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WO2009002072A2 - Method of determining the position of a deep brain stimulation electrode - Google Patents

Method of determining the position of a deep brain stimulation electrode Download PDF

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Publication number
WO2009002072A2
WO2009002072A2 PCT/KR2008/003577 KR2008003577W WO2009002072A2 WO 2009002072 A2 WO2009002072 A2 WO 2009002072A2 KR 2008003577 W KR2008003577 W KR 2008003577W WO 2009002072 A2 WO2009002072 A2 WO 2009002072A2
Authority
WO
WIPO (PCT)
Prior art keywords
data set
volume data
target region
deep brain
electrode
Prior art date
Application number
PCT/KR2008/003577
Other languages
French (fr)
Other versions
WO2009002072A3 (en
Inventor
Sun Ha Paek
Yong Hoon Lim
Hyun Jae Kang
Se Ho Shin
Eun Ju Choi
Cheol Young Kim
Original Assignee
Cybermed Inc.
Seoul National University Industry Foundation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cybermed Inc., Seoul National University Industry Foundation filed Critical Cybermed Inc.
Priority to DE112008001642.9T priority Critical patent/DE112008001642B4/en
Priority to US12/666,181 priority patent/US8369931B2/en
Publication of WO2009002072A2 publication Critical patent/WO2009002072A2/en
Publication of WO2009002072A3 publication Critical patent/WO2009002072A3/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/02—Details
    • A61N1/04—Electrodes
    • A61N1/05—Electrodes for implantation or insertion into the body, e.g. heart electrode
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/02—Details
    • A61N1/04—Electrodes
    • A61N1/05—Electrodes for implantation or insertion into the body, e.g. heart electrode
    • A61N1/0526—Head electrodes
    • A61N1/0529—Electrodes for brain stimulation
    • A61N1/0534—Electrodes for deep brain stimulation

Definitions

  • the present invention relates to a method of determining the position of a deep brain stimulation (DBS) electrode, and more particularly, to a method of finding the position of a subvolume-rendered DBS electrode with respect to a subvolume-rendered subthalamic nucleus (STN), by aligning a pre-implantation MRI volume data set and a post-implantation CT volume data set.
  • DBS deep brain stimulation
  • STN subvolume-rendered subthalamic nucleus
  • a DBS therapy treats an abnormal state of a patient by fixing an electrode to an aimed target (e.g., STN) of a deep brain and continuously applying electric stimulation thereto for a predetermined period.
  • an aimed target e.g., STN
  • the DBS therapy has been very popular in the treatment of various brain-controlled disorders including a movement disorder.
  • the DBS therapy has been applied to the treatment of drug induced side effects of patients suffering from essential tremor, rigidity, Parkinson's disease and tremor.
  • this therapy includes positioning a DBS electrode lead through a burr hole drilled into a skull of a patient, and applying proper stimulation signals to a physiological target through the electrode lead.
  • the positioning which includes stereotactic neurosurgical methodology is very important in this therapy, attracts a lot of attention, and becomes a subject of research. Particularly, it is essential to find a deep brain target, continuously position an electrode lead, and efficiently apply stimulation to the target.
  • MRI magnetic resonance imaging
  • CT computed tomography
  • PET positron emission tomography
  • a method wherein a target region is found by means of a kind of template for a brain structure, such as Heidelbergenbrand-Wahren atlas is used.
  • St-Jean et.al. create a 3D structure by stacking a plurality of slices by digitalizing Druckenbrand-Wahren atlas, and register the 3D structure into a pre-DBS implantation MRI volume data set of a patient by using landmarks, thereby generating a pre-implantation MRI volume data set with the atlas 3D structure put thereon, and finding a target region according to the data set in the DBS implantation.
  • a target region is determined on a magnetic resonance (MR) image on the basis of anterior commissural (AC)-posterior commissural (PC) coordinates.
  • MR magnetic resonance
  • FIG. 1 is a schematic view illustrating one example of a DBS electrode lead.
  • the DBS electrode lead 100 includes four platinum/iridium contact electrodes 110, 120, 130 and 140. These electrodes 110, 120, 130 and 140 are positioned in a target region, and electric stimulation is applied to some of the electrodes 110, 120, 130 and 140 for treatment.
  • FIG. 2 is a view illustrating one example of a CT image after an implantation of a DBS electrode, particularly, a post-implantation CT image 400 of a patient after bilateral DBS implantation using two DBS electrode leads 410.
  • Wire leads 420 are connected from the DBS electrode leads 410 to an internal pulse generator (not shown).
