U.S. patent application number 15/707387 was filed with the patent office on 2018-01-04 for gated image acquisition and patient model construction.
The applicant listed for this patent is Medtronic Navigation, Inc.. Invention is credited to Patrick A. Helm, Shuanghe Shi.
Application Number | 20180007769 15/707387 |
Document ID | / |
Family ID | 44903428 |
Filed Date | 2018-01-04 |
United States Patent
Application |
20180007769 |
Kind Code |
A1 |
Helm; Patrick A. ; et
al. |
January 4, 2018 |
Gated Image Acquisition And Patient Model Construction
Abstract
A method and system is disclosed for acquiring image data of a
subject. The image data can be collected with an imaging system
with at least two different power characteristics. The image data
can be reconstructed using dynamic or enhanced reconstruction
techniques.
Inventors: |
Helm; Patrick A.; (Milton,
MA) ; Shi; Shuanghe; (Southborough, MA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Medtronic Navigation, Inc. |
Louisville |
CO |
US |
|
|
Family ID: |
44903428 |
Appl. No.: |
15/707387 |
Filed: |
September 18, 2017 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
12908200 |
Oct 20, 2010 |
9769912 |
|
|
15707387 |
|
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
H05G 1/58 20130101; A61B
6/482 20130101; A61B 6/481 20130101; A61B 2034/2055 20160201; A61B
6/547 20130101; A61B 2034/2051 20160201; A61B 6/032 20130101; A61B
34/20 20160201; H05G 1/10 20130101; A61B 6/541 20130101; A61B 6/504
20130101 |
International
Class: |
H05G 1/58 20060101
H05G001/58; A61B 34/20 20060101 A61B034/20; A61B 6/03 20060101
A61B006/03; H05G 1/10 20060101 H05G001/10; A61B 6/00 20060101
A61B006/00 |
Claims
1. A method of acquiring image data with an imaging system,
comprising: providing a first power source to power a single x-ray
source tube with a first power characteristic to emit x-rays to
acquire a first image data relative to a first selected position
for acquisition of a first image data; providing a second power
source to power the single x-ray source tube with a second power
characteristic different from the first power characteristic to
emit x-rays to acquire a second image data relative to the first
selected position; providing a moving system to move the single
x-ray source tube during the acquisition of the first image data
and the second image data; and providing a processor to execute
instructions to reconstruct a single three-dimensional model of at
least a portion of a subject based on the acquired first image data
and the second image data; wherein the first power characteristic
is selected to be at least one of a first voltage of about 40 kV to
about 180 kV and a first amperage of about 10 mA to about 500 mA;
wherein the second power characteristic is selected to be at least
one of a second voltage that is about 40 kV to about 60 kV
different than the first voltage and a second amperage that is
about 20 mA to about 150 mA different than the first amperage.
2. The method of claim 1, further comprising: positioning the
movable single x-ray source tube in a housing.
3. The method of claim 2, further comprising: connecting the
housing to a mobile cart operable to move the housing from a first
room to a second room.
4. The method of claim 1, further comprising: providing controls to
move at least one of the movable single x-ray source tube or the
housing during acquiring the first image data and the second image
data.
5. The method of claim 1, further comprising: acquiring the first
image data and the second image data based on a selected
physiological event of the subject and to acquire the first image
data and the second image data of the selected physiological event
of the subject.
6. The method of claim 5, further comprising: gating the
acquisition of the first image data and the second image data
relative to the first selected position at both the first power
characteristic and the second power characteristic to acquire the
first image data and the second image data at the selected
physiological event of the subject.
7. The method of claim 1, wherein providing the processor to
execute instructions to reconstruct the single three-dimensional
model of at least the portion of the subject based on the acquired
first image data and the second image data includes performing an
algebraic iterative technique to alter a theoretical formed model
of the subject to illustrate one of a first phase or a second phase
of the subject.
8. The method of claim 7, further comprising: selecting the first
phase to be an arterial structure and the second phase to be a
venous structure.
9. The method of claim 1, wherein providing the processor to
execute instructions to reconstruct the single three-dimensional
model of at least the portion of the subject based on the acquired
first image data and the second image data includes a difference of
the first image data at the first power characteristic including a
first x-ray absorption or x-ray scatter in a subject and the second
image data at the first power characteristic including a second
x-ray absorption or x-ray scatter in the subject.
10. The method of claim 1, further comprising: providing controls
to move at least one of the movable single x-ray source tube or the
housing to vary a speed of movement of at least one of the single
x-ray source tube or the housing over a period of time of the
acquisition of the first image data and the second image data.
