurement
so specified.
[0046] The present invention also comprises a method for easily and
accurately presenting a physician with a particular oblique view of
a specified portion of a patient's anatomical structure, e.g., a
view taken perpendicular to a blood vessel, at a very specific
location along that blood vessel.
[0047] The present invention also comprises a method for
calculating patient-specific anatomical volumes using appropriate
scanned 2-D image data. In one form of the present invention, the
method comprises the steps of (1) assembling an appropriate set of
scanned 2-D images into a 3-D database; (2) segmenting information
regarding patient-specific anatomical structures from the
information contained in the 3-D database, (3) determining from
this segmented information volumes for the anatomical structure
which has been segmented, (4) specifying a structure of interest,
and (5) calculating the volume of the specified structure.
BRIEF DESCRIPTION OF THE DRAWINGS
[0048] These and other objects and features of the present
invention will be more fully disclosed or rendered obvious by the
following detailed description of the preferred embodiments of the
invention, which is to be considered together with the accompanying
drawings wherein like numbers refer to like parts, and further
wherein:
[0049] FIG. 1 is a schematic view showing a scanning device for
generating a set of 2-D images of the anatomy of a patient;
[0050] FIG. 2 is a 2-D slice image corresponding to an axial slice
taken through the abdomen of an individual;
[0051] FIG. 3 shows a series of data frames corresponding to 2-D
slice images arranged in a parallel array;
[0052] FIG. 4 is a schematic view showing the scanning data
contained within an exemplary data frame;
[0053] FIG. 5 shows scanning data stored in a first storage device
or medium being retrieved, processed and then stored again in a
second data storage device or medium;
[0054] FIG. 6 is a schematic view of a system for retrieving and
viewing scanning data;
[0055] FIG. 7 is a schematic view of a unit cube for use in
defining polygonal surface models;
[0056] FIG. 8 illustrates the data file format of the polygonal
surface model for the simple unit cube shown in FIG. 7;
[0057] FIGS. 9A-9F illustrate a variety of menu choices which may
be utilized in connection with the present invention;
[0058] FIG. 10 illustrates an image drawn to a window using the
data contained in the 3-D computer model associated with the
present invention;
[0059] FIG. 11 illustrates a 2-D slice image drawn to a window in
accordance with the present invention;
[0060] FIG. 12 illustrates a composite image formed from
information contained in both the 3-D computer model and the 2-D
slice image data structure;
[0061] FIG. 13 is a schematic illustration showing the relationship
between axial slices, sagittal slices and coronal slices;
[0062] FIG. 14 illustrates three different images being displayed
on a computer screen at the same time, with a marker being
incorporated into each of the images;
[0063] FIG. 15 illustrates a marker shown in an image generated
from the 3-D computer model, with the marker being surrounded by a
margin of pre-determined size;
[0064] FIG. 16 illustrates a 2-D slice image, wherein the periphery
of an object has been automatically highlighted by the system;
[0065] FIG. 17 is a schematic illustration showing various
anatomical structures on a 2-D slice image, where that 2-D slice
image has been taken axially through the abdomen of a patient, at a
location above the aortic/iliac branching;
[0066] FIG. 18 is a schematic illustration showing various
anatomical structures on another 2-D slice image, where that 2-D
slice image has been taken through the abdomen of the same patient,
at a location below the aortic/iliac branching;
[0067] FIGS. 17A and 18A are schematic illustrations like those of
FIGS. 17 and 18, respectively, except that segmentation has been
performed in the 3-D database so as to highlight the patient's
vascular structure;
[0068] FIG. 19 is a schematic illustration showing that same
patient's vascular structure in the region about the aortic/iliac
branching, with branch lines having been specified for the
patient's aorta and two iliac branches;
[0069] FIG. 20 is a schematic illustration showing how the centroid
is calculated for the branch structure contained in a particular
scanned 2-D image;
[0070] FIG. 21 is a schematic illustration showing the tortuous
centroid path calculated for each of the respective branch lines
shown in FIG. 19;
[0071] FIG. 22 is a schematic illustration showing the space curve
determined by applying a curve-fitting algorithm to two of the
centroid paths shown in FIG. 21, whereby the structure between the
branch lines is filled out and the centroid data "smoothed" through
a "best fit" interpolation technique;
[0072] FIG. 23 is a flow chart illustrating how patient-specific
anatomical dimensions can be determined from scanned 2-D image data
in accordance with the present invention;
[0073] FIG. 24 is a schematic view showing an oblique slice polygon
disposed perpendicular to the centerline of a blood vessel;
[0074] FIG. 25 is a cumulative sum table for calculating lengths
along an anatomical structure;
[0075] FIG. 26 illustrates a centerline length calculation dialogue
box drawn to a window in a display;
[0076] FIG. 27 illustrates a 3-D graphical icon which has been
inserted into the 3-D model and which is visible on the display so
as to show the portion of the centerline which has been specified
by the physician for a length calculation;
[0077] FIG. 28 is a cumulative sum table for calculating volumes
with respect to an anatomical structure;
[0078] FIG. 29 illustrates a volume calculation dialogue box drawn
to a window in a display; and
[0079] FIG. 30 illustrates a 3-D graphical icon which has been
inserted into the 3-D model and which is visible on the display so
as to show the volume which has been specified by the physician
using the volume calculation dialogue box.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
Basic System
[0080] Looking first at FIG. 1, a scanning device 5 is shown as it
scans the interior anatomical structure of a patient 10, as that
patient 10 lies on a scanning platform 15.