  • an object of the present invention is to provide a method of determining the position of a DBS electrode which can clearly find the position of the DBS electrode with respect to a target region.
  • This method can be usefully used to determine the position of the DBS electrode with respect to the target region after an implantation of the DBS electrode.
  • this method can be employed to position the DBS electrode with respect to the target region with the assistance of a medical navigation system during the implantation of the DBS electrode.
  • Another object of the present invention is to provide a method of determining the position of a DBS electrode which can clearly find the position of the DBS electrode with respect to a deep brain target region such as an STN.
  • a further object of the present invention is to provide a method of determining the position of a DBS electrode which can clearly find the position of the DBS electrode with respect to a target region by means of subvolume rendering of the target region and the DBS electrode.
  • a still further object of the present invention is to provide a method of determining the position of a DBS electrode which can clearly find the position of the DBS electrode with respect to a target region by fusing a pre- implantation volume data set and a post-implantation volume data set.
  • a still further object of the present invention is to provide a method of determining the position of a DBS electrode which can clearly find the position of the DBS electrode with respect to a target region by aligning a pre- implantation volume data set and a post-implantation volume data set by mutual information thereof.
  • a still further object of the present invention is to provide a method of determining the position of a DBS electrode which can clearly find the position of the DBS electrode with respect to a target region by aligning a pre- implantation MRI volume data set and a post-implantation CT volume data set.
  • a first volume data and a second volume data are not specially limited to MRI and CT, but can be expanded to a volume data such as PET.
  • this method is applicable to first and second volume data having the same modality.
  • This method includes a reslicing step to thereby easily identify and subvolume-render a deep brain target region.
  • both a deep brain target region and an electrode are subvolume-rendered. If a doctor is experienced or the software has a constraint, any one of the deep brain target region and the electrode can be subvolume-rendered.
  • the present invention is applied to a medical navigation system.
  • steps S5 and S6 can be carried out any time after step S1.
  • the position of the DBS electrode with respect to a deep brain target region such as an STN can be clearly found. Finding the position is usefully used to design an implantation of the DBS electrode, implant the DBS electrode and evaluate the implantation of the DBS electrode.
  • a deep brain target region can be easily identified and identification disturbance of the deep brain target region caused by the electrode can be overcome, by getting hold of the position relation between the deep brain target region and the electrode by means of image alignment between a pre- implantation volume data set and a post-implantation volume data set.
  • the position relation between a deep brain target region and an electrode can be easily shown by means of a subvolume rendering technique.
  • image alignment can be rapidly performed by aligning a pre- implantation volume data set and a post-implantation volume data set by mutual information thereof.
  • an STN and the DBS electrode can be efficiently found and displayed by using a pre-implantation MRI volume data set and a post- implantation CT volume data set.
  • the volume rendering technique, the image aligning technique and the subvolume rendering technique according to the present invention can be applied to a medical navigation system.
  • the present invention can be expansively applied to a medical navigation method of a DBS electrode in an implantation of the DBS electrode.
  • FIG. 1 is a schematic view illustrating one example of a DBS electrode lead.
  • FIG. 2 is a view illustrating a CT image after an implantation of a DBS electrode.
  • FIG. 3 is an explanatory view illustrating a method of evaluating the position relation between a target region and a DBS electrode according to the present invention.
  • FIG. 4 is an enlarged view of FIG. 3.
  • FIG. 5 is an explanatory view illustrating a method of forming an image of FIG. 3 according to the present invention.
  • FIGS. 6 and 7 are explanatory views illustrating a subvolume rendering method.
  • FIG. 8 is an explanatory view illustrating reslicing.
  • FIG. 9 is a view illustrating medical images before and after fusion.
  • FIG. 10 is an explanatory view illustrating a process of fusing medical image data.
  • FIG. 3 is an explanatory view illustrating a method of evaluating the position relation between a target region and a DBS electrode according to the present invention.
  • a DBS electrode 20 is positioned on a subthalamic nucleus (STN) 10.
  • STN subthalamic nucleus
  • FIG. 4 is an enlarged view of FIG. 3.
  • Three exposed DBS electrodes 12, 13 and 14 are shown on a right-side STN 10. Therefore, a doctor can be informed that one of the four DBS electrodes exists within the STN 10. Since the doctor precisely knows the position of the DBS electrode with respect to the STN 10, he or she can clearly judge whether an implantation of the DBS electrode is successful, which DBS electrode needs electric stimulation, etc. to thereby reduce a treatment time of a patient. In addition, provided is the basis for precisely understanding the correlation between the electric stimulus and the target region, which has not been revealed before.
