Systems and methods for registering images obtained using various imaging modalities and verifying image registration

1. A method for verifying a quality of registration of first and second images of an internal anatomic target obtained using a first imaging system and a second imaging system having a first coordinate system and a second coordinate system, respectively, the method comprising:

(a) acquiring the first image of the anatomic target using the first imaging system and acquiring a location of at least a portion of a third imaging system in the first coordinate system;

(b) measuring a distance between the third imaging system and the anatomic target using the third imaging system;

(c) acquiring the second image of the anatomic target using the second imaging system; and

(d) based on (i) a location of the anatomic target in the first image, (ii) the location of the at least a portion of the third imaging system in the first coordinate system, and (iii) the measured distance, computing an error in the registration.

2. The method of claim 1 , wherein the first, second, and third imaging systems comprise a magnetic-resonance imaging (MRI) system, a computed tomography (CT) system, and an ultrasound transducer system, respectively.

3. The method of claim 1 , wherein the third imaging system has a third coordinate system, the method further comprising obtaining the location of the at least a portion of the third imaging system in the third coordinate system.

4. The method of claim 3 , wherein the location of the at least a portion of the third imaging system in the third coordinate system is determined based on a time-of-flight method.

5. The method of claim 3 , further comprising computing a transformation relating the first coordinate system and the third coordinate system based on the location of the at least a portion of the third imaging system in the first coordinate system and the location of the at least a portion of the third imaging system in the third coordinate system.

6. The method of claim 5 , further comprising transforming the location of the third imaging system from the third coordinate system to the first coordinate system.

7. The method of claim 6 , further comprising transforming the second image of the anatomic target from the second coordinate system to the first coordinate system.

8. The method of claim 7 , further comprising computing the distance between the third imaging system and the anatomic target based on the transformed location of the third imaging system and the transformed second image in the first coordinate system.

9. The method of claim 8 , further comprising transforming the measured distance obtained in step (b) from the third coordinate system to the first coordinate system.

10. The method of claim 9 , wherein the error in the registration is determined based on a deviation of the transformed measured distance from the computed distance.

11. The method of claim 10 , further comprising comparing the error in the registration to a predetermined threshold and determining validity of the registration based on the comparison.

12. The method of claim 1 , wherein the distance between the third imaging system and the anatomic target is measured based on signals transmitted from and received by the third imaging system.

13. A system for verifying a quality of registration of first and second images of an internal anatomic target obtained using a first imaging system and a second imaging system having a first coordinate system and a second coordinate system, respectively, wherein

the first imaging system is configured to acquire (i) the first image of the anatomic target and (ii) a location of at least a portion of a third imaging system in the first coordinate system, and

the second imaging system is configured to acquire the second image of the anatomic target, the system comprising:

a controller in communication with the first, second, and third imaging systems, the controller being configured to:

cause a measurement of a distance between the third imaging system and the anatomic target; and

based on (i) a location of the anatomic target in the first image, (ii) the location of the at least a portion of the third imaging system in the first coordinate system, and (iii) the distance measurement, compute an error in the registration.

14. The system of claim 13 , wherein the first, second, and third imaging systems comprise a magnetic-resonance imaging (MRI) system, a computed tomography (CT) system, and an ultrasound transducer system, respectively.

15. The system of claim 13 , wherein the third imaging system has a third coordinate system and the controller is further configured to determine the location of the at least a portion of the third imaging system in the third coordinate system.

16. The system of claim 15 , wherein the controller is further configured to determine the location of the at least a portion of the third imaging system in the third coordinate system based on a time-of-flight method.

17. The system of claim 15 , wherein the controller is further configured to compute a transformation relating the first coordinate system and the third coordinate system based on the location of the at least a portion of the third imaging system in the first coordinate system and the location of the at least a portion of the third imaging system in the third coordinate system.

18. The system of claim 17 , wherein the controller is further configured to transform the location of the third imaging system from the third coordinate system to the first coordinate system.

19. The system of claim 18 , wherein the controller is further configured to transform the second image of the anatomic target from the second coordinate system to the first coordinate system.

20. The system of claim 19 , wherein the controller is further configured to compute the distance between the third imaging system and the anatomic target based on the transformed location of the third imaging system and the transformed second image in the first coordinate system.

21. The system of claim 20 , wherein the controller is further configured to transform the measured distance obtained in step (b) from the third coordinate system to the first coordinate system.

22. The system of claim 21 , wherein the controller is further configured to determine the error in the registration based on a deviation of the transformed measured distance from the computed distance.