[0081] Scanning device 5 is of the sort adapted to generate
scanning data corresponding to a series of 2-D images, where each
2-D image corresponds to a specific viewing plane or "slice" taken
through the patient's body. Furthermore, scanning device 5 is
adapted so that the angle and spacing between adjacent image planes
or slices can be very well defined, e.g., each image plane or slice
may be set parallel to every other image plane or slice, and
adjacent image planes or slices may be spaced a pre-determined
distance apart. By way of example, the parallel image planes might
be set 1 mm apart.
[0082] The scanning data obtained by scanning device 5 can be
displayed as a 2-D slice image on a display 20, and/or it can be
stored in its 2-D slice image data form in a first section 23 of a
data storage device or medium 25. Furthermore, additional
information associated with the scanning data (e.g., patient name,
age, etc.) can be stored in a second section 27 of data storage
device or medium 25.
[0083] By way of example, scanning device 5 might comprise a CT
scanner of the sort manufactured by GE Medical Systems of
Milwaukee, Wis.
[0084] By way of further example, a 2-D slice image of the sort
generated by scanning device 5 and displayed on display 20 might
comprise the 2-D slice image shown in FIG. 2. In the particular
example shown in FIG. 2, the 2-D slice image shown corresponds to
an axial slice taken through an individual's abdomen and showing,
among other things, that individual's liver.
[0085] Scanning device 5 may format its scanning data in any one of
a number of different data structures. By way of example, scanning
device 5 might format its scanning data in the particular data
format used by a CT scanner of the sort manufactured by GE Medical
Systems of Milwaukee, Wis. More specifically, with such a scanning
device, the scanning data is generally held as a series of data
"frames", where each data frame corresponds to a particular 2-D
slice image taken through the patient's body. Furthermore, within
each data frame, the scanning data is generally organized so as to
represent the scanned anatomical structure at a particular location
within that 2-D slice image. Such a data structure is fairly common
for scanning devices of the sort associated with the present
invention. However, it should be appreciated that the present
invention is not dependent on the particular data format utilized
by scanning device 5. For the purposes of the present invention,
the scanning data provided by scanning device 5 can be formatted in
almost any desired data structure, so long as that data structure
is well defined, whereby the scanning data can be retrieved and
utilized as will hereinafter be disclosed in further detail.
[0086] For purposes of illustrating the present invention, it can
be convenient to think of the scanning data generated by scanning
device 5 as being organized in the data structures schematically
illustrated in FIGS. 3 and 4.
[0087] More particularly, in FIG. 3, a series of data frames 30A,
30B, 30C, etc. are shown arranged in a parallel array. Each of
these data frames 30A, 30B, 30C, etc. corresponds to a particular
2-D slice image taken through the patient's body by scanning device
5, where the 2-D slice images are taken parallel to one another. In
addition, adjacent image planes or slices are spaced apart by a
constant, pre-determined distance, e.g., 1 mm. It will be
appreciated that data frames 30A, 30B, 30C, etc. collectively form
a volumetric data set which is representative of the patient's
scanned anatomical structure.
[0088] Furthermore, in FIG. 4, the scanning data contained within
an exemplary data frame 30A is shown represented in an X-Y
coordinate scheme so as to quickly and easily identify the scanned
anatomical structure disposed at a particular location within that
2-D slice image. Typically, the scanning data relating to a
particular X-Y coordinate represents an image intensity value. This
image intensity value generally reflects some attribute of the
specific anatomical structure being scanned, e.g., the tissue
density.
[0089] As noted above, the scanning data generated by scanning
device 5 is stored in its 2-D slice image data form in first
section 23 of data storage device or medium 25, with the scanning
data being stored in a particular data format as determined by the
manufacturer of scanning device 5.
[0090] In accordance with the present invention, and looking now at
FIG. 5, the scanning data stored in first section 23 of data
storage device or medium 25 is retrieved, processed and then stored
again in a data storage device or medium 30.
[0091] More particularly, the scanning data stored in first section
23 of data storage device or medium 25 is retrieved and processed
so as to convert the scanning data generated by scanning device 5
from its 2-D slice image data form into a 3-D computer model of the
patient's anatomical structure. This 3-D computer model is then
stored in a first section 35 of data storage device or medium
30.
[0092] In addition, the scanning data stored in first section 23 of
data storage device or medium 25 is retrieved and processed as
necessary so as to convert the scanning data into a preferred data
format for the 2-D slice image data. The 2-D slice image data is
then stored in this preferred data format in second section 40 of
data storage device or medium 30.
[0093] Furthermore, the additional information associated with the
scanning data (e.g., patient name, age, etc.) which was previously
stored in second section 27 of data storage device or medium 25 can
be stored in a third section 42 of data storage device or medium
30.
[0094] In accordance with the present invention, once the 3-D
computer model has been stored in first section 35 of data storage
device or medium 30, and the 2-D slice image data has been stored
in a preferred data format in second section 40 of data storage
device or medium 30, a physician can then use an appropriately
programmed computer to access the 3-D computer model stored in
first section 35 of data storage device or medium 30, and/or the
2-D slice image data stored in second section 40 of data storage
device or medium 30, to generate desired patient-specific
images.
[0095] More particularly, and looking now at FIG. 6, once the 3-D
computer model has been stored in first section 35 of data storage
device or medium 30, and the 2-D slice image data has been stored
in a preferred data format in second section 40 of data storage
device or medium 30, a physician can use an appropriately
programmed computer 50, operated by input devices 55, to access the
3-D computer model stored in first section 35 of data storage
device or medium 30, and/or the 2-D slice image data stored in
second section 40 of data storage device or medium 30, so as to
generate the desired patient-specific images and display those
images on a display 60.
