System and method for fusing real-time ultrasound images with pre-acquired medical images

1. A method of fusing a real-time ultrasound (US) image with a segmented pre-acquired image of another modality, the pre-acquired image including a test location, the real-time US image including the test location, the method comprising:

obtaining the real-time US image;

manually or automatically selecting a point cloud in the real-time US image;

with a computer processor, transforming the US image of the test location to a coordinate system of a tracking system;

with the computer processor, transforming the test location from the coordinate system of the tracking system to a coordinate system of the pre-acquired image;

with the computer processor, matching the point cloud to a surface segmentation of the segmented pre-acquired image;

with the computer processor, registering the real-time US with the segmented pre-acquired image; and

displaying the pre-acquired image and the real-time US image of the test location in the coordinate system of the pre-acquired image.

2. The method as claimed in claim 1 , further comprising:

displaying the real-time US image of the test region superimposed on the pre-acquired image.

3. The method as claimed in claim 1 , further comprising, after the obtaining of the US image, selecting the point cloud within the test location.

4. The method as claimed in claim 1 , further comprising performing a medical procedure after the displaying.

5. The method as claimed in claim 1 , further comprising, after the displaying, performing a test or a treatment, or both, on the test location.

6. The method as claimed in claim 1 , wherein the pre-acquired image of another modality comprises a magnetic resonance (MR)-based surface segmentation.

7. The method as claimed in claim 1 , wherein the obtaining is effected either with a tracked three-dimensional (3D) US probe, or via 3D reconstruction of a plurality of tracked 2D ultrasound images.

8. The method as claimed in claim 1 , wherein the other modality is one of: magnetic resonance (MR) imaging; computer tomographic (CT) imaging; positron emission spectroscopic (PET) imaging; or single photon emission computed tomographic (SPECT) imaging.

9. The method as claimed in claim 1 , wherein the processor matches the point cloud to the surface segmentation using an iterative closest point (ICP) algorithm.

10. The method as claimed in claim 1 , wherein updating the real-time US image includes updating a plurality of three-dimensional US images.

11. The method as claimed in claim 10 , wherein the segmented pre-acquired image is a three-dimensional image.

12. An apparatus for fusing a real-time ultrasound (US) image with a segmented pre-acquired image of another modality, the pre-acquired image including a test location, the apparatus comprising:

a US device operative to obtain the real-time US image;

a tracking system operative to determine a position of the US device relative to a coordinate system of the tracking system; and

a computer programmed to:

select the point cloud in the real-time US image,

transform the US image of the test location to a coordinate system of the tracking system,

transform the test location from the coordinate system of the tracking system to a coordinate system of the pre-acquired image,

match the point cloud to the surface segmentation of the segmented pre-acquired image,

register the real-time US with the segmented pre-acquired image, and;

a display device configured to display the pre-acquired image and the real-time US image of the test location in the coordinate system of the pre-acquired image.

13. The apparatus as claimed in claim 12 , wherein the US device is configured to repeatedly generate US images, the real-time US image being a most recent of the repeatedly generated US images.

14. The apparatus as claimed in claim 13 , wherein the US image comprises a plurality of three-dimensional images.

15. The apparatus as claimed in claim 13 , further including: a medical device configured to at least one of move in a patient to a target region displaying in the pre-acquired image and take a sample, and perform a therapeutic procedure at the target region, the real time US image showing a current location of the medical device and the pre-acquired image showing the target region.