Atlas-based trajectory planning
Disclosed is a computer-implemented method of planning a straight trajectory in a medical image of an anatomical structure. A template of the straight trajectory is given in an atlas and the atlas is registered with the medical image. The atlas is divided into a first area and one or more second areas, wherein the first area comprises the straight trajectory and the one or more second areas do not comprise any part of the straight trajectory. When the transformation of the atlas onto the medical image is calculated, the first and second areas are treated differently. The transformation of the first area maintains the straight shape of the trajectory and is thus restricted. The transformation of the one or more second areas is unrestricted and thus allows any kind of image registration. The template of the transformed atlas is the applied to the medical image.
1 . A computer-implemented method of planning a straight trajectory in a medical image of an anatomical structure, comprising:
acquiring medical image data representing the medical image,
acquiring atlas data representing an atlas comprising a representation of the anatomical structure, wherein a first area of the atlas data comprises a representation of the straight trajectory and at least one second area of the atlas data does not comprise any part of the straight trajectory,
calculating a transformation of the atlas data onto the medical image data, comprising a restricted transformation of the first area, wherein the restricted transformation applies a geometric constraint to the first area that preserves the straight shape of the straight trajectory in the atlas data, and an unrestricted transformation of the at least one second area, and
applying the straight trajectory of the transformed atlas data to the medical image data.
2 . The method of claim 1 , wherein the restricted transformation allows a rotation in up to three rotational dimensions, a translation in up to three translational dimensions and a scaling along the axis of the straight trajectory.
3 . The method of claim 2 , wherein the restricted transformation further allows an identical scaling along two axes which are perpendicular to each other and perpendicular to the axis of the straight trajectory.
4 . The method of claim 2 wherein the restricted transformation further allows a shearing in a direction parallel to the axis of the straight trajectory.
5 . The method of claim 1 further comprising the step of adapting the length of the straight trajectory in the medical image data such that the end points of the straight trajectory lie on the surface of the anatomical structure in the medical image data.
6 . The method of claim 1 wherein the restricted transformation and the unrestricted transformation are performed with the boundary condition that the transformed atlas data is steady at a border between the first area and an adjoining second area.
7 . The method of claim 1 wherein the atlas data comprises representations of two straight trajectories and the atlas data comprises two first areas each comprising one of the two straight trajectories, wherein the restricted transformation is performed on each of the two first areas.
8 . The method of claim 7 , wherein a second area is located between the two first areas and the restricted transformations of the two first areas and the unrestricted transformation of the second area located between the two first areas are performed with the boundary condition that the transformed atlas is steady at borders between the two first areas and the second area.
9 . The method of claim 7 wherein a positional relationship between the two first areas is maintained when calculating the transformation of the atlas data onto the medical image data.
10 . The method of claim 1 wherein the first area of the atlas data further comprises a virtual implant through which the axis of the straight trajectory runs.
11 . The method of claim 1 further comprising the steps of calculating an advance transformation of the atlas data onto the medical image data, the advance transformation being performed before the transformation, and of segmenting the anatomical structure in the medical image data from the result of the advance transformation, wherein the transformation is performed onto the segmented anatomical structure in the medical image data.
12 . The method of claim 1 further comprising the step of segmenting the anatomical structure in the medical image data using the transformed atlas data.
13 . A non-transitory computer readable medium comprising instructions which, when executed by a computer, causes the computer to
acquire medical image data representing the medical image,
acquire atlas data representing an atlas comprising a representation of an anatomical structure:
wherein a first area of the atlas data comprises a representation of a straight trajectory and at least one second area of the atlas data does not comprise any part of the straight trajectory,
calculate a transformation of the atlas data onto the medical image data, comprising a restricted transformation of the first area,
wherein the restricted transformation applies a geometric constraint to the first area that preserves the straight shape of the straight trajectory in the atlas data, and an unrestricted transformation of the at least one second area, and
apply the straight trajectory of the transformed atlas data to the medical image data.
14 . A system comprising at least one processor and associated memory, the memory storing instructions that when executed by the at least one processor cause the at least one processor to:
acquire medical image data representing the medical image,
acquire atlas data representing an atlas comprising a representation of an anatomical structure, wherein a first area of the atlas data comprises a representation of a straight trajectory and at least one second area of the atlas data does not comprise any part of the straight trajectory,
calculate a transformation of the atlas data onto the medical image data, comprising a restricted transformation of the first area, wherein the restricted transformation applies a geometric constraint to the first area that preserves the straight shape of the straight trajectory in the atlas data, and an unrestricted transformation of the at least one second area, and
apply the straight trajectory of the transformed atlas data to the medical image data.