Automatic image registration of scans for image-guided surgery

1. A method for determining a position of an imaged anatomical body part of a patient in a tracking reference system, the method comprising executing, on at least one processor of at least one computer, steps of:

a) acquiring, at the at least one processor, patient image data describing a digital image of at least part of a reference device and the anatomical body part;

b) acquiring, at the at least one processor, reference device model data describing a model of at least one of at least one internal surface or at least one external surface of the reference device;

c) determining, by the at least one processor and based on the patient image data and the reference device model data, reference device image position data describing a relative position between the reference device and the anatomical body part;

d) acquiring, at the at least one processor, reference device tracking data describing a position of the reference device in the tracking reference system;

e) acquiring, at the at least one processor, second reference device tracking data describing a position of a second reference device in the tracking reference system, wherein a relative position between the second reference device and the anatomical body part is predetermined;

f) determining, by the at least one processor and based on the reference device tracking data and the second reference device tracking data, reference device relative position data describing a relative position between the reference device and the second reference device; and

g) determining, by the at least one processor and based on the reference device image position data and the reference device tracking data and the reference device relative position data, body part tracking data describing a position of the anatomical body part in the tracking reference system.

2. The method according to claim 1 , wherein the relative position between the reference device and the anatomical body part is defined in an image reference system.

3. The method according to claim 2 , wherein the body part tracking data is determined based on determining a transformation between the position of the reference device in the image reference system and the position of the reference device in the tracking reference system.

4. The method according to claim 1 , wherein the model defines an image appearance of the reference device.

5. The method according to claim 1 , wherein the model has been generated based on digital model image data describing at least one image of the reference device.

6. The method according to claim 5 , wherein the digital model image data is tomographic image data.

7. The method according to claim 1 , wherein the patient image data and the reference device model data are three-dimensional or two-dimensional data.

8. The method according to claim 1 , wherein the patient image data is tomographic image data.

9. The method according to claim 1 , wherein the model describes a three-dimensional structure of the reference device.

10. The method according to claim 9 , wherein the model describes at least one of an internal or a surface structure of the reference device.

11. The method according to claim 10 , wherein the internal or surface structure of the reference device is described by a geometrical grid.

12. The method according to claim 1 , wherein the reference device image position data is determined by comparing the model to the digital image appearance of the reference device in the digital image described by the patient image data.

13. The method according to claim 1 , wherein the reference device image position data is determined by applying at least one of an image fusion algorithm or a surface match algorithm to the patient image data and the reference device model data.

14. The method according to claim 1 , wherein the reference device tracking data has been generated by tracking at least one optical marker or electromagnetic marker having a predetermined spatial relationship relative to the reference device.

15. The method according to claim 14 , wherein the at least one optical marker or electromagnetic marker is attached to the reference device.

16. The method according to claim 1 , wherein the reference device has at least one of the following properties:

the reference device is provided with an orientation feature which is visible in a tomographic image of the reference device;

at least part of the reference device is opaque for x-rays or magnetic resonance imaging;

the reference device includes a cavity containing gadopentetic acid;

at least three optical or electromagnetic markers are attached to the reference device in a predetermined spatial relationship;

the reference device is provided with an attachment means for attaching the reference device to a second reference device;

at least one of at least one recess or at least one projection is provided on an external surface of a base part of the reference device.

17. A non-transitory computer-readable storage medium having stored thereon computer-executable instructions that, when executed, configure a processor to:

a) acquire, at the at least one processor, patient image data describing a digital image of at least part of a reference device and the anatomical body part;

b) acquire, at the at least one processor, reference device model data describing a model of at least one of at least one internal surface or at least one external surface of the reference device;

c) determine, by the at least one processor and based on the patient image data and the reference device model data, reference device image position data describing a relative position between the reference device and the anatomical body part;

d) acquire, at the at least one processor, reference device tracking data describing a position of the reference device in the tracking reference system;

e) acquire, at the at least one processor, second reference device tracking data describing a position of a second reference device in the tracking reference system, wherein a relative position between the second reference device and the anatomical body part is predetermined acquire, at the at least one processor, second reference device tracking data describing a position of a second reference device in the tracking reference system, wherein a relative position between the second reference device and the anatomical body part is predetermined;

f) determine, by the at least one processor and based on the reference device tracking data and the second reference device tracking data, reference device relative position data describing a relative position between the reference device and the second reference device; and

g) determine, by the at least one processor and based on the reference device image position data and the reference device tracking data and the reference device relative position data, body part tracking data describing a position of the anatomical body part in the tracking reference system.

18. A system for supporting determining a transformation defining a geometric relationship between a position of an anatomical body part of a patient in an image reference system and a position of the anatomical body part in a tracking reference system, the system comprising:

a) at least one electronic data storage device storing at least the patient image data and the reference device model data; and

b) a medical imaging device for taking the patient image data, the medical imaging device being operably coupled to at least one processor for transmitting a signal to the at least one processor corresponding to the patient image data,

wherein the at least one processor is operably coupled to the at least one electronic data storage device for acquiring, from the at least one data storage device, at least one of the patient image data or the reference device model data, and the at least one processor is further configured to:

a) acquire, at the at least one processor, patient image data describing a digital image of at least part of a reference device and the anatomical body part;

b) acquire, at the at least one processor, reference device model data describing a model of at least one of at least one internal surface or at least one external surface of the reference device;

c) determine, by the at least one processor and based on the patient image data and the reference device model data, reference device image position data describing a relative position between the reference device and the anatomical body part;

d) acquire, at the at least one processor, reference device tracking data describing a position of the reference device in the tracking reference system;

e) acquire at the at least one processor, second reference device tracking data describing a position of a second reference device in the tracking reference system, wherein a relative position between the second reference device and the anatomical body part is predetermined;

f) determine, by the at least one processor and based on the reference device tracking data and the second reference device tracking data, reference device relative position data describing a relative position between the reference device and the second reference device; and

g) determine, by the at least one processor and based on the reference device image position data and the reference device tracking data and the reference device relative position data, body part tracking data describing a position of the anatomical body part in the tracking reference system.

19. The system according to claim 18 , comprising:

a marker detection device for detecting the position of at least one optical or electromagnetic marker,

wherein the marker detection device is operably coupled to the at least one processor for transmitting a signal to the at least one processor corresponding to the reference device tracking data.