11. The method of claim 10, wherein the varying speed of movement
is dependent on a gating of the acquisition of the first image data
and the second image data based on at least one of the timing of an
injection of a contrast agent into the subject or a physiological
event of the subject.
12. The method of claim 1, wherein executing instructions with the
processor to reconstruct the single three-dimensional model of at
least the portion of the subject includes illustrating both a first
phase and a second phase as separate anatomical portions of the
subject.
13. The method of claim 1, further comprising: providing a tracking
system to track an instrument relative to a subject; and
superimposing an icon representing the tracked instrument on the
reconstructed the single three-dimensional model of at least the
portion of the subject.
14. The method of claim 13, further comprising: automatically
registering the reconstructed single three-dimensional model of at
least the portion of the subject at least by tracking the at least
one single x-ray source tube or the housing.
15. The method of claim 1, wherein executing instructions with the
processor to reconstruct the single three-dimensional model of at
least the portion of the subject further includes interpolating
between the first image data and the second image data based on an
amount of movement of the single x-ray tube between when the first
image data was acquired with the first power source and the second
image data was acquired with the second power source.
16. An imaging system to acquire image data, comprising: a source
system including, a single x-ray source tube, a first power system
having a first power characteristic to power the single x-ray
source tube to emit x-rays relating to the first power
characteristic, wherein the first power characteristic is selected
to be at least one of a first voltage of about 40 kV to about 180
kV or a first amperage of about 10 mA to about 500 mA; a second
power system having a second power characteristic to power the
single x-ray source tube to emit x-rays relating to the second
power characteristic, wherein the second power characteristic is
selected to be at least one of a second voltage that is about 40 kV
to about 60 kV different than the first voltage or a second
amperage that is about 20 mA to about 150 mA different than the
first amperage; and wherein the source system is configured to be
operated to switch between the first power system and the second
power system to power the single x-ray source tube to emit the
x-rays relating to the first power characteristic or emit the
x-rays relating to the second power characteristic; a detector
system positioned to detect the x-rays relating to the first power
characteristic and the x-rays relating to the second power
characteristic emitted from the single x-ray source tube; a
processor to execute instructions to reconstruct a single
three-dimensional model of at least a portion of a subject based on
the detected x-rays relating to the first power characteristic and
the x-rays relating to the second power characteristic emitted from
the single x-ray source tube; wherein the source system and the
detector system are configured to be positioned at a plurality of
selected positions relative to at least the portion of the
subject.
17. The system of claim 16, further comprising: a control system
included to control movement of the detector system and the source
system; wherein the detected x-rays relating to the first power
characteristic are a first image data; wherein the detected x-rays
relating to the second power characteristic are a second image
data; wherein the control system is configured to move the detector
system and the source system to the plurality of selected positions
relative to at least the portion of the subject to acquire a
plurality of first image data and a plurality of second image
data.
18. The system of claim 16, further comprising: a gantry configured
to enclose the detector system and the source system; wherein the
detector system and the source system are operable to move around
at least the portion of the subject within the gantry.
19. The system of claim 17, further comprising: a pump operable to
inject a contrast agent into the at least the portion of the
subject.
20. The system of claim 17, wherein the control system is operable
to gate an image data acquisition and the movement of the detector
system and the source system based on an injection time of a
contrast agent into the subject.
21. A method of acquiring image data with an imaging system,
comprising: powering a single x-ray source tube with a first power
source at a first power characteristic that is selected to be at
least one of a first voltage of about 40 kV to about 180 kV and a
first amperage of about 10 mA to about 500 mA, wherein the single
x-ray source tube is configured to emit first x-rays based on the
first power characteristic to acquire a first image data; powering
the single x-ray source tube with a second power source at a second
power characteristic that is selected to be at least one of a
second voltage that is about 40 kV to about 60 kV different than
the first voltage and a second amperage that is about 20 mA to
about 150 mA different than the first amperage, wherein the single
x-ray source tube is configured to emit second x-rays based on the
second power characteristic to acquire a second image data;
controlling an assembly of the first power source, second power
source, single x-ray source tube with a detector to move around the
subject during the acquisition of the first image data and the
second image data; injecting a contrast agent into the subject at
least prior to the acquisition of the first image data and the
second image data; and operating a processor to execute
instructions to reconstruct a single three-dimensional model of at
least a portion of a subject based on the acquired first image data
and the second image data.
22. The method of claim 21, further comprising: displaying the
single three-dimensional model with a display device.
23. The method of claim 21, further comprising: acquiring a
plurality of the first image data and a plurality of the second
image data; wherein operating the processor to execute instructions
to reconstruct the single three-dimensional model of at least the
portion of the subject is based on the acquired plurality of the
first image data and the plurality of the second image data.