23. The system of claim 22 , wherein the controller is further configured to compare the error in the registration to a predetermined threshold and determine validity of the registration based on the comparison.

24. The system of claim 13 , wherein the controller is further configured to measure the distance between the third imaging system and the anatomic target based on signals transmitted from and received by the third imaging system.

25. A method for registering images of an internal anatomic target obtained using a first imaging system and a second imaging system having a first coordinate system and a second coordinate system, respectively, the method comprising:

(a) acquiring a first image of the anatomic target using the first imaging system and acquiring a location of at least a portion of a third imaging system in the first coordinate system;

(b) acquiring a second image of the anatomic target using the second imaging system;

(c) acquiring a third image of the anatomic target using the third imaging system, the third imaging system having a third coordinate system;

(d) registering the second image and the third image;

(e) using the third imaging system to measure spatial parameters of at least a portion of the third imaging system in the third coordinate system; and

(f) based on (i) a location of the anatomic target in the first image, (ii) the location of the at least a portion of the third imaging system in the first coordinate system, (iii) the measured spatial parameters of the at least a portion of the third imaging system in the third coordinate system and (iv) the registered second and third images, computing at least one of transformations relating the first coordinate system, the second coordinate system, and the third coordinate system.

26. The method of claim 25 , wherein the first, second, and third imaging systems comprise a magnetic-resonance imaging (MRI) system, a computed tomography (CT) system, and an ultrasound transducer system, respectively.

27. The method of claim 25 , wherein the registration of the second image and the third image comprises transforming coordinates associated with the internal anatomic target in the second coordinate system to coordinates in the third coordinate system.

28. The method of claim 27 , further comprising fitting the coordinates associated with the internal anatomic target in the second coordinate system to the coordinates associated with the internal anatomic target in the third coordinate system.

29. The method of claim 25 , wherein the location of the at least a portion of the third imaging system in the third coordinate system is determined based on a time-of-flight method.

30. The method of claim 25 , further comprising computing the transformation relating the first coordinate system and the third coordinate system based on the location of the at least a portion of the third imaging system in the first coordinate system and the location of the at least a portion of the third imaging system in the third coordinate system.

31. The method of claim 25 , wherein the transformation relating the first coordinate system and the second coordinate system is computed based on the transformation relating the first coordinate system and the third coordinate system.

32. A system for registering images of an internal anatomic target obtained using a first imaging system and a second imaging system having a first coordinate system and a second coordinate system, respectively, wherein

the first imaging system is configured to acquire (i) a first image of the anatomic target and (ii) a location of at least a portion of a third imaging system in the first coordinate system,

the second imaging system is configured to acquire a second image of the anatomic target, and

the third imaging system has a third coordinate system and is configured to acquire a third image of the anatomic target, the system comprising:

a controller in communication with the first, second, and third imaging systems, the controller being configured to:

register the second image and the third image;

cause a measurement of spatial parameters of at least a portion of the third imaging system in the third coordinate system; and

based on (i) a location of the anatomic target in the first image, (ii) the location of the at least a portion of the third imaging system in the first coordinate system, (iii) the measurement of the spatial parameters of at least a portion of the third imaging system in the third coordinate system, and (iv) the registered second and third images, compute at least one of transformations relating the first coordinate system, the second coordinate system, and the third coordinate system.

33. The system of claim 32 , wherein the first, second, and third imaging systems comprise a magnetic-resonance imaging (MRI) system, a computed tomography (CT) system, and an ultrasound transducer system, respectively.

34. The system of claim 32 , wherein the controller is further configured to transform coordinates associated with the internal anatomic target in the second coordinate system to coordinates in the third coordinate system.

35. The system of claim 34 , wherein the controller is further configured to fit the coordinates associated with the internal anatomic target in the second coordinate system to the coordinates associated with the internal anatomic target in the third coordinate system.

36. The system of claim 32 , wherein the controller is further configured to determine the location of the at least a portion of the third imaging system in the third coordinate system based on a time-of-flight method.

37. The system of claim 32 , wherein the controller is further configured to compute the transformation relating the first coordinate system and the third coordinate system based on the location of the at least a portion of the third imaging system in the first coordinate system and the location of the at least a portion of the third imaging system in the third coordinate system.

38. The system of claim 32 , wherein the controller is further configured to compute the transformation relating the first coordinate system and the second coordinate system based on the transformation relating the first coordinate system and the third coordinate system.