[0096] To this end, it will be appreciated that the specific data
structure used to store the 3-D computer model in first section 35
of data storage device or medium 30, and the specific data
structure used to store the 2-D slice image data in second section
40 of data storage device or medium 30, will depend on the specific
nature of computer 50 and on the particular operating system and
application software being run on computer 50.
[0097] In general, however, the 3-D computer model contained in
first section 35 of data storage device or medium 30 is preferably
structured as a collection of software objects, with each software
object being defined by a polygonal surface model of the sort well
known in the art. By way of example, a scanned anatomical structure
such as a human liver might be modeled as three distinct software
objects, with the outer surface of the general mass of the liver
being one software object, the outer surface of the vascular
structure of the liver being a second software object, and the
outer surface of a tumor located in the liver being a third
software object. By way of further example, FIGS. 7 and 8
illustrate a typical manner of defining a software object by a
polygonal surface model. In particular, FIG. 7 illustrates the
vertices of a unit cube set in an X-Y-Z coordinate system, and FIG.
8 illustrates the data file format of the polygonal surface model
for this simple unit cube. As is well known in the art, more
complex shapes such as human anatomical structure can be expressed
in corresponding terms.
[0098] Furthermore, the 3-D computer model contained in first
section 35 of data storage device or medium 30 is created by
analyzing the 2-D slice image data stored in first section 23 of
data storage device or medium 25 using techniques well known in the
art. For example, the 2-D slice image data stored in first section
23 of data storage device or medium 25 might be processed using the
well known "Marching Cubes" algorithm, which is a so-called "brute
force" surface construction algorithm that extracts isodensity
surfaces from a volumetric data set, producing from one to five
triangles within voxels that contain the surface. Alternatively,
the 2-D slice image data stored in first section 23 of data storage
device or medium 25 might be processed into the 3-D computer model
stored in first section 35 of data storage device or medium 30 by
some other appropriate modeling algorithm so as to yield the
desired 3-D computer model which is stored in first section 35 of
data storage device or medium 30.
[0099] As noted above, the specific data structure used to store
the 2-D slice image data in second section 40 of data storage
device or medium 30 will also depend on the specific nature of
computer 50 and on the particular operating system and application
software being run on computer 50.
[0100] In general, however, the 2-D slice image data contained in
second section 40 of data storage device or medium 30 is preferably
structured as a series of data "frames", where each data frame
corresponds to a particular 2-D slice image taken through the
patient's body, and where the scanning data within each data frame
is organized so as to represent the scanned anatomical structure at
a particular location within that 2-D slice image.
[0101] In the present invention, it is preferred that computer 50
comprise a Power PC-based, Macintosh operating system ("Mac OS")
type of computer, e.g. a Power PC Macintosh 8100/80 of the sort
manufactured by Apple Computer, Inc. of Cupertino, Calif. In
addition, it is preferred that computer 50 be running Macintosh
operating system software, e.g. Mac OS Ver. 7.5.1, such that
computer 50 can readily access a 3-D computer model formatted in
Apple's well-known QuickDraw 3D data format and display images
generated from that 3D computer model, and such that computer 50
can readily access and display 2-D images formatted in Apple's
well-known QuickTime image data format. Input devices 55 preferably
comprise the usual computer input devices associated with a Power
PC-based, Macintosh operating system computer, e.g., input devices
55 preferably comprise a keyboard, a mouse, etc.
[0102] In view of the foregoing, in the present invention it is
also preferred that the 3-D computer model contained in first
section 35 of data storage device or medium 30 be formatted in
Apple's QuickDraw 3D data format, whereby the Mac OS computer 50
can quickly and easily access the 3-D computer model contained in
first section 35 of data storage device or medium 30 and display
images generated from that 3-D computer model on display 60.
[0103] In view of the foregoing, in the present invention it is
also preferred that the 2-D slice image data contained in second
section 40 of data storage device or medium 30 be formatted in
Apple's QuickTime image data format. In this way computer 50 can
quickly and easily display the scanned 2-D slice images obtained by
scanning device 5. It will be appreciated that, to the extent that
scanning device 5 happens to format its scanning data in the
preferred QuickTime image data format, no reformatting of the 2-D
slice image data will be necessary prior to storing the 2-D slice
image data in second section 40 of data storage device or medium
30. However, to the extent that scanning device 5 happens to format
its scanning data in a different data structure, reformatting of
the 2-D slice image data will be necessary so as to put it into the
preferred QuickTime image data format. Such image data reformatting
is of the sort well known in the art.
[0104] As a result of the foregoing, it will be seen that a
physician operating computer 50 through input devices 55 can
generate a desired image from the 3-D computer model contained
within first section 35 of data storage device or medium 30. In
particular, the physician can use input devices 55 to (1) open a
window on display 60, (2) instruct the computer as to the desired
angle of view, (3) generate the corresponding image of the scanned
anatomical structure from the desired angle of view, using the 3-D
computer model contained within first section 35 of data storage
device or medium 30, and (4) display that image in the open window
on display 60.
[0105] In addition, a physician operating computer 50 through input
devices 55 can display a desired 2-D slice image from the 2-D slice
image data contained within second section 40 of data storage
device or medium 30. In particular, the physician can use input
devices 55 to (1) open a window on display 60, (2) select a
particular 2-D slice image contained within second section 40 of
data storage device or medium 30, and (3) display that slice image
in the open window on display 60.