  • FIG. 5 is an explanatory view illustrating a method of forming an image of FIG. 3 according to the present invention.
  • a pre-implantation MRI volume data set and a post-implantation CT volume data set are acquired.
  • the pre-implantation MRI volume data set is acquired by performing MRI photographing before an implantation of a DBS electrode
  • the post-implantation CT volume data set is acquired by performing CT photographing after the implantation, or after the DBS treatment of a predetermined period of time (e.g., three months, six months) from the implantation.
  • step S2 a coordinate axis of the pre-implantation MRI volume data set is reset on the basis of a line connecting AC and PC which are index points in a human body. It is called reslicing.
  • a target region here, an STN
  • step S3 the post-implantation CT volume data set is resliced on the basis of the AC -PC. That is, a coordinate axis of the post-implantation CT volume data set is reset on the basis of the AC-PC, for reducing a succeeding alignment time of the pre-implantation MRI volume data set and the post- implantation CT volume data set.
  • step S4 the pre-implantation MRI volume data set and the post- implantation CT volume data set having different modalities are aligned.
  • the image alignment provides the basis for overlapping and displaying two volume data sets on one screen, and can be understood as a process of finding a linear transformation T which corresponds voxels of the post-implantation CT volume data set correspond to voxels of the pre-implantation MRI volume data set. It will be described later in more detail.
  • step S5 the STN, which is a soft tissue, is rendered into a special volume data set, i.e., a subvolume on the pre-implantation MRI volume data set where the STN can be easily seen.
  • a special volume data set i.e., a subvolume on the pre-implantation MRI volume data set where the STN can be easily seen.
  • This process is carried out by designating a corresponding intensity to the STN on the pre-implantation MRI volume data set.
  • An atlas can be used during a process of finding the STN.
  • the subvolume of the STN which is a hardly-identifiable deep brain soft tissue target region is generated from the pre-implantation MRI volume data set. Accordingly, the subvolume can be acquired without disturbance of the DBS electrode formed of metal.
  • step S6 the DBS electrode formed of metal is rendered into a special volume data set, i.e., a subvolume on the post-implantation CT volume data set where the DBS electrode can be easily seen. This process is carried out by designating a corresponding intensity to the DBS electrode on the post- implantation CT volume data set.
  • step S7 as shown in FIG. 3, the subvolume 10 of the STN acquired at step S5 and the subvolume 20 of the DBS electrode acquired at step S6 are displayed together.
  • the subvolume 10 of the STN is generated from the pre-implantation MRI volume data set and the subvolume 20 of the DBS electrode is generated from the post-implantation CT volume data set, they need to be aligned.
  • the linear transformation T acquired at step S4 is used.
  • Subvolume rendering and Reslicinq Computer graphics is mainly used to show 2D or 3D graphic expression of an object on a 2D display screen.
  • Volume graphics which is one field of the computer graphics, deals with visualization of an object expressed as 3 or more dimensional sample data. Such samples are called volume elements or voxels, and contain digital information expressing physical characteristics of the object. For example, voxel data of a specific object can express density, object type, temperature, speed or another characteristic as discrete points in a space over the inside and surrounding of the object.
  • volume rendering is one type of digital signal processing, and gives colors and transparency to the respective voxels in the voxel-based expression.
  • the respective voxels given with colors and transparency are projected on a 2D viewing surface such as a computer screen.
  • background voxels are hidden by foreground opaque voxels.
  • the accumulation of the projected voxels results in a visual image of the object.
  • the volume rendering is to render a volume or volume data set.
  • the volume data set includes a 3D array of data points called volume elements or voxels.
  • the voxel which is a 3D equivalent to a pixel, contains color and transparency information.
  • the exterior and interior of the object can be shown in different types. For example, when a doctor intends to observe a ligament, tendon and bone of a knee before an operation, he or she can display blood, skin and muscle to be completely transparent in the CT scan image of the knee.
  • a doctor obtains information on the shape and position of an abnormal part (e.g., tumor) from medical images such as CT images or MRI images. Therefore, if a 3D object or volume data set created from the medical images such as the CT or MRI images can show the abnormal part to be distinguished from other tissues, it will be much more convenient.
  • a multi-subvolume rendering or subvolume rendering method proposes a multi-subvolume rendering or subvolume rendering method. Briefly, the multi-subvolume rendering displays an abnormal part (or interested part) with a different color, so that a doctor can easily judge the position and shape of the abnormal part.
  • a volume rendering hardware solution such as VolumeProTM of TeraRecon is used to implement the multi-subvolume rendering.
  • a volume or volume data set 102 is generated from medical images 101 such as CT or MRI images photographed as many as the appropriate number.