24. The method of claim 21, further comprising: moving the assembly
further including a gantry to substantially surround at least the
portion of the subject; moving the first power source, second power
source, single x-ray source tube, and the detector within the
gantry around the subject.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of U.S. patent
application Ser. No. 12/908,200 filed on Oct. 20, 2010. The entire
disclosure of the above application is incorporated herein by
reference.
FIELD
[0002] The present disclosure relates to imaging a subject, and
particularly to determining and performing an optimal image data
acquisition of the subject to model various physiological
characteristic and anatomical features of the subject.
BACKGROUND
[0003] This section provides background information related to the
present disclosure which is not necessarily prior art.
[0004] A subject, such as a human patient, may select or be
required to undergo a surgical procedure to correct or augment an
anatomy of the patient. The augmentation of the anatomy can include
various procedures, such as movement or augmentation of bone,
insertion of implantable devices, or other appropriate procedures.
A surgeon can perform the procedure on the subject with images of
the patient that can be acquired using imaging systems such as a
magnetic resonance imaging (MRI) system, computed tomography (CT)
system, fluoroscopy (e.g. C-Arm imaging systems), or other
appropriate imaging systems.
[0005] Images of a patient can assist a surgeon in performing a
procedure including planning the procedure and performing the
procedure. A surgeon may select a two dimensional image or a three
dimensional image representation of the patient. The images can
assist the surgeon in performing a procedure with a less invasive
technique by allowing the surgeon to view the anatomy of the
patient without removing the overlying tissue (including dermal and
muscular tissue) when performing a procedure.
SUMMARY
[0006] This section provides a general summary of the disclosure,
and is not a comprehensive disclosure of its full scope or all of
its features.
[0007] According to various embodiments, a system to acquire image
data of a patient with an imaging system using enhanced contrast
imaging can include an imaging system having a first energy source
with a first energy parameters and a second energy source with a
second energy parameters. The imaging system can also include a
pump operable to inject a contrast agent into the patient with an
instruction. A controller can be in communication with both the
imaging system and the pump. The imaging system can communicate
with the pump through the controller regarding timing of the
injection of a contrast agent into the patient and is further
operable to acquire image data based upon the timing of the
injection of the contrast agent and/or the clinical procedure.
[0008] Further areas of applicability will become apparent from the
description provided herein. The description and specific examples
in this summary are intended for purposes of illustration only and
are not intended to limit the scope of the present disclosure.
DRAWINGS
[0009] The drawings described herein are for illustrative purposes
only of selected embodiments and not all possible implementations,
and are not intended to limit the scope of the present
disclosure.
[0010] FIG. 1 is an environmental view of an imaging system in an
operating theatre;
[0011] FIG. 2 is a detail view of an imaging system with a dual
energy source system;
[0012] FIG. 3A is a schematic representation of non-contrast
enhanced image data; and
[0013] FIG. 3B is a schematic representation of a contrast enhanced
image data.
[0014] Corresponding reference numerals indicate corresponding
parts throughout the several views of the drawings.
DETAILED DESCRIPTION
[0015] Example embodiments will now be described more fully with
reference to the accompanying drawings.
[0016] With reference to FIG. 1, in an operating theatre or
operating room 10, a user, such as a surgeon 12, can perform a
procedure on a patient 14. In performing the procedure, the user 12
can use an imaging system 16 to acquire image data of the patient
14 for performing a procedure. A model can be generated using the
image data and displayed as image data 18 on a display device 20.
The display device 20 can be part of a processor system 22 that
includes an input device 24, such as a keyboard, and a processor 26
which can include one or more processors or microprocessors
incorporated with the processing system 22. A connection 28 can be
provided between the processor 26 and the display device 20 for
data communication to allow driving the display device 20 to
illustrate the image data 18.
[0017] The imaging system 16 can include an O-Arm.RTM. imaging
system sold by Medtronic Navigation, Inc. having a place of
business in Louisville, Colo., USA. The imaging system 16,
including the O-Arm.RTM. imaging system, or other appropriate
imaging systems in use during a selected procedure are also
described in U.S. patent application Ser. No. 12/465,206 filed on
May 13, 2009, incorporated herein by reference.
[0018] The O-Arm.RTM. imaging system 16 includes a mobile cart 30
that includes a control panel or system 32 and an imaging gantry 34
in which is positioned a source unit 36 and a detector 38. The
mobile cart 30 can be moved from one operating theater to another
and the gantry 34 can move relative to the cart 30, as discussed
further herein. This allows the imaging system 16 to be mobile thus
allowing it to be used in multiple locations and with multiple
procedures without requiring a capital expenditure or space
dedicated to a fixed imaging system.