[0106] More particularly, and looking now at FIGS. 9A-9F, computer
50 is preferably programmed so as to provide a variety of
pre-determined menu choices which may be selected by the physician
operating computer 50 via input devices 55.
[0107] Thus, for example, if the physician wishes to produce a
desired image from the 3-D computer model contained within first
section 35 of data storage device or medium 30, the physician uses
input devices 55 to invoke the command to display the 3-D computer
model; the software then creates a window to display the image, it
renders an image from the 3-D computer model contained within first
section 35 of data storage device or medium 30, and then displays
that image in the open window on display 60. By way of example,
FIG. 10 illustrates an image drawn to a window using the data
contained in the 3-D computer model stored in first section 35 of
data storage device or medium 30. The physician can use input
devices 55 to instruct the image rendering software as to the
specific angle of view desired. In particular, computer 50 is
preferably programmed so that the physician can depress a mouse key
and then drag on the object so as to rotate the object into the
desired angle of view. Additionally, computer 50 is preferably
programmed so that the physician can also use the keyboard and
mouse to move the view closer in or further out, or to translate
the object side to side or up and down relative to the image plane.
Programming to effect such computer operation is of the sort well
known in the art.
[0108] In a similar manner, the physician can use menu choices such
as those shown in FIGS. 9A-9F to open a window on the display 60
and then to display in that window a desired 2-D slice image from
second section 40 of data storage device or medium 30. Computer 50
is programmed so that the physician can select between different
slice images by means of input devices 55. By way of example, FIG.
11 illustrates a 2-D slice image drawn to a window by the operating
system using the data contained in second section 40 of data
storage device or medium 30. In this case, computer 50 is
programmed so that, by dragging icon 70 back and forth along slider
75, the physician can "leaf" back and forth through the collection
of axial slices, i.e., in the example of FIG. 11, in which axial
slice #21 is displayed, dragging icon 70 to the left might cause
axial slice #20 to be displayed, and dragging icon 70 to the right
might cause axial slice #22 to be displayed. Additionally, computer
50 is preferably programmed so that the physician can also step the
image from the current slice number to a previous or following
slice number by using menu commands or by clicking the mouse cursor
on the single step icons 76 set at the right side of slider 75.
Computer 50 is preferably also programmed so that menu commands are
provided to change the slice window display directly to the first
or last slice image in the 2-D slice image set, or to change the
slice window display to a user-specified slice number. Programming
to effect such computer operation is of the sort well known in the
art.
[0109] As a consequence of using the aforementioned hardware and
software architecture (i.e., the Macintosh computer, the Mac OS,
the Apple QuickDraw 3D data format and software, and the Apple
QuickTime image data format and software, or some equivalent
hardware and software), it is possible to insert an additional
software object into the 3-D computer model contained within first
section 35 of data storage device or medium 30. In particular, it
is possible to insert an additional software object having a
"blank" planar surface into the 3-D computer model. Furthermore,
using the computer's image rendering software, it is possible to
texture map a 2-D slice image from second section 40 of data
storage device or medium 30 onto the blank planar surface of the
inserted software object. Most significantly, since the 3-D
computer model is created out of the same scanning data as the 2-D
slice images, it is possible to determine the specific 2-D slice
image which corresponds to a given position of the blank planar
surface within the 3-D computer model. Accordingly, with the
present invention, when an image is generated from the 3-D computer
model, both 3-D model structure and 2-D slice image structure can
be simultaneously displayed in proper registration with one
another, thereby providing a single composite image of the two
separate images. See, for example, FIG. 12, which shows such a
composite image. Again, computer 50 is programmed so that the
physician can use input devices 55 to instruct the operating
system's image rendering software as to where the aforementioned
"additional" software object is to be inserted into the model and
as to the particular angle of view desired. Programming to effect
such computer operation is of the sort well known in the art.
[0110] Additionally, computer 50 is also programmed so that (1) the
physician can use input devices 55 to select a particular 2-D slice
image from the second section 40 of data storage device or medium
30, and (2) the computer will then automatically insert the
aforementioned additional software object into the 3-D computer
model so that the object's "blank" planar surface is located at the
position which corresponds to the position of the selected 2-D
slice image relative to the scanned anatomical structure. Again,
programming to effect such computer operation is of the sort well
known in the art.
[0111] In the foregoing description of the present invention, the
2-D slice image data generated by scanning device 5 has generally
been discussed in the context of the standard "axial" slice images
normally generated by scanning devices of the type associated with
this invention. However, it is to be appreciated that the present
invention is also adapted to utilize sagittal and/or coronal 2-D
slice images. Furthermore, it is also to be appreciated that the
present invention is adapted to utilize oblique slice images of the
type hereinafter described.
[0112] More particularly, and looking next at FIG. 13, the relative
orientation of axial, sagittal and coronal slice images are shown
in the context of a schematic view of a human body 80. Scanning
device 5 will normally generate axial slice image data when
scanning a patent. In addition, in many cases scanning device 5
will also assemble the axial slice data into a 3-D database (i.e.,
a volumetric data set) of the scanned anatomical structure, and
then use this 3-D database to generate a corresponding set-of
sagittal and/or coronal 2-D slice images. In the event that
scanning device 5 does not have the capability of generating the
aforementioned sagittal and/or coronal 2-D slice images, such
sagittal and/or coronal 2-D slice images may be generated from a
set of the axial 2-D images in a subsequent operation, using
computer hardware and software of the sort well known in the art.