  • the volume or volume data set 102 can be simply considered as a stacking of several medical images 101. Pixels 103 of the respective medical images 101 correspond to voxels 104 of the volume or volume data set 102.
  • Each voxel 104 contains information values of color and transparency as data values.
  • a subvolume 105, a subvolume 106 and an entire volume 102 are individually rendered so that the subvolumes 105 and 106 can be rendered to be distinguished from the entire volume 102. Thereafter, the respective rendered images are fused.
  • rendering the subvolume 105 or the subvolume 106 individually means rendering the corresponding subvolume after setting a color suitable for the subvolume by using voxels belonging to a specific subvolume region. In terms of the entire volume, it is like obtaining a 2D image by rendering only some region (the corresponding subvolume region).
  • FIG. 8 is an explanatory view illustrating reslicing.
  • the reslicing means reconstitution by re-stacking previously-stacked voxels of the left side on the basis of AC-PC. Accordingly, conceptually, the existing coordinate system (xo, yo and Z 0 ) is re-defined as a new coordinate system (xi, yi and z-i).
  • fusing medical image data A and B having different characteristics into one image C containing all the information is essential to efficiently make a medical diagnosis.
  • One of the basic steps of the image fusion is to align postures of image volumes.
  • a process of fusing medical image data includes a step S100 of normalizing two image data A and B having different characteristics, a step S200 of acquiring mutual information between the normalized image data A and B, an optimization step S300 of computing a linear transformation T maximizing the mutual information, and a step S400 of fusing the normalized image data A and B by means of the linear transformation T computed at step S300.
  • the step S300 of computing the linear transformation T maximizing the mutual information according to the present invention will be explained.
  • the steps S100, S200 and S400 are well-known processes, and thus explanations thereof are omitted.
  • the aligning process which is a previous step of the process of fusing two 3D medical image data A and B into one image data, aligns the positions and postures of the two 3D medical image data A and B on a 3D space.
  • the linear transformation T can be defined as follows:
  • the image alignment can be carried out by computing the linear transformation T maximizing the mutual information between the 3D medical image data, i.e., the volume data sets A and B.

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Abstract

The present invention relates to a method of determining the position of a deep brain stimulation (DBS) electrode which finds the position of the DBS electrode with respect to a deep brain target region, by using a first volume data set containing information on the deep brain target region and a second volume data set containing information on the DBS electrode implanted toward the deep brain target region, and which includes: a first step of generating a subvolume of the deep brain target region from the first volume data set, and also generating a subvolume of the DBS electrode from the second volume data set; and a second step of overlapping and displaying the subvolume of the deep brain target region and the subvolume of the DBS electrode.

Description

METHOD OF DETERMINING THE POSITION OF A DEEP BRAIN STIMULATION ELECTRODE
[Technical Field] The present invention relates to a method of determining the position of a deep brain stimulation (DBS) electrode, and more particularly, to a method of finding the position of a subvolume-rendered DBS electrode with respect to a subvolume-rendered subthalamic nucleus (STN), by aligning a pre-implantation MRI volume data set and a post-implantation CT volume data set.
[Background Art]
A DBS therapy treats an abnormal state of a patient by fixing an electrode to an aimed target (e.g., STN) of a deep brain and continuously applying electric stimulation thereto for a predetermined period. Since firstly approved in 1998 by U.S. FDA, the DBS therapy has been very popular in the treatment of various brain-controlled disorders including a movement disorder. The DBS therapy has been applied to the treatment of drug induced side effects of patients suffering from essential tremor, rigidity, Parkinson's disease and tremor. In general, this therapy includes positioning a DBS electrode lead through a burr hole drilled into a skull of a patient, and applying proper stimulation signals to a physiological target through the electrode lead. The positioning which includes stereotactic neurosurgical methodology is very important in this therapy, attracts a lot of attention, and becomes a subject of research. Particularly, it is essential to find a deep brain target, continuously position an electrode lead, and efficiently apply stimulation to the target.
To find an optimum physiological target is very difficult in a DBS implantation for treating a movement disorder, particularly, in the treatment of symptoms that cannot be tested on an operating table during an implantation of an electrode lead. For example, in the case of a patient having the Parkinson's disease, postural stability and test walking are substantially impossible during an implantation of a DBS lead. It is also known that rigidity and akinesia, which are two other major symptoms of the Parkinson's disease, are difficult to quantitatively evaluate during an implantation of a DBS lead. In the meantime, intended operation targets include deep brain nuclei or sub- regions in globus pallidus internus or subthalamus. Such structures cannot be easily observed by any of the current imaging modalities, such as magnetic resonance imaging (MRI), computed tomography (CT) and positron emission tomography (PET).