[0019] The source unit 36 can emit x-rays through the patient 14 to
be detected by the detector 38. As is understood by one skilled in
the art, the x-rays emitted by the source 36 can be emitted in a
cone and detected by the detector 38. The source/detector unit
36/38 is generally diametrically opposed within the gantry 34. The
detector 38 can move in a 360.degree. motion around the patient 14
within the gantry 34 with the source 36 remaining generally
180.degree. opposed to the detector 38. Also, the gantry 34 can
move isometrically relative to the subject 14, which can be placed
on a patient support or table 15, generally in the direction of
arrow 40 as illustrated herein. The gantry 34 can also tilt
relative to the patient 14 illustrated by arrows 42, move
longitudinally along the line 44 relative to a longitudinal axis
14L of the patient 14 and the cart 30, can move up and down
generally along the line 46 relative to the cart 30 and
transversely to the patient 14, to allow for positioning of the
source/detector 36/38 relative to the patient 14. The O-Arm.RTM.
imaging device 16 can be precisely controlled to move the
source/detector 36/38 relative to the patient 14 to generate
precise image data of the patient 14. The imaging device 16 can be
connected with the processor 26 via connection 50 which can include
a wired or wireless connection or physical media transfer from the
imaging system 16 to the processor 26. Thus, image data collected
with the imaging system 16 can be transferred to the processing
system 22 for navigation, display, reconstruction, etc.
[0020] Briefly, according to various embodiments, the imaging
system 16 can be used with an unnavigated or navigated procedure.
In a navigated procedure, a localizer, including either or both of
an optical localizer 60 and an electromagnetic localizer 62 can be
used to generate a field or receive or send a signal within a
navigation domain relative to the patient 14. The navigated space
or navigational domain relative to the patient 14 can be registered
to the image data 18 to allow registration of a navigation space
defined within the navigational domain and an image space defined
by the image data 18. A patient tracker or dynamic reference frame
64 can be connected to the patient 14 to allow for a dynamic
registration and maintenance of registration of the patient 14 to
the image data 18.
[0021] A patient tracking device or dynamic registration device 64
and an instrument 66 can then be tracked relative to the patient 14
to allow for a navigated procedure. The instrument 66 can include
an optical tracking device 68 and/or an electromagnetic tracking
device 70 to allow for tracking of the instrument 66 with either or
both of the optical localizer 60 or the electromagnetic localizer
62. The instrument 66 can include a communication line 72 with a
navigation interface device 74 as can the electromagnetic localizer
62 with communication line 76 and/or the optical localizer 60 with
communication line 78. Using the communication lines 74, 78
respectively, the probe interface 74 can then communicate with the
processor 26 with a communication line 80. It will be understood
that any of the communication lines 28, 50, 76, 78, or 80 can be
wired, wireless, physical media transmission or movement, or any
other appropriate communication. Nevertheless, the appropriate
communication systems can be provided with the respective
localizers to allow for tracking of the instrument 66 relative to
the patient 14 to allow for illustration of the tracked location of
the instrument 66 relative to the image data 18 for performing a
procedure.
[0022] It will be understood that the instrument 66 being any
appropriate instrument, such as a ventricular or vascular stent,
spinal implant, neurological stent or stimulator, ablation device,
or the like. The instrument 66 can be an interventional instrument
or can include or be an implantable device. Tracking the instrument
66 allows for viewing the instrument's 66 location relative to the
patient 14 with use of the registered image data 18 without direct
viewing of the instrument 66 within the patient 14.
[0023] Further, the gantry 34 can include an optical tracking
device 82 or an electromagnetic tracking device 84 to be tracked
with a respective optical localizer 60 or electromagnetic localizer
62. Accordingly, the imaging device 16 can be tracked relative to
the patient 14 as can the instrument 66 to allow for initial
registration, automatic registration or continued registration of
the patient 14 relative to the image data 18. Registration and
navigated procedures are discussed in the above incorporated U.S.
patent application Ser. No. 12/465,206.
[0024] With reference to FIG. 2, according to various embodiments,
the source 36 can include a single x-ray tube 100 that can be
connected to a switch 102 that can interconnect a power source A
104 and a power source B 106 with the x-ray tube 100. X-rays can be
emitted generally in a cone shape 108 towards the detector 38 and
generally in the direction of the vector 110. The switch 102 can
switch between the power source A 104 and the power source B 106 to
power the x-ray tube 100 at different voltages and amperages to
emit x-rays at different energies generally in the direction of the
vector 110 towards the detector 38. It will be understood, however,
that the switch 102 can also be connected to a single power source
that is able to provide power at different voltages and amperages
rather than the 102 switch that connects to two different power
sources A 104, and B 106. Also, the switch 102 can be a switch that
operates to switch a single power source between different voltages
and amperages. The patient 14 can be positioned within the x-ray
cone 108 to allow for acquiring image data of the patient 14 based
upon the emission of x-rays in the direction of vector 110 towards
the detector 38.
