System and method for generating partial surface from volumetric data for registration to surface topology image data
View Patent ↗The present disclosure relates to the generation of partial surface models from volumetric datasets for subsequent registration of such partial surface models to surface topology datasets. Specifically, given an object that is imaged using surface topology imaging and another volumetric modality, the volumetric dataset is processed in combination with an approach viewpoint to generate one or more partial surfaces of the object that will be visible to the surface topology imaging system. This procedure can eliminate internal structures from the surfaces generated from volumetric datasets, thus increases the similarity of the dataset between the two different modalities, enabling improved and quicker registration.
1. A computer implemented method of performing image registration between volumetric image data associated with an object and surface topology image data associated with the object, wherein the surface topology image data is obtained by a surface topology imaging system, the method comprising:
obtaining spatial information associated with the orientation of the surface topology imaging system relative to the object;
processing the volumetric image data and the spatial information to generate one or more partial surfaces oriented toward the surface topology imaging system, such that the one or more partial surfaces exclude surface data hidden from the surface topology imaging system; and
employing the one or more partial surfaces to perform image registration between the volumetric image data and the surface topology image data, thereby identifying a transformation between the volumetric image data and the surface topology image data.
2. The method according to claim 1 wherein the spatial information is employed to identify one or more approach viewpoints associated with the orientation of the surface topology imaging system relative to the object, and where the processing of the volumetric image data is based on the one or more approach viewpoints.
3. The method according to claim 2 wherein the spatial information comprises position information associated with the position of the surface topology imaging system relative to the object, and where the position information is employed to identify the one or more approach viewpoints.
4. The method according to claim 2 wherein processing the volumetric information and the spatial information comprises:
identifying each approach viewpoint in a coordinate system associated with the volumetric image data; and
for each approach viewpoint, processing the volumetric image data to generate a partial surface that is visible from the approach viewpoint.
5. The method according to claim 4 wherein the approach viewpoint is identified in the coordinate system associated with the volumetric image data based on orientation information specifying the orientation of the object in the volumetric image.
6. The method according to claim 2 wherein at least two approach angles are identified, such that two or more partial surfaces are generated.
7. The method according to claim 6 further comprising merging the two or more partial surfaces prior to registering the partial surfaces to the surface topology image data.
8. The method according to claim 2 wherein the one or more approach viewpoints are obtained by determining the orientation of the surface topology imaging system relative to the object.
9. The method according to claim 8 wherein the orientation of the surface topology imaging system relative to the object is determined based on input from position sensors.
10. The method according to claim 8 wherein the orientation of the surface topology imaging system relative to the object is determined based on input from a navigation system.
11. The method according to claim 2 wherein the one or more approach viewpoints provided based on an estimated orientation of the surface topology imaging system.
12. The method according to claim 2 wherein the one or more approach viewpoints are provided such that they span a range of possible orientations of the surface topology imaging system.
13. The method according to claim 2 wherein the one or more approach viewpoints are provided to span a range of angles relative to a pre-selected direction.
14. The method according to claim 1 wherein the processing of the volumetric image data and the spatial information to generate the one or more partial surfaces accessible to the surface topology imaging system is performed prior to obtaining the surface topology image data.
15. The method according to claim 1 wherein the processing of the volumetric image data and the spatial information to generate the one or more partial surfaces accessible to the surface topology imaging system is performed while obtaining the surface topology image data.
16. The method according to claim 1 wherein the processing of the volumetric image data to generate one or more partial surfaces is performed via ray casting and a surface intersection criterion.
17. The method according to claim 16 wherein the surface intersection criterion is an intensity-based first hit criterion.
18. The method according to claim 16 wherein two or more partial surfaces are generated based on different intersection criteria.
19. The method according to claim 18 wherein the different intersection criteria are selected in order to correspond to different types of biological tissue.
20. The method according to claim 1 further comprising processing the volumetric image data to generate an isosurface prior to processing of the volumetric image data to generate the one or more partial surfaces.
21. The method according to claim 1 further comprising, prior to processing the volumetric image data to generate the one or more partial surfaces, receiving input defining a region of interest within the volumetric image data;
wherein the region of interest is employed during the processing of the volumetric image data.
22. The method according to claim 1 wherein the one or more partial surfaces are registered to the surface topology image data using an iterative closed point method or a variant thereof.
23. The method according to claim 1 wherein the object is a portion of a patient and wherein the volumetric image data is medical image data.
24. The method according to claim 1 further comprising:
receiving input from a user indicating at least one point on the surface topology image data, and for each point, at least one corresponding point on the one or more partial surfaces or the volumetric image data;
approximately aligning the one or more partial surfaces with the volumetric image data based on the points provided by the user prior to registering the one or more partial surfaces to the surface topology image data.
25. A system for measuring surface topology image data associated with an object and registering the surface topology image data to volumetric image data associated with the object, the system comprising:
a surface topology imaging system; and
processing and control hardware configured to:
obtain spatial information associated with the orientation of the surface topology imaging system relative to the object;
process volumetric image data and the spatial information to generate one or more partial surfaces oriented toward the surface topology imaging system, such that the one or more partial surfaces exclude surface data hidden from the surface topology imaging system; and
employ the one or more partial surfaces to perform image registration between the volumetric image data and the surface topology image data, thereby identifying a transformation between the volumetric image data and the surface topology image data.