Alternatively, if desired, computer 50 may be programmed to render
such sagittal and/or coronal 2-D slices "on the fly" from the 2-D
slice image data contained in second section 40 of data storage
device or medium 30.
[0113] In connection with the present invention, the sagittal and
coronal 2-D slice image data may be stored with the axial slice
image data in second section 40 of data storage device or medium
30. Preferably these sagittal and coronal slice images are stored
in exactly the same data format as the 2-D axial slice images,
whereby they may be easily accessed by computer 50 and displayed on
display 60 in the same manner as has been previously discussed in
connection with axial 2-D slice images. As a result, axial,
sagittal and coronal 2-D slice images can be displayed on display
60, either individually or simultaneously in separate windows, in
the manner shown in FIG. 14. Furthermore, when generating a
composite image of the sort shown in FIG. 12 (i.e., an image
generated from both the 3-D computer model contained in first
section 35 of data storage device or medium 30 and a 2-D slice
image contained in second section 40 of data storage device or
medium 30), the composite image can be created using axial,
sagittal or coronal 2-D slice images, as preferred.
[0114] It is also to be appreciated that the system of the present
invention is also configured so as to generate and utilize oblique
2-D slice image data in place of the axial, sagittal and coronal
slice image data described above. More particularly, computer 50 is
programmed so that a physician can use input devices 55 to specify
the location of the oblique 2-D slice image desired, and then
computer 50 generates that 2-D slice image from the volumetric data
set present in second section 40 of data storage device or medium
30 (i.e., from the collection of 2-D slice images contained in
second section 40 of data storage device or medium 30).
[0115] It should be appreciated that data storage device or medium
30 can comprise conventional storage media (e.g., a hard disk, a CD
ROM, a tape cartridge, etc.), which can be located either on-site
or at a remote location linked via appropriate data transfer
means.
Markers And Margins
[0116] In a further aspect of the present invention, computer 50 is
programmed so that a physician can display a specific 2-D slice
image in a window opened on display 60, place a marker into that
specific 2-D slice image using a mouse or other input device 55,
and then have that marker automatically incorporated into both (i)
the 3-D computer model contained in first section 35 of data
storage device or medium 30, and (ii) any appropriate 2-D slice
image data contained in second section 40 of data storage device or
medium 30. As a result, when images are thereafter generated from
the 3-D computer model contained in first section 35 of data
storage device or medium 30, and/or from the 2-D slice image data
contained in second section 40 of data storage device or medium 30,
these subsequent images will automatically display the marker where
appropriate. See, for example, FIG. 14, which shows one such marker
85 displayed in its appropriate location in each of the three
displayed 2-D slice images, i.e., in axial slice image 90, sagittal
slice image 95, and coronal slice image 100. It is to be
appreciated that it is also possible for marker 85 to be displayed
where appropriate in an image generated from the 3-D computer model
contained in first section 35 of data storage device or medium 30;
see, for example, FIG. 15, which shows such a marker 85 being
displayed in the image.
[0117] In yet another aspect of the present invention, computer 50
is programmed so that a physician can generate a "margin" of some
predetermined size around such a marker. Thus, for example, in FIG.
15, a margin 105 has been placed around marker 85. In this respect
it is to be appreciated that margin 105 will appear as a
3-dimensional spherical shape around marker 85, just as marker 85
appears as a 3-dimensional shape, since the view of FIG. 15 is
generated from the 3-D computer model contained in first section 35
of data storage device or medium 30. Alternatively, where marker 85
and margin 105 are displayed in the context of 2-D slice images,
the marker and margin will appear as simple circles. Margin 105 can
be used by a physician to determine certain spatial relationships
in the context of the anatomical structure being displayed on the
computer.
Peripheral Highlighting
[0118] It is also to be appreciated that, inasmuch as the 3-D
computer model contained in first section 35 of data storage device
or medium 30 constitutes a plurality of software objects defined by
polygonal surface models, it is possible to identify the periphery
of any such objects in any corresponding 2-D slice image data
contained in second section 40 of data storage device or medium 30.
As a result, it is possible to highlight the periphery of any such
object in any 2-D slice images displayed on display 60. Thus, in
another aspect of the invention, computer 50 is programmed so that
a physician can select one or more anatomical structures using an
input device 55, and the computer will then highlight the periphery
of that structure in any corresponding 2-D slice images displayed
on display 60. See, for example, FIG. 16, where a boundary 110 is
shown outlining the periphery of an object 115 displayed in a 2-D
slice image.
Other Modifications Of The Basic System
[0119] Furthermore, while in the foregoing description the present
invention has been described in the context of an anatomical
visualization system being used by a physician, it is also to be
appreciated that the system could be used in conjunction with
inanimate objects being viewed by a non-physician, e.g., the system
could be used to visualize substantially any object for which a 3-D
computer model and a collection of 2-D slice image data can be
assembled.
[0120] It is also anticipated that one might replace the polygonal
surface model discussed above with some other type of surface
model. Thus, as used herein, the term "surface model" is intended
to include polygonal surface models, parametric surface models such
as B-spline surface models, quadralateral meshes, etc.
Centerline Calculations
[0121] In yet another form of the present invention, the
visualization and measurement system may incorporate means for
determining patient-specific anatomical dimensions using
appropriate scanned 2-D image data.
[0122] For purposes of illustration but not limitation, this aspect
of the present invention will be discussed in the context of
measuring a patient's vascular structure in the region of the
aortic/iliac branching. By way of further example, such measurement
might be conducted in the course of repairing an aortic aneurysm
through installation of a vascular prosthesis.