[0025] The two power sources A and B 104, 106 can be provided
within the source housing 36 or can be separate from the source 36
and simply be connected with the switch 102 via appropriate
electric connections such as a first cable or wire 112 and a second
cable or wire 114. The switch 102 can switch between the power
source A 104 and the power source B 106 at an appropriate rate to
allow for emission of x-rays at two different energies through the
patient 14 for various imaging procedures, as discussed further
herein. The differing energies can be used for material separation
and/or material enhanced reconstruction or imaging of the patient
14.
[0026] The switching rate of the switch 102 can include about 1
millisecond to about 1 second, further including about 10 ms to 500
ms, and further including about 50 ms. Further, the power source A
104 and the power source B 106 can include different power
characteristics, including different voltages and different
amperages, based upon selected contrast enhancement requirements.
For example, as discussed further herein, it can be selected to
allow for contrast enhancement between soft tissue (e.g. muscle or
vasculature) and hard tissue (e.g. bone) in the patient 14 or
between a contrast agent injected in the patient 14 and an area
without a contrast agent injected in the patient 14.
[0027] As an example, the power source A 104 can have a voltage of
about 75 kV and can have an amperage of about 50 mA, which can
differ from the power source B which can have a voltage of 125 kV
and 20 mA. The selected voltages and amperages can then be switched
with the switch 102 to power the x-ray tube 100 to emit the
appropriate x-rays generally in the direction of the vector 110
through the patient 14 to the detector 38. It will be understood
that the range of voltages can be about 40 kV to about 80 kV and
the amperages can be about 10 mA to about 500 mA. Generally, the
power characteristics differences between the first power source A
104 and the second power source B 106 can be about 40 kV to about
60 k V and about 20 mA to about 150 mA.
[0028] The dual power sources allow for dual energy x-rays to be
emitted by the x-ray tube 100. As discussed above, the two or dual
energy x-rays can allow for enhanced and/or dynamic contrast
reconstruction of models of the subject 14 based upon the image
data acquired of the patient 14. Generally an iterative or
algebraic process can be used to reconstruct the model of at least
a portion of the patient 14 based upon the acquired image data. It
will be understood, however, that any appropriate number of power
sources or switching possibilities can be provided. Two is included
in the subject disclosure merely for clarity of the current
discussion.
[0029] The power sources can power the x-ray tube 100 to generate
two dimension (2D) x-ray projections of the patient 14, selected
portion of the patient 14, or any area, region or volume of
interest. The 2D x-ray projections can be reconstructed, as
discussed herein, to generate and/or display three-dimensional (3D)
volumetric models of the patient 14, selected portion of the
patient 14, or any area, region or volume of interest. As discussed
herein, the 2D x-ray projections can be image data acquired with
the imaging system 16, while the 3D volumetric models can be
generated or model image data.
[0030] Appropriate algebraic techniques include Expectation
maximization (EM), Ordered Subsets EM (OS-EM), Simultaneous
Algebraic Reconstruction Technique (SART) and Total Variation
Minimization (TVM), as generally understood by those skilled in the
art. The application to performing a 3D volumetric reconstruction
based on the 2D projections allows for efficient and complete
volumetric reconstruction. Generally, an algebraic technique can
include an iterative process to perform a reconstruction of the
patient 14 for display as the image data 18. For example, a pure or
theoretical image data projection, such as those based on or
generated from an atlas or stylized model of a "theoretical"
patient, can be iteratively changed until the theoretical
projection images match the acquired 2D projection image data of
the patient 14. Then, the stylized model can be appropriately
altered as the 3D volumetric reconstruction model of the acquired
2D projection image data of the selected patient 14 and can be used
in a surgical intervention, such as navigation, diagnosis, or
planning. The theoretical model can be associated with theoretical
image data to construct the theoretical model. In this way, the
model or the image data 18 can be built based upon image data
acquired of the patient 14 with the imaging device 16.
[0031] The 2D projection image data can be acquired by
substantially annular or 360.degree. orientation movement of the
source/detector 36/38 around the patient 14 due to positioning of
the source/detector 36/38 moving around the patient 14 in the
optimal movement. Also, due to movements of the gantry 34, the
detector need never move in a pure circle, but rather can move in a
spiral helix, or other rotary movement about or relative to the
patient 14. Also, the path can be substantially non-symmetrical
and/or non-linear based on movements of the imaging system 16,
including the gantry 34 and the detector 38 together. In other
words, the path need not be continuous in that the detector 38 and
the gantry 34 can stop, move back the direction from which it just
came (e.g. oscilate), etc. in following the optimal path. Thus, the
detector 38 need never travel a full 360.degree. around the patient
14 as the gantry 34 may tilt or otherwise move and the detector 38
may stop and move back in the direction it has already passed.
