C-arm trajectory planning for optimal image acquisition in endoscopic surgery

Abstract

An image acquisition system includes a first imaging modality device ( 102 ) configured to acquire images from a subject from a position. A second imaging modality device ( 124 ) is configured to acquire images of the subject from a plurality of poses selected based upon the position of the first imaging modality device and in accordance with criteria to provide a best pose or poses. A planning module ( 115 ) is stored in memory and is configured to determine at least one trajectory that permits the best pose or poses of the second imaging modality device to be achieved to acquire, in cooperation with the first imaging modality device, an image or images of the subject.

1 . An image acquisition system, comprising:
 a first imaging modality device configured to acquire images to enable selection of an area of interest from a subject from at least one position;   a second imaging modality device configured to acquire images of the area of interest of the subject from a plurality of poses selected based upon the at least one position of the first imaging modality device and in accordance with criteria to provide a best pose or poses;   a processor; and   a memory that stores instructions, which when executed by the processor, caused the processor to determine at least one trajectory that permits the best pose or poses of the second imaging modality device to be achieved to acquire, in cooperation with the first imaging modality device, an image or images of the subject.   
     
     
         2 . The image acquisition system as recited in  claim 1 , wherein the first imaging modality device and the second imaging modality device comprise an endoscope, and an X-ray imaging system, respectively. 
     
     
         3 . The image acquisition system as recited in  claim 1 , wherein the criteria comprises one or more of: collision avoidance between the first imaging modality device and the second imaging modality device, occlusion avoidance of an area of interest in the subject, visualization of the area of interest and/or radiation dosage control. 
     
     
         4 . The image acquisition system as recited in  claim 3 , wherein the criteria are weighted to prioritize the criteria. 
     
     
         5 . The image acquisition system as recited in  claim 1 , wherein the first imaging modality device comprises a robot system. 
     
     
         6 . The image acquisition system as recited in  claim 5 , wherein the robot system is configured to maintain a position of the first imaging modality device, and the at least one trajectory provides motion information to a robot controller such that the robot system moves to avoid collision with the second imaging modality device when moved while maintaining the position of the first imaging modality device. 
     
     
         7 . The image acquisition system as recited in  claim 1 , wherein the at least one trajectory comprises a script for moving at least the second imaging modality device during a procedure wherein the at least one trajectory is derived using preoperative images. 
     
     
         8 . A method for multi-modal image acquisition, comprising:
 acquiring a scout scan with a first imaging modality having a moving structure;   computing a position of a second imaging modality with respect to the moving structure;   selecting an area of interest of a subject in an image provided by the second imaging modality;   computing an optimal acquisition pose or poses for the moving structure using optimization criteria to determine a best pose or poses for the area of interest;   rendering the best pose or poses to provide an optimized plan using preoperative images prior to acquiring images with the first imaging modality; and   acquiring the images of the area of interest with the first imaging modality in accordance with the optimized plan.   
     
     
         9 . The method as recited in  claim 8 , wherein the optimization criteria comprise one or more of: avoiding collision between the first and second imaging modalities; avoiding occlusion of the area of interest; and visualizing the area of interest and/or controlling radiation dosage. 
     
     
         10 . The method as recited in  claim 8 , further comprising weighting the optimization criteria to prioritize the optimization criteria. 
     
     
         11 . The method as recited in  claim 8 , further comprising determining positions of the second imaging modality using a robot system. 
     
     
         12 . The method as recited in  claim 11 , wherein the robot system is configured to maintain a position of the second imaging modality, and further comprising moving the robot system to avoid collision with the moving structure while maintaining the position of the second imaging modality. 
     
     
         13 . The method as recited in  claim 8 , further comprising:
 when the second imaging modality is not visible in the scout scan:   registering a view of the second imaging modality with the preoperative images; and   registering the scout scan to the preoperative images to compute the second imaging modality position with respect to the moving structure.   
     
     
         14 . The method as recited in  claim 8 , wherein rendering the best pose or poses comprises:
 employing a plurality of positions of the moving structure to generate corresponding views of the area of interest from the preoperative images; and   selecting the best pose or poses by viewing the preoperative images.   
     
     
         15 . The method as recited in  claim 14 , wherein the best poses comprise the poses that provide a full view of the area of interest. 
     
     
         16 . The method as recited in  claim 8 , further comprising:
 rendering a live view with the second imaging modality on a corresponding position of a first imaging modality image background to provide a more complete image.   
     
     
         17 . The method as recited in  claim 8 , further comprising:
 generating an image model of an anatomy change and adding the image model to the preoperative image to account for anatomical changes made in the area of interest after the preoperative images have been acquired.   
     
     
         18 . The method as recited in  claim 8 , wherein the first imaging modality comprises an X-ray system having a source and detector configured on a C-arm, and the moving structure comprises the C-arm. 
     
     
         19 . An image acquisition system, comprising:
 a processor;   a memory that stores instructions, which when executed by the processor, cause the processor to:   acquire a scout scan with a first imaging modality having a moving structure;   compute a position of a second imaging modality with respect to the moving structure;   select an area of interest of a subject in an image provided by the second imaging modality;   determine an optimal acquisition pose or poses for the moving structure using optimization criteria to determine a best pose or poses for the area of interest;   render the best pose or poses to provide an optimized plan using preoperative images prior to acquiring images with the first imaging modality; and   acquire the images of the area of interest with the first imaging modality in accordance with the optimized plan.   
     
     
         20 . The image acquisition system as recited in  claim 19 , wherein the optimization criteria comprise one or more of: avoiding collision between the first and second imaging modalities; avoiding occlusion of the area of interest; and visualizing the area of interest and/or controlling radiation dosage.