[0123] More particularly, using the aforementioned scanning device
5, a set of 2-D slice images is first generated, where each 2-D
slice image corresponds to a specific viewing plane or "slice"
taken through the patient's body. As noted above, on these 2-D
slice images, different types of tissue are typically represented
by different image intensities. By way of example, FIG. 17
illustrates a 2-D slice image 200 taken through the abdomen of a
patient, at a location above the aortic/iliac branching; FIG. 18
illustrates a 2-D slice image 202 taken through the abdomen of the
same patient, at a location below the aortic/iliac branching. In
these images, vascular tissue might be shown at 205, bone at 207,
other tissue at 210, etc. An appropriate set of these 2-D slice
images is assembled into a 3-D database so as to provide a
volumetric data set corresponding to the anatomical structure of
the patient. Referring back to the system illustrated in FIG. 6,
the set of 2-D slice images making up this 3-D database might be
stored in second section 40 of data storage device or medium 30. In
this respect it is also to be appreciated that the 3-D database
being referred to now is not the same as the 3-D computer model
contained in first section 35 of data storage device or medium 30;
rather, the 3-D database being referred to now is simply a
volumetric data set made up of the series of 2-D slice images
contained in second section 40 of data storage device or medium
30.
[0124] Next, using the appropriately programmed computer 50, the
patient-specific volumetric data set (formed out of the collection
of 2-D slice images contained in the 3-D database) is segmented so
as to highlight the anatomical structure of interest.
[0125] This is preferably effected as follows. On the computer's
display 60, the user is presented with 2-D slice images from the
3-D database, which images are preferably stored in second section
40 of data storage device or medium 30. As noted above, each of
these 2-D images corresponds to a specific viewing plane or "slice"
taken through the patient's body; or, stated slightly differently,
each of these 2-D images essentially represents a plane cutting
through the patient-specific volumetric data set contained in the
3-D database. As also discussed above, with each of these 2-D slice
images, the different types of tissue will generally be represented
by different image intensities. Using one or more of the input
devices 55, e.g., a mouse, the user (who might or might not be a
physician) selects a particular 2-D slice image for viewing on
display 60, e.g., "slice image #155". The user then uses one or
more of the input devices 55 to select one or more points located
within the anatomical structure of interest. For convenience, such
user-selected points can be referred to as "seeds". See, for
example, FIG. 17, where a seed point 215 has been selected within
the interior of vascular tissue 205 so as to identify blood. The
user also uses one or more of the input devices 55 to specify a
range of image intensities that appear to correspond to the
anatomical structure of interest in the volumetric data set, e.g.,
blood within the interior of a blood vessel.
[0126] In accordance with the present invention, the appropriately
programmed computer 50 then applies a segmentation algorithm of the
sort well known in the art to segment out related structure within
the patient-specific 3-D database. Preferably computer 50 is
programmed to apply a 3-D connected component search through the
volumetric data set contained in second section 40 of data storage
device or medium 30 so as to determine the set of volumetric
samples that are (i) within the range specified for blood, and
which (ii) can be connected along a connected path back to one of
the seeds, where each of the locations along the path is also
within the range specified for blood. The result of this 3-D
connected component search is a set of 3-D locations in the
volumetric data set which correspond to blood flowing through the
blood vessel. For the purposes of the present illustration, this
set of 3-D locations can be characterized as the "blood region".
The segmented anatomical structure (i.e., the blood in the blood
region) can then be highlighted or otherwise identified on each of
the 2-D slice images. See, for example, FIGS. 17A and 18A, where
the segmented blood region in vascular tissue 205 has been
cross-hatched to represent such highlighting.
[0127] Next, the branches in the segmented anatomical structure are
identified. For example, and looking now at FIG. 19, in the present
illustration dealing with vascular structure in the region of the
aortic/iliac branching, the aorta and the two iliac branches would
be separately identified.
[0128] This is done in the following manner. For each of the vessel
segments that are part of the branching structure of interest, the
user specifies a branch line in the volumetric data set that
uniquely indicates that vessel segment. This is accomplished by
using one or more of the input devices 55 to select, for each
branch line, an appropriate "start" location on one of the 2-D
slice images contained within second section 40 of data storage
device or medium 30, and an appropriate "end" location on another
one of the 2-D slice images contained within second section 40 of
data storage device or medium 30. It should be appreciated that
these branch lines do not need to cover the entire length of
interest of the vessel and, in practice, will tend to stop somewhat
short of the junction where various branches converge with one
another. At the same time, however, for improved accuracy of
modeling the branching structure, the branch lines should extend
close to the bifurcation point.
[0129] For each of the vessel branches, the start and end locations
are used to subdivide the blood region as follows: the region for
that vessel branch is the set of locations within the blood region
that are between the start plane and the end plane, where the start
plane for each vessel branch is the 2-D image plane passing through
the start location for the corresponding branch line, and the end
plane for each vessel branch is the 2-D image plane passing through
the end location for each vessel branch.
[0130] Although the invention could be used for a more complex
branching structure through obvious extensions, it is useful to
consider a vessel branch structure consisting of just three vessel
segments coming together at a branch point, e.g., a vessel branch
structure such as the aortic/iliac branching shown in FIG. 19. In
this case, the user would designate one vessel region as the root
region (e.g., the aortic region 220 defined by a branch line 225
having a start location 230 contained in a start plane 235, and an
end location 240 contained in an end plane 245) and the other
vessel regions as branch region A (e.g., the iliac region 250
defined by a branch line 255 having a start location 260 contained
in a start plane 265, and an end location 270 contained in an end
plane 275), and branch region B (e.g., the iliac region 280 defined
by a branch line 285 having a start location 290 contained in a
start plane 295, and an end location 300 contained in an end plane
305), respectively.