[0032] In acquiring image data at the detector 38, the dual energy
x-rays generally interact with a tissue and/or a contrast agent in
the patient 14 differently based upon the characteristics of the
tissue or the contrast agent in the patient 14 and the energies of
the two x-rays emitted by the x-ray tube 100. For example, the soft
tissue of the patient 14 can absorb or scatter x-rays having an
energy produced by the power source A 104 differently than the
x-rays having energy produced by the power source B 106. Similarly,
a contrast agent, such as iodine, can absorb or scatter the x-rays
generated by the power source A 104 differently from those
generated by the power source B 106. Switching between the power
source A 104 and the power source B 106 can allow for determination
of different types of material properties (e.g. hard or soft
anatomy), or contrast agent, implants, etc. within the patient 14.
By switching between the two power sources 104, 106 and knowing the
time when the power source A 104 is used to generate the x-rays as
opposed to the power source B 106 to generate the x-rays the
information detected at the detector 38 can be used to identify or
segregate the different types of anatomy or contrast agent being
imaged.
[0033] A timer can be used to determine the time when the first
power source A 104 is being used and when the second power source B
106 is being used. This can allow the images to be indexed and
separated for generating different models of the patient 14. Also,
as discussed herein, the timer, which can be a separate system or
included with the imaging system 16 or the processor system 26, can
be used to index image data generated with the contrast agent
injected into the patient 14.
[0034] With reference to FIG. 3A, image data acquired when powering
the x-ray tube 100 with the power source 104 is schematically
illustrated. As illustrated in FIG. 3A, the image data can include
image data of soft tissue, such as surrounding tissues 150 that
surround a vasculature 152. As illustrated in FIG. 3A, the power
source A 104 can generate x-rays of the x-ray tube 100 that provide
substantially little contrast between the vasculature 152 and the
surrounding tissue 150, even if a contrast agent is present in the
vasculature agent 152, such as iodine. With reference to FIG. 3B,
however, the second power source B 106 can be used to generate
x-rays with a second energy characteristic to acquire image data
that illustrates the surrounding tissue 150' relative to the
vasculature 152'. This can be further enhanced with a contrast
agent that can be injected into the patient 14. As is understood in
the art, the two power levels (e.g. two or more power
characteristics) have different attenuations based on the materials
in the patient 14. This differing attenuation can be used to
differentiate materials, e.g. vasculature 152 and the surrounding
tissue 150, in the patient 14.
[0035] With the acquisition of the image data illustrated in FIG.
3A and FIG. 3B, a reconstruction can be made to clearly identify
the vasculature 152 of the patient 14 separate from the surrounding
tissue 150 of the patient 14. The dual energy system can be used to
reconstruct a model of the vasculature 152 of the patient 14 to
discriminate the vasculature 152 from the surrounding tissue 150 of
the patient 14. In identifying the vasculature 152, the imaging
system 16, including the O-Arm.RTM. imaging system, can be used to
efficiently image the vasculature 152 of the patient 14 in the
operating theatre 10 during a procedure, such as a valve
replacement procedure, a stent procedure, an inclusion ablation
procedure, or an angioplasty procedure.
[0036] At least because the x-ray tube 100 is in a movable imaging
system, such as the imaging system 16, it can be moved relative to
the patient 14. Thus, the x-ray tube 100 may move relative to the
patient 14 while the energy for the x-ray tube 100 is being
switched between the first power source 104 and the second power
source 106. Accordingly, an image acquired with the first power
source 104 may not be at the same pose or position relative to the
patient 14 as the second power source 106. If a model is desired or
selected to be formed of a single location in the patient 14,
however, various interpolation techniques can be used to generate
the model based on the amount of movement of the x-ray tube 100
between when the projection with the first power source 104 and the
projection with the second power source 106 was acquired.
[0037] The dual energy of the x-rays emitted by the x-ray tube 100
due to the two power sources 104, 106 can allow for substantially
efficient and enhanced contrast discrimination determination
between the vasculature 152 and the musculature 150 of the patient
14. Moreover, the switching by a switch 102 between the power
source A 104 and the power source B 106 allows for an efficient
construction of the source 36 where the single x-ray tube 100 can
allow for the generation of x-rays at two different energies to
allow for enhanced or dynamic contrast modeling of the patient 14,
such as modeling the vasculature of the patient 14 including a
contrast agent therein.
