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US 9,427,201 B2Granted
Non-invasive method for using 2D angiographic images for radiosurgical target definition
AssigneeAccuray Incorporated
InventorsJay B. West, Calvin R. Maurer, Jr., Dongshan Fu, John R. Dooley
Life of this patent
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Abstract
A non-invasive method and system for using 2D angiographic images for radiosurgical target definition uses non-invasive calibration devices and methods to calibrate an angiographic imaging system and a six-parameter registration algorithm to register angiographic images with 3D scan data for radiation treatment planning.
Claims24
A method, comprising:
- acquiring a plurality of two-dimensional (2D) angiographic images with two or more orientations of an angiographic imaging system, each orientation having an unknown imaging geometry, wherein each of the plurality of 2D angiographic images includes a projection of a plurality of non-invasive fiducial markers having a known three-dimensional (3D) configuration;
- registering, by a processing device, selected 2D angiographic images to a 3D scan volume produced by a 3D imaging system, wherein the imaging geometry of each orientation of the angiographic imaging system is unknown with respect to the 3D imaging system prior to acquiring the plurality of 2D angiographic images, wherein registering selected 2D angiographic images to the 3D scan volume comprises:
- generating one or more sets of digitally reconstructed radiographs (DRRs) from the 3D scan volume using the imaging geometry of the two or more orientations of the angiographic imaging system;
- comparing selected DRRs to the selected 2D angiographic images;
- and
- finding a transformation between the 3D scan volume and the 3D object space that maximizes a similarity measure between the selected DRRs and the selected 2D angiographic images;
- determining the imaging geometry of each of the two or more orientations of the angiographic imaging system from the projection of the plurality of non-invasive fiducial markers in each of the 2D angiographic images and the known 3D configuration of the plurality of non-invasive fiducial markers;
- identifying contours of a target vasculature in one or more of the plurality of 2D angiographic images in each of the two or more orientations;
- back-projecting the contours of the target vasculature, through the imaging geometry of the two or more orientations, to a 3D object space;
- and
- rendering a volume of the target vasculature in the 3D object space.
8 more elements
A system, comprising:
- a storage device;
- and
- a processing device operatively coupled with the storage device to:
- receive data comprising a plurality of two-dimensional (2D) angiographic images of an anatomical region in two or more different orientations of an angiographic imaging system, each orientation having an unknown imaging geometry, wherein each of the plurality of 2D angiographic images includes a projection of a plurality of non-invasive fiducial markers having a known three-dimensional (3D) configuration;
- and
- register data of selected 2D angiographic images with data comprising a calibrated 3D scan volume of the anatomical region produced by the 3D imaging system, wherein the imaging geometry of each orientation of the angiographic imaging system is unknown with respect to the 3D imaging system prior to the receive of data, wherein to register data of the selected 2D angiographic images to the 3D scan volume, the processing device is to:
- generate digitally reconstructed radiographs (DRRs) from the 3D scan volume using the imaging geometry of the two or more orientations of the angiographic imaging system;
- compare selected DRRs to the selected 2D angiographic images;
- and
- find a transformation between the 3D scan volume and the 3D object space that maximizes a similarity measure between the selected DRRs and the selected 2D angiographic images;
- wherein the processing device is further to:
- determine the imaging geometry of each of the two or more orientations of the angiographic imaging system from the projection of the plurality of non-invasive fiducial markers in each of the 2D angiographic images and the known 3D configuration of the plurality of non-invasive fiducial markers;
- identify contours of a target vasculature in one or more of the plurality of 2D angiographic images in each of the two or more orientations;
- back-project the contours of the target vasculature, through the imaging geometry of the two or more orientations, to a 3D object space;
- render a volume of the target vasculature in the 3D object space;
- identify contours of a target vasculature in the 3D scan volume;
- project the contours of the target vasculature, through the imaging geometry of one or more orientations of the angiographic imaging system;
- and
- display the projections of the target vasculature in one or more 2D angiographic images.
16 more elements
A non-transitory machine-readable medium including data that, when read by a processing device, cause the processing device to perform operations comprising:
- acquiring a plurality of two-dimensional (2D) angiographic images with two or more orientations of an angiographic imaging system, each orientation having an unknown imaging geometry, wherein each of the plurality of 2D angiographic images includes a projection of a plurality of non-invasive fiducial markers having a known three-dimensional (3D) configuration;
- registering selected 2D angiographic images to a 3D scan volume produced by a 3D imaging system, wherein the imaging geometry of each orientation of the angiographic imaging system is unknown with respect to the 3D imaging system prior to acquiring the plurality of 2D angiographic images, wherein registering selected 2D angiographic images to the 3D scan volume comprises:
- generating one or more sets of digitally reconstructed radiographs (DRRs) from the 3D scan volume using the imaging geometry of the two or more orientations of the angiographic imaging system;
- comparing selected DRRs to the selected 2D angiographic images;
- and
- finding a transformation between the 3D scan volume and the 3D object space that maximizes a similarity measure between the selected DRRs and the selected 2D angiographic images
- determining the imaging geometry of each of the two or more orientations of the angiographic imaging system from the projection of the plurality of non-invasive fiducial markers in each of the 2D angiographic images and the known 3D configuration of the plurality of non-invasive fiducial markers;
- identifying contours of a target vasculature in one or more of the plurality of 2D angiographic images in each of the two or more orientations;
- back-projecting the contours of the target vasculature, through the imaging geometry of the two or more orientations, to a 3D object space;
- and
- rendering a volume of the target vasculature in the 3D object space.
8 more elements
Dependencies are inferred from the claim text.