[0131] For each of the vessel regions determined in the previous
step, a centroid path is then calculated. This is accomplished in
the following manner. First, at intervals along the vessel line
corresponding to the volumetric location of each of the original
2-D slice images contained in second section 40 of data storage
device or medium 30, the centroid of the vessel region in that
particular 2-D slice image is calculated. This is done by averaging
the image coordinates of all locations in that 2-D slice image that
are within the vessel region so as to yield a centroid point. See,
for example, FIG. 20, which schematically illustrates the manner of
calculating the centroid 310 for a representative vessel region 312
in a representative 2-D slice image 315.
[0132] The centroid path for each vessel region is then established
by the collective set of centroid points located along that vessel
segment in three-dimensional space. The tortuous path corresponding
to the root region is called the root centroid path and the
tortuous paths corresponding to branch regions A and B are called
branch centroid path A and branch centroid path B, respectively.
See, for example, FIG. 21, which shows a plurality of centroids
320, a root centroid path generally indicated at 325, a branch
centroid path A generally indicated at 330, and a branch centroid
path B generally indicated at 335, all shown in the context of a
vessel branch structure such as the aortic/iliac branching example
discussed above. It is to be appreciated that no centroids will be
defined in the "unknown" region 336 bounded by the end plane 245
and the start plane 265, and the "unknown" region 337 bounded by
the end plane 245 and the start plane 295.
[0133] The system is programmed so that it will then apply a
curve-fitting algorithm to the tortuous centroid paths determined
above so as to supply estimated data for any portions of the
anatomical structure which may lie between the aforementioned
branch lines, and for "smoothing out" any noise that may occur in
the system.
[0134] This is preferably done through a spline fitting algorithm
effected in the following manner. First, two new paths are created,
by concatenating the points in the root centroid path 325 with the
points in each of the two branch centroid paths 330 and 335, so as
to create a path root-A and a path root-B. These two new paths are
then used as the input to a spline fitting routine which selects
the coefficients for a piecewise polynomial space curve that best
approximates the points along the path in a least-squares sense.
The number of pieces of the approximation and the order of
polynomial may be varied by the user. The resulting curves may be
called spline-root-A and spline-root-B. See, for example, FIG. 22,
which illustrates the spline-root-B, generally indicated at
340.
[0135] Through numerical integration, the distance along the two
splines (i.e., spline-root-A and spline-root-B) can then be
calculated using standard, well-known techniques, and the result
can be presented to the user. These calculations can be used for a
variety of purposes, e.g., to help determine the appropriate size
of a vascular prosthesis to be used in repairing an aneurysm at the
aortic/iliac junction.
[0136] In addition, using well established mathematical techniques,
at any point along the spline paths, a tangent vector and a
perpendicular plane can be readily determined either by direct
calculation or by definition in those cases where direct
calculation would be undefined. By calculating the distance from
the spline path to the points in the volumetric data set
corresponding to the vessel branch region that are within an
epsilon distance of the perpendicular plane, the shape of the
vessel at that point can be determined, and the radius of a circle
that best fits the cross-sectional area of the vessel at that point
can also be readily calculated. Again, this result can be used to
help determine that desired graft shape.
[0137] FIG. 23 is a flow chart illustrating how patient-specific
anatomical dimensions can be determined from scanned 2-D data in
accordance with the present invention.
[0138] In addition to the foregoing, it is possible to use the
centerline derived above to generate additional views for the
observer, and/or to make further anatomical calculations and
measurements.
Oblique Slices Derived From The Centerline
[0139] Among other things, it is possible to use the centerline
derived above to construct a series of oblique slices through the
volumetric data set (which volumetric data set is formed out of the
assembled scanned 2-D slice images contained in second section 40
of data storage device or medium 30) such that the reconstructed
oblique slices are disposed perpendicular to the centerline.
[0140] More particularly, oblique slices per se are generally well
known in the art, to the extent that such oblique slices are
arbitrary planar resamplings of the volumetric data set. However,
the utility of these arbitrary oblique slices is limited for many
applications, since there is no explicit, well-defined relationship
between their position and anatomical structures of interest. By
way of example, in the case of blood vessels, oblique slices taken
perpendicular to the length of the blood vessel are of particular
importance to the physician. However, when generating oblique
slices using traditional techniques (e.g., by pointing with an
input device 55 while viewing the display 60), it is very difficult
for the physician to specify the oblique slice which is truly
perpendicular to the blood vessel at a specified point. This
problem is avoided with the present invention, which utilizes the
centerline as derived above to generate the set of oblique slices
lying perpendicular to the blood vessel. This set of oblique slices
derived from the centerline is preferably stored in a fourth
section 400 of data storage device or medium 30 (FIGS. 5 and
6).
[0141] In general, one way to think about generating any oblique
slice is to consider a four-sided polygon that is placed in the
space defined by the volumetric data set. This polygon is then scan
converted to resample the axial images so as to generate the
oblique slice desired. As used herein, the term "scan converted" is
intended to refer to the well-known techniques of subdividing a
polygon into regularly spaced intervals on a rectangular grid.