Accordingly, in a conventional DBS implantation, a method wherein a target region is found by means of a kind of template for a brain structure, such as Schaltenbrand-Wahren atlas is used. In addition, St-Jean et.al. create a 3D structure by stacking a plurality of slices by digitalizing Schaltenbrand-Wahren atlas, and register the 3D structure into a pre-DBS implantation MRI volume data set of a patient by using landmarks, thereby generating a pre-implantation MRI volume data set with the atlas 3D structure put thereon, and finding a target region according to the data set in the DBS implantation.
Recently, a target region is determined on a magnetic resonance (MR) image on the basis of anterior commissural (AC)-posterior commissural (PC) coordinates.
U.S. Patent 7,167,760 gives overall explanations of the DBS therapy, and suggests a method of determining a target region before an implantation which solves the foregoing problems in the prior art.
FIG. 1 is a schematic view illustrating one example of a DBS electrode lead. The DBS electrode lead 100 includes four platinum/iridium contact electrodes 110, 120, 130 and 140. These electrodes 110, 120, 130 and 140 are positioned in a target region, and electric stimulation is applied to some of the electrodes 110, 120, 130 and 140 for treatment.
FIG. 2 is a view illustrating one example of a CT image after an implantation of a DBS electrode, particularly, a post-implantation CT image 400 of a patient after bilateral DBS implantation using two DBS electrode leads 410.
Wire leads 420 are connected from the DBS electrode leads 410 to an internal pulse generator (not shown).
Meanwhile, after the DBS electrode lead 400 or DBS electrode is implanted, or after the DBS treatment is finished, whether the DBS electrode has been normally positioned should be evaluated. In the case of using a CT image, according to characteristics of the CT, a DBS electrode is relatively easily found, but a target region which is a soft tissue is not easily found. In the case of using an MRI image, according to characteristics of the MRI, a target region which is a soft tissue is expected to be shown well. However, it is not easy to see the position relation between a DBS electrode and the target region due to an interference of the DBS electrode lead 400 or DBS electrode formed of metal.
[Disclosure] [Technical Problem]
Accordingly, the present invention has been made to solve the above- described shortcomings occurring in the prior art, and an object of the present invention is to provide a method of determining the position of a DBS electrode which can clearly find the position of the DBS electrode with respect to a target region. This method can be usefully used to determine the position of the DBS electrode with respect to the target region after an implantation of the DBS electrode. In addition, this method can be employed to position the DBS electrode with respect to the target region with the assistance of a medical navigation system during the implantation of the DBS electrode.
Another object of the present invention is to provide a method of determining the position of a DBS electrode which can clearly find the position of the DBS electrode with respect to a deep brain target region such as an STN.
A further object of the present invention is to provide a method of determining the position of a DBS electrode which can clearly find the position of the DBS electrode with respect to a target region by means of subvolume rendering of the target region and the DBS electrode.
A still further object of the present invention is to provide a method of determining the position of a DBS electrode which can clearly find the position of the DBS electrode with respect to a target region by fusing a pre- implantation volume data set and a post-implantation volume data set.
A still further object of the present invention is to provide a method of determining the position of a DBS electrode which can clearly find the position of the DBS electrode with respect to a target region by aligning a pre- implantation volume data set and a post-implantation volume data set by mutual information thereof.
A still further object of the present invention is to provide a method of determining the position of a DBS electrode which can clearly find the position of the DBS electrode with respect to a target region by aligning a pre- implantation MRI volume data set and a post-implantation CT volume data set. [Technical Solution]
Hereinafter, various embodiments of the present invention will be described.
The method as recited in Claim 1. Here, a first volume data and a second volume data are not specially limited to MRI and CT, but can be expanded to a volume data such as PET. In addition, if necessary, this method is applicable to first and second volume data having the same modality.
The method as recited in Claim 3. This method serves to reduce an alignment time. The method as recited in Claim 6. This method corresponds to one of the preferred embodiments of the present invention.
The method as recited in Claim 7. This method includes a reslicing step to thereby easily identify and subvolume-render a deep brain target region. The method as recited in Claim 16. This method shows general applications of the present invention.
The method as recited in Claim 17. Preferably, both a deep brain target region and an electrode are subvolume-rendered. If a doctor is experienced or the software has a constraint, any one of the deep brain target region and the electrode can be subvolume-rendered.
The method as recited in Claim 20. In this method, the present invention is applied to a medical navigation system.
