Apparatus and method for registration of images to physical space using a weighted combination of points and surfaces
AssigneeUniversity of Rochester
InventorsCalvin R. Maurer, Jr., Robert J. Maciunas, J. Michael Fitzpatrick
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Abstract
An image of a patient taken through X-ray computed tomography or the like is registered to physical measurements taken on the patient's body. Different parts of the patient's body are given different numerical weights; for example, if bone measurements are deemed to be more accurate than skin measurements, the bones can be given a higher weight than the skin. The weights are used in an iterative registration process to determine a rigid body transformation function. The transformation function is used in robot-assisted surgical procedures, stereotactic procedures or the like.
Claims32
A method of registering an image taken from a patient to a physical space in which the image is taken, the method comprising:
- (a) taking the image;
- (b) segmenting the image to obtain features of the image;
- (c) taking a plurality of measurements on the patient;
- (d) assigning weights to the features obtained in step (b), wherein not all of said weights are equal;
- (e) using the weights assigned in step (d), registering the features obtained in step (b) with the measurements taken in step (c) to obtain a transformation function;
- and
- (f) using the transformation function obtained in step (e), controlling a surgical procedure performed on the patient.
An apparatus for registering an image taken from a patient to a physical space in which the image is taken, the apparatus comprising:
- image taking means for taking the image;
- measurement taking means for taking a plurality of measurements on the patient;
- processing means for segmenting the image to obtain features of the image, assigning weights to the features, wherein not all of said weights are equal, and using the weights to register the features with the measurements to obtain a transformation function;
- and
- surgical means for using the transformation function to control a surgical procedure performed on the patient.
Dependencies are inferred from the claim text.