[0142] In the present invention a programmable computer is used to
generate the specific set of oblique slices that is defined by the
centerline derived above. This is accomplished as follows. First,
the centerline is divided into n increments. This can be done with
points P.sub.0, P.sub.1, . . . , P.sub.n, as shown in FIG. 24. A
line T.sub.i is then derived for each of the points P.sub.i, where
T.sub.i is the tangent line at that point P.sub.i. Finally a series
of oblique slices are produced by constructing a series of
four-sided polygons, each of which is centered at P.sub.i and
normal to T.sub.i. The locations of the corners of the polygon are
selected such that the resulting image orientation is as close as
possible to a pre-selected image orientation (e.g., axial). These
four-sided polygons are then scan converted as described above so
as to provide the set of oblique slice images lying perpendicular
to the centerline. As noted above, this set of oblique slice images
is stored in fourth section 400 of data storage device or medium
30. At the same time, the corner locations of each four-sided
polygon associated with each oblique slice image is also stored in
fourth section 400 of data storage device or medium 30, whereby the
precise location of each oblique slice image within the volumetric
data set is established.
[0143] As a result of the foregoing, the oblique slice images
stored in fourth section 400 of data storage device or medium 30 is
available to be accessed by computer 50 in exactly the same manner
as the 2-D axial slice images stored in second section 40 of data
storage device or medium 30.
[0144] Furthermore, once the aforementioned oblique slices have
been derived from the centerline, these oblique slices can then be
used for a variety of additional purposes.
Measuring Diameters Along The Centerline
[0145] As noted above, the oblique slice images derived from the
centerline can be accessed by computer 50 from fourth section 400
of data storage device or medium 30. The physician can then use
input devices 55 to instruct computer 50 to access the oblique
slice at a particular location along the blood vessel and measure
the diameter of the same. In particular, the physician can use
input devices 55 to access the particular oblique slice desired and
then lay down two diametrically-opposed marks so as to define the
diameter of the blood vessel; the computer is adapted in ways well
known in the art to then calculate the distance between the two
marks. In this respect it should be appreciated that since the
aforementioned oblique slice images are, by definition, taken
perpendicular to the blood vessel at each point along the blood
vessel, the blood vessel diameters so measured will tend be much
more accurate than diameters calculated solely off axial slice
images, and/or off coronal and/or sagittal and/or "standard",
non-centerline-derived oblique slice images.
Measuring Distances With A Cumulative Sum Table
[0146] It has also been found that it can be advantageous to store
the incremental distances between the centerline points P.sub.1,
P.sub.2, . . . , P.sub.n in a cumulative sum table in which the
first entry, C.sub.0, is 0; the second entry, C.sub.1, is the
distance between P.sub.1 and P.sub.0 (i.e.,
C.sub.1=P.sub.1-P.sub.0); the third entry
C.sub.2=C.sub.1+(P.sub.2-P.sub.1); etc. Thus, the centerline
distance between any two points P.sub.i and P.sub.j is simply
D.sub.ij=C.sub.i-C.sub.j.
[0147] In the present invention, the cumulative sum table can be of
the sort shown in FIG. 25. This cumulative sum table is preferably
stored in a fifth section 405 of data storage device or medium 30.
Computer 50 is also programmed so that the user interface presents
a centerline length calculation dialogue box 407 (FIG. 26) to the
physician on display 60, by which the physician can specify (using
input devices 55) two oblique slice images which are the end points
of the length which is to be determined. Computer 50 is programmed
so that it will then determine the length between the two chosen
oblique slices by calculating the difference in their positions
from the cumulative sum table.
[0148] Computer 50 is also programmed so that a 3-D graphical icon
408 (FIG. 27) is inserted into the 3-D model contained in first
section 35 of data storage device or medium. 30. This icon
represents the portion of the vessel centerline which has been
specified by the physician via the two oblique slice images which
represent the length end points.
Calculating Volumes Using A Cumulative Sum Table
[0149] A cumulative sum table can also be used to calculate volumes
with respect to an anatomical structure, in much the same way that
a cumulative sum table can be used to calculate lengths along an
anatomical structure. However, incremental slice volumes are more
appropriately calculated in the axial direction rather than in the
oblique slice direction. This is because the axial slices all lie
parallel to one another, whereas the oblique slices (since they are
generated from the centerline) do not.
[0150] To this end, a computer is used to calculate the volume of
each axial slice, V.sub.i, by (1) determining the number of pixels
in the segmented region of that axial slice, (2) scaling by the
appropriate pixel-to-length factor, and then (3) multiplying by the
slice thickness. A cumulative sum table is then generated, where
the first entry, C.sub.0, is V.sub.0; the second entry,
C.sub.1=C.sub.0+V.sub.1; the third entry C.sub.2=C.sub.1+V.sub.2;
etc. In the present invention, this cumulative sum table can be of
the sort shown in FIG. 28. This cumulative sum table is stored in
sixth section 410 of data storage device or medium 30. Computer 50
is also programmed so that the user interface presents a volume
calculation dialogue box 412 (FIG. 29) to the physician on display
60 that allows the physician to conveniently specify two axial
slices as the end points of the volume to be determined. Computer
50 then calculates the volume for the region specified, using the
cumulative sum table. Computer 50 is also programmed so as to place
a 3-D graphical icon 415 (FIG. 30) in the 3-D model contained in
the first section 35 of data storage device or medium 30. This icon
represents the volume specified by the physician using the volume
calculation dialogue box.
Further Modifications
[0151] It is also to be understood that the present invention is by
no means limited to the particular construction herein disclosed
and/or shown in the drawings, but also comprises any modifications
or equivalents within the scope of the claims.
* * * * *