Meanwhile, steps S5 and S6 can be carried out any time after step S1. [Advantageous Effects] According to a method of determining the position of the DBS electrode according to the present invention, the position of the DBS electrode with respect to a deep brain target region such as an STN can be clearly found. Finding the position is usefully used to design an implantation of the DBS electrode, implant the DBS electrode and evaluate the implantation of the DBS electrode.
Also, according to a method of determining the position of the DBS electrode, a deep brain target region can be easily identified and identification disturbance of the deep brain target region caused by the electrode can be overcome, by getting hold of the position relation between the deep brain target region and the electrode by means of image alignment between a pre- implantation volume data set and a post-implantation volume data set.
Also, according to a method of determining the position of the DBS electrode, the position relation between a deep brain target region and an electrode can be easily shown by means of a subvolume rendering technique.
Also, according to a method of determining the position of the DBS electrode, image alignment can be rapidly performed by aligning a pre- implantation volume data set and a post-implantation volume data set by mutual information thereof.
Also, according to a method of determining the position of the DBS electrode, an STN and the DBS electrode can be efficiently found and displayed by using a pre-implantation MRI volume data set and a post- implantation CT volume data set. Also, the volume rendering technique, the image aligning technique and the subvolume rendering technique according to the present invention can be applied to a medical navigation system. In this case, the present invention can be expansively applied to a medical navigation method of a DBS electrode in an implantation of the DBS electrode.
[Description of Drawings]
FIG. 1 is a schematic view illustrating one example of a DBS electrode lead. FIG. 2 is a view illustrating a CT image after an implantation of a DBS electrode.
FIG. 3 is an explanatory view illustrating a method of evaluating the position relation between a target region and a DBS electrode according to the present invention.
FIG. 4 is an enlarged view of FIG. 3.
FIG. 5 is an explanatory view illustrating a method of forming an image of FIG. 3 according to the present invention.
FIGS. 6 and 7 are explanatory views illustrating a subvolume rendering method.
FIG. 8 is an explanatory view illustrating reslicing.
FIG. 9 is a view illustrating medical images before and after fusion.
FIG. 10 is an explanatory view illustrating a process of fusing medical image data.
[Mode for Invention]
Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.
FIG. 3 is an explanatory view illustrating a method of evaluating the position relation between a target region and a DBS electrode according to the present invention. A DBS electrode 20 is positioned on a subthalamic nucleus (STN) 10.
FIG. 4 is an enlarged view of FIG. 3. Three exposed DBS electrodes 12, 13 and 14 are shown on a right-side STN 10. Therefore, a doctor can be informed that one of the four DBS electrodes exists within the STN 10. Since the doctor precisely knows the position of the DBS electrode with respect to the STN 10, he or she can clearly judge whether an implantation of the DBS electrode is successful, which DBS electrode needs electric stimulation, etc. to thereby reduce a treatment time of a patient. In addition, provided is the basis for precisely understanding the correlation between the electric stimulus and the target region, which has not been revealed before.
FIG. 5 is an explanatory view illustrating a method of forming an image of FIG. 3 according to the present invention. First of all, in step S1 , a pre- implantation MRI volume data set and a post-implantation CT volume data set are acquired. The pre-implantation MRI volume data set is acquired by performing MRI photographing before an implantation of a DBS electrode, and the post-implantation CT volume data set is acquired by performing CT photographing after the implantation, or after the DBS treatment of a predetermined period of time (e.g., three months, six months) from the implantation.
In step S2, a coordinate axis of the pre-implantation MRI volume data set is reset on the basis of a line connecting AC and PC which are index points in a human body. It is called reslicing. A target region (here, an STN) can be easily found by means of the reslicing (by resetting the coordinate axis).
In step S3, the post-implantation CT volume data set is resliced on the basis of the AC -PC. That is, a coordinate axis of the post-implantation CT volume data set is reset on the basis of the AC-PC, for reducing a succeeding alignment time of the pre-implantation MRI volume data set and the post- implantation CT volume data set.
In step S4, the pre-implantation MRI volume data set and the post- implantation CT volume data set having different modalities are aligned. The image alignment provides the basis for overlapping and displaying two volume data sets on one screen, and can be understood as a process of finding a linear transformation T which corresponds voxels of the post-implantation CT volume data set correspond to voxels of the pre-implantation MRI volume data set. It will be described later in more detail.