[0038] The patient 14 can also be imaged with the injected contrast
agent by gating the acquisition of the image data of the patient 14
based upon the injection of the contrast agent. According to
various embodiments, a contrast agent, such as iodine, can be
injected into the patient 14 to provide additional contrast in the
image data acquired of the patient 14 with the imaging system 16.
During the image acquisition, however, the contrast agent flows
through the vasculature of the patient 14 from an artery phase to a
venous phase. For example, the contrast agent can be injected into
the patient 14 into an artery where the contrast agent can flow
through the vasculature of the patient 14 to the heart, through the
heart, to the lungs through the venous system, back through the
heart, and out into the arterial portion of the vasculature of the
patient 14.
[0039] When acquiring image data of the patient 14 to identify or
reconstruct the vasculature of the patient 14, knowing the timing
of when image data is acquired relative to the timing of the
injection of the contrast agent can allow for a reconstruction of
the various phases based on the known movement of the contrast
agent through structures of the patient 14. In other words, it is
generally understood that the contrast agent will flow through the
patient 14 as described above at a known or generally known rate.
As illustrated in FIG. 3B, the dual energy x-rays, generated with
the x-ray tube 100 based upon the power source A 104 and the power
source B 106, can be used to generate image data of any portion of
the vasculature of the patient 14.
[0040] The acquisition of the image data, therefore, can be gated
relative to the injection of the contrast agent into the patient
14. For example, the controls 32 of the imaging system 16 can be
associated or communicate with a control of a pump 170 (illustrated
in FIG. 1) through a communication line 172 (illustrated in FIG. 1)
that pumps or injects the contrast agent into the patient 14. The
communication 172 between the pump 170 and the imaging device
control 32 can be any appropriate communication such as a wired,
wireless, or other data communication system. Also, the control 170
for the pump can be incorporated into the controls 32 of the
imaging system 16 or the processor system 26.
[0041] According to various embodiments, the control system 32 for
the imaging system 16 can control the pump 170 to initiate
injection of the contrast agent into the patient 14. The imaging
system 16 can then acquire image data of the patient 14 over a set
period of time to identify the difference between an arterial phase
and a venous phase in the patient 14. For example, the imaging
system can control the pump 170 to inject the contrast agent and
then acquire image data for approximately 10 seconds to
approximately 20 second including approximately 13 seconds. The
imaging system 16 can identify or separate a first portion of the
image data, such as about 5 second to about 7 seconds, including
about 6 seconds as an arterial phase and a second phase of the
image data, such as image data acquired after about 6 second to
about 8 seconds, including about 7 seconds as a venous phase. In
other words, the control system 32, or other appropriate processor
system, can index the image data to determine when the image data
was acquired. Also, it will be understood that the image data can
be acquired at the two energies. Thus, the controls 32 or other
appropriate processing system (e.g. a timer) can index the image
data based on which of the two power sources 104, 106 were used to
power the x-ray tube 100.
[0042] After the acquisition of the image data and determining a
segregation of time of image data acquisition, a reconstruction of
the vasculature of the patient 14 can then be made to illustrate or
identify or reconstruct an arterial phase of the patient 14 and
separately a venous phase of the patient 14. Accordingly, the
imaging system 16 controlled with the controller 32 can be used to
acquire image data of both a venous phase and an arterial phase of
the patient 14 in a single image data acquisition sweep or period.
In other words, the phase determination and reconstruction of an
arterial phase and a venous phase of the vasculature of the patient
14 can be based on a single image data acquisition phase of the
patient 14. Again, this can minimize or limit the exposure of the
patient 14 and operating room staff to x-rays emitted from the
x-ray tube 100 by requiring only a single image data acquisition
phase. It will be understood, however, that a plurality of image
data acquisition phases can be acquired of the patient 14.
[0043] The control system 32 of the imaging system 16 can be used
to gate acquisition of the image data in addition to or with timing
of the pump 170. For example, it can be selected to acquire image
data of the vasculature of the patient 14 during diastole of the
heart. During diastole of the heart of the patient 14, the heart
generally does not move and blood in the vasculature is also
relatively still. Accordingly, the image data can be acquired of
the patient 14 by gating the acquisition of the image data relative
to the heart movement of the patient 14. The generation of the
x-rays with the x-ray tube 100 can be switched with the switch 102
to allow for time emission of x-rays from the x-ray tube 100.
[0044] The image data can be acquired by emitting x-rays from the
x-ray tube 100 substantially sequentially such that at a selected
period of time no x-rays are emitted by the x-ray tube 100 and at a
different or second selected time x-rays are emitted from the x-ray
tube 100. The x-rays emitted from one period to another can be at
either of the two energies allowed by the power source A 104 or the
power source B 106. Accordingly, at various times no x-rays can be
emitted from the x-ray tube 100, but at other times x-rays can be
emitted from the x-ray tube at a selected energy.
