System and method for abdominal surface matching using pseudo-features

Abstract

A system and method for using pre-procedural images for registration for image-guided therapy (IGT), also referred to as image-guided intervention (IGI), in percutaneous surgical application. Pseudo-features and patient abdomen and organ surfaces are used for registration and to establish the relationship needed for guidance. Three-dimensional visualizations of the vasculature, tumor(s), and organs may be generated for enhanced guidance information. The invention facilitates extensive pre-procedural planning, thereby significantly reducing procedural times. It also minimizes the patient exposure to radiation.

What is claimed is: 
     
         1 . A method for performing registration for percutaneous surgical procedures, comprising the steps of:
 generating a computer model of a portion of the outer surface of a patient from pre-procedural image data;   marking a set of pseudo-features on the generated surface;   acquiring an intra-procedural image of the corresponding portion of the outer surface of the patient;   generating a set of intra-procedural pseudo-features by digitizing one or more contours on the corresponding portion of the outer surface of the patient;   and performing an alignment or registration of the model generated from the pre-procedural data with the intra-procedural patient surface data.   
     
     
         2 . The method of  claim 1 , wherein the portion of the outer surface of a patient comprises the abdomen of the patient. 
     
     
         3 . The method of  claim 1 , wherein the intra-procedural image of the patient surface is acquired through a laser range scanner, or an optically or magnetically tracked stylus or instrument. 
     
     
         4 . The method of  claim 1 , wherein the pseudo-features comprise four quadrants formed by the intersection of a series of points in the superoinferior direction along the patient's midline and across the patient's abdomen normal to the vertical line intersecting at the navel. 
     
     
         5 . The method of  claim 4 , further wherein the pseudo-features comprise a fifth feature representing the intersection of the four quadrants. 
     
     
         6 . The method of  claim 1 , wherein the step of alignment or registration further comprises the use of pre-procedural surface data for one or more internal organs of the patient. 
     
     
         7 . The method of  claim 1 , further comprising the step of displaying data for facilitating the percutaneous surgical procedure based on said alignment. 
     
     
         8 . The method of  claim 7 , further wherein the display comprises a three-dimensional model of a portion of the patient. 
     
     
         9 . The method of  claim 8 , wherein the three-dimensional model includes the surface of the patient abdomen, and one or more organs inside the abdomen. 
     
     
         10 . A system for collecting and processing physical space data for use while performing an image-guided surgical (IGS) procedure, the system comprising:
 a storage medium for storing a computer model of a portion of the outer surface of a patient based on pre-operative data;   at least one sensor device for generating inter-operative surface data associated with said outer surface of the patient; and   a processing element communicatively coupled to said storage medium and said sensor device, wherein said processing element is configured for obtaining a alignment of the computer model and inter-operative surface data.   
     
     
         11 . The system of  claim 10 , further comprising a display device communicatively coupled to said processing element and configured for displaying data for facilitating said IGS procedure based on said alignment. 
     
     
         12 . The method of  claim 11 , further wherein the display comprises a three-dimensional model of a portion of the patient. 
     
     
         13 . The method of  claim 12 , wherein the three-dimensional model includes the surface of the patient abdomen, and one or more organs inside the abdomen. 
     
     
         14 . The system of  claim 10 , wherein the IGS procedure is a percutaneous procedure. 
     
     
         15 . The system of  claim 10 , wherein the storage medium further may store a computer model of a non-rigid structure of interest in the patient. 
     
     
         16 . The system of  claim 10 , wherein the portion of the outer surface of a patient comprises the abdomen of the patient. 
     
     
         17 . The system of  claim 10 , wherein the sensor device comprises a laser range scanner or an optically or magnetically tracked stylus or instrument. 
     
     
         18 . The system of  claim 10 , wherein the alignment is obtained by the generation of corresponding pseudo-features for the computer model and the intra-operative surface data.