In step S5, the STN, which is a soft tissue, is rendered into a special volume data set, i.e., a subvolume on the pre-implantation MRI volume data set where the STN can be easily seen. This process is carried out by designating a corresponding intensity to the STN on the pre-implantation MRI volume data set. An atlas can be used during a process of finding the STN. The subvolume of the STN which is a hardly-identifiable deep brain soft tissue target region is generated from the pre-implantation MRI volume data set. Accordingly, the subvolume can be acquired without disturbance of the DBS electrode formed of metal. In step S6, the DBS electrode formed of metal is rendered into a special volume data set, i.e., a subvolume on the post-implantation CT volume data set where the DBS electrode can be easily seen. This process is carried out by designating a corresponding intensity to the DBS electrode on the post- implantation CT volume data set.
In step S7, as shown in FIG. 3, the subvolume 10 of the STN acquired at step S5 and the subvolume 20 of the DBS electrode acquired at step S6 are displayed together. Here, since the subvolume 10 of the STN is generated from the pre-implantation MRI volume data set and the subvolume 20 of the DBS electrode is generated from the post-implantation CT volume data set, they need to be aligned. To this end, the linear transformation T acquired at step S4 is used.
Subvolume rendering and Reslicinq Computer graphics is mainly used to show 2D or 3D graphic expression of an object on a 2D display screen. Volume graphics, which is one field of the computer graphics, deals with visualization of an object expressed as 3 or more dimensional sample data. Such samples are called volume elements or voxels, and contain digital information expressing physical characteristics of the object. For example, voxel data of a specific object can express density, object type, temperature, speed or another characteristic as discrete points in a space over the inside and surrounding of the object.
Recently, a volume graphics method which is called volume rendering has been introduced. The volume rendering is one type of digital signal processing, and gives colors and transparency to the respective voxels in the voxel-based expression. The respective voxels given with colors and transparency are projected on a 2D viewing surface such as a computer screen.
Here, background voxels are hidden by foreground opaque voxels. The accumulation of the projected voxels results in a visual image of the object.
That is, the volume rendering is to render a volume or volume data set. The volume data set includes a 3D array of data points called volume elements or voxels. The voxel, which is a 3D equivalent to a pixel, contains color and transparency information. When the color and transparency that are data values of a specific voxel are changed, the exterior and interior of the object can be shown in different types. For example, when a doctor intends to observe a ligament, tendon and bone of a knee before an operation, he or she can display blood, skin and muscle to be completely transparent in the CT scan image of the knee.
In the meantime, before doing an operation, a doctor obtains information on the shape and position of an abnormal part (e.g., tumor) from medical images such as CT images or MRI images. Therefore, if a 3D object or volume data set created from the medical images such as the CT or MRI images can show the abnormal part to be distinguished from other tissues, it will be much more convenient. To achieve the above object, there has been suggested a multi-subvolume rendering or subvolume rendering method. Briefly, the multi-subvolume rendering displays an abnormal part (or interested part) with a different color, so that a doctor can easily judge the position and shape of the abnormal part. Currently, a volume rendering hardware solution such as VolumePro™ of TeraRecon is used to implement the multi-subvolume rendering.
The subvolume rendering method will be explained with reference to FIG. 6. A volume or volume data set 102 is generated from medical images 101 such as CT or MRI images photographed as many as the appropriate number. The volume or volume data set 102 can be simply considered as a stacking of several medical images 101. Pixels 103 of the respective medical images 101 correspond to voxels 104 of the volume or volume data set 102. Each voxel 104 contains information values of color and transparency as data values.
Referring to FIG. 7, according to the multi-subvolume rendering, a subvolume 105, a subvolume 106 and an entire volume 102 are individually rendered so that the subvolumes 105 and 106 can be rendered to be distinguished from the entire volume 102. Thereafter, the respective rendered images are fused. Here, rendering the subvolume 105 or the subvolume 106 individually means rendering the corresponding subvolume after setting a color suitable for the subvolume by using voxels belonging to a specific subvolume region. In terms of the entire volume, it is like obtaining a 2D image by rendering only some region (the corresponding subvolume region).
FIG. 8 is an explanatory view illustrating reslicing. The reslicing means reconstitution by re-stacking previously-stacked voxels of the left side on the basis of AC-PC. Accordingly, conceptually, the existing coordinate system (xo, yo and Z0) is re-defined as a new coordinate system (xi, yi and z-i).
Image fusion
As illustrated in FIG. 9, fusing medical image data A and B having different characteristics into one image C containing all the information is essential to efficiently make a medical diagnosis. One of the basic steps of the image fusion is to align postures of image volumes.