[0045] In being able to control the image system to emit or not
emit x-rays image data acquisition can be gated relative to a
physiological event of the patient 14. It will be further
understood that gating of the image acquisition can be based upon
respiration of the patient 14, physical movement of the patient 14,
and other physiological events. The control system 32 can also be
used to index the image data regarding whether acquired during a
physiological event or not. The physiological event can be
determined with an appropriate system, such as an
electrocardiogram, or based on a regular rate of image acquisition
(e.g. diastole occurs about 2 seconds in the patient 14).
[0046] Also, due to gating of the imaging system 16 relative to the
patient 14, the control system 32 can also be used to control the
imaging system 16 to control the speed of the detector 38 relative
to the patient 14. As discussed above, the detector 38 of the
imaging system can translate within the gantry 34 of the imaging
system 16 to acquire image data of the patient 14. Further as
discussed above, image data can be selected to be acquired of the
patient 14 during only selected physiological events, such as
diastole of the heart. To generate or form a three-dimensional
model of at least a portion of the patient 14, it can be selected
to have separation of a selected amount between acquisitions of
images of the patient 14.
[0047] The detector 38 can be moved at a selected speed and change
speeds to ensure appropriate separation of the images during the
selected physiological events. The detector 38 can move at a first
speed during a first physiological event such as systole of the
heart, and at a second speed, such as a greater speed, during
diastole of the heart to ensure appropriate separation of
acquisition of images of the patient 14 during the selected
physiological event.
[0048] In generating the 3D volumetric reconstruction to form the
model, as discussed above, the model may be multi-phase to
illustrate a selected portion of the patient to illustrate a first
phase of physiological action and anatomical location and a second
phase of physiological action and anatomical location. Thus, the
model, or more than one model, can be used to illustrate a first
phase (e.g. an arterial phase) and a second phase (e.g. venous
phase) of the patient 14. Also, due to gating and movement of the
detector 38 a first position of the detector 38 during image data
acquisition and a second position of the detector 38 during image
data acquisition can be used in the generating the first model and
generating the second model to illustrate more than one phase of a
physiological action of the patient 14. Additionally, the anatomy
of the patient 14 and the physiology of the patient 14 can be used
to form the 3D reconstruction. For example, the configuration of a
bone of the patient 14 or a phase of a heart beat of the patient 14
can be used as a priori knowledge to assist in model
reconstruction.
[0049] Also, the controller 32 of the imaging system 16 can be used
to "rewind" or move the detector 38 back over the same path just
traversed by the detector 38. Even while moving in a selected
single path or direction, the detector 38 can be stopped and
started, for example for gating or acquiring additional image data
(e.g. x-ray projections) at a selected location. Accordingly, the
controller 32 can control the imaging system 16 to achieve a
selected separation of images relative to the patient 14 for
reconstruction of an appropriate or selected model of the patient
14 based upon the required image data.
[0050] The reconstruction based on the image data or the raw image
data can be used to perform a procedure on the patient 14. As
discussed above selected navigation or tracking systems can be
associated with the imaging system 16. Accordingly, the patient 14
can be registered to the image data and a navigation procedure can
be performed. The navigated procedure can include placement of a
stent in the patient's 14 heart, brain, or other vasculature,
ablation procedures, angioplasty, implant placement or bone
resection. Navigation can include tracking or determining
automatically a location of an instrument positioned in a
navigation field relative to a selected reference frame, such as in
patient space, during a surgical procedure. The location of the
instrument 66 can be illustrated on the display device 20 with an
icon 174 that can be superimposed on the image data or the
reconstructed model or image data 18.
[0051] It will also be understood that the image data and/or model
can be used to plan or confirm a result of a procedure without
requiring or using navigation and tracking. The image data can be
acquired to assist in a procedure, such as an implant placement.
Also, the image data can be used to identify blockages in the
vasculature of the patient 14, such as with the contrast agent.
Thus, navigation and tracking are not required to use the image
data in a procedure.
[0052] The foregoing description of the embodiments has been
provided for purposes of illustration and description. It is not
intended to be exhaustive or to limit the invention. Individual
elements or features of a particular embodiment are generally not
limited to that particular embodiment, but, where applicable, are
interchangeable and can be used in a selected embodiment, even if
not specifically shown or described. The same may also be varied in
many ways. Such variations are not to be regarded as a departure
from the invention, and all such modifications are intended to be
included within the scope of the invention.
* * * * *