As shown in FIG. 10, a process of fusing medical image data includes a step S100 of normalizing two image data A and B having different characteristics, a step S200 of acquiring mutual information between the normalized image data A and B, an optimization step S300 of computing a linear transformation T maximizing the mutual information, and a step S400 of fusing the normalized image data A and B by means of the linear transformation T computed at step S300. Hereinafter, the step S300 of computing the linear transformation T maximizing the mutual information according to the present invention will be explained. The steps S100, S200 and S400 are well-known processes, and thus explanations thereof are omitted.
The aligning process, which is a previous step of the process of fusing two 3D medical image data A and B into one image data, aligns the positions and postures of the two 3D medical image data A and B on a 3D space. In the aligning process, the linear transformation T can be defined as follows:
T = arg max MI(T(A)1B)
(Here, Ml represents mutual information between the 3D medical image data A and B.) The image alignment can be carried out by computing the linear transformation T maximizing the mutual information between the 3D medical image data, i.e., the volume data sets A and B.
In 1995, Viola firstly attempted to use mutual information that is a concept of an information theory for the 3D volume alignment. Since then, the mutual information has been widely used in the analysis of medical images such as CT and MRI. Explanations of a concrete method of maximizing mutual information are omitted. An aligning method disclosed in Korean Patent 10-0529119 by the present applicant can be a good example.

Claims

1. A method of determining the position of a deep brain stimulation (DBS) electrode which finds the position of the DBS electrode with respect to a deep brain target region, by using a first volume data set containing information on the deep brain target region and a second volume data set containing information on the DBS electrode implanted toward the deep brain target region, the method of determining the position of the DBS electrode, comprising: a first step of generating a subvolume of the deep brain target region from the first volume data set, and also generating a subvolume of the DBS electrode from the second volume data set; and a second step of overlapping and displaying the subvolume of the deep brain target region and the subvolume of the DBS electrode.
2. The method of Claim 1 , comprising: a step of aligning the first volume data set and the second volume data set at least prior to the second step.
3. The method of Claim 2, wherein the aligning step is carried out by means of mutual information between the first volume data set and the second volume data set.
4. The method of Claim 2, wherein the first volume data set is acquired before the implantation of the DBS electrode, and the second volume data set is acquired after the implantation of the DBS electrode.
5. The method of Claim 4, wherein the first volume data set has a first modality, and the second volume data set has a second modality different from the first modality.
6. The method of Claim 4, wherein the first volume data set is an MRI image and the second volume data set is a CT image.
7. The method of Claim 2, comprising: a step of reslicing the first volume data set on the basis of inter commissural anterior commissure (AC)-posterior commissural (PC) so as to improve identification of the deep brain target region, prior to the aligning step.
8. The method of Claim 7, comprising: a step of reslicing the second volume data set on the basis of AC-PC so as to reduce an alignment time, prior to the aligning step.
9. The method of Claim 8, wherein the aligning step is carried out by means of mutual information between the first volume data set and the second volume data set.
10. The method of Claim 9, wherein the first volume data set is an MRI image and the second volume data set is a CT image.
11. The method of Claim 2, comprising: a step of computing a linear transformation T aligning the first volume data set and the second volume data set at least prior to the second step, wherein the second step overlaps and displays the subvolume of the deep brain target region and the subvolume of the DBS electrode by using the linear transformation T.
12. The method of Claim 11 , wherein the first step generates the subvolume of the deep brain target region from the first volume data set by means of an atlas.
13. The method of Claim 1 , wherein the deep brain target region is a subthalamic nucleus (STN).
14. The method of Claim 10, wherein the deep brain target region is an
STN.
15. The method of Claim 11 , wherein the deep brain target region is an STN.
16. A method of determining the position of a DBS electrode, comprising: a first step of acquiring a first volume data set containing information on a deep brain target region and a second volume data set containing information on an electrode implanted toward the deep brain target region; a second step of finding the correlation between the first volume data set and the second volume data set for alignment; and a third step of taking at least the deep brain target region from the first volume data set, taking at least the electrode from the second volume data set, and displaying the deep brain target region and the electrode by the correlation.
17. The method of Claim 16, wherein at least one of the deep brain target region and the electrode is subvolume-rendered prior to the third step.
18. The method of Claim 18, wherein the second step finds the correlation by means of mutual information.
19. The method of Claim 19, wherein the first volume data set is acquired from an MRI image, and the second volume data set is acquired from a CT image.
20. A method of determining the position of a DBS electrode, comprising: a first step of displaying a screen containing information on a subvolume-rendered deep brain target region and acquired from an MRI image; a second step of tracing the DBS electrode implanted toward the deep brain target region; and a third step of showing the position of the DBS electrode on the implantation with respect to the subvolume-rendered deep brain target region.
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