Systems for correcting distortions in a medical image and methods of use thereof

Abstract

The invention relates generally systems for correcting distortion in a medical image and methods of use thereof. Methods and systems for displaying a medical image of a lumen of a biological structure, generally comprise obtaining image data of a lumen of a biological structure from an imaging device, correcting the image data for translational distortions, in which correcting is accomplished without reference to another data set, and displaying a corrected image.

Description

FIELD OF THE INVENTION

The invention generally relates to systems for correcting distortion in a medical image and methods of use thereof.

BACKGROUND

Medical imaging is commonly used to evaluate various biological structures of a patient. A common type of imaging system is a rotational medical imaging system (e.g., optical coherence tomography (OCT) or intravascular ultrasound (IVUS)). Those types of systems generally acquire images of an inside of an anatomical structure having a lumen, for example a blood vessel or other similar vasculature.

Typically, such rotational systems include an imaging body that rotates in a complete circle while being pulled back (or pushed forward) along a pre-defined longitudinal length. The motion of the device as it acquires image data results in a series of two dimensional image frames, each frame providing a 360° internal view of the vessel at a different location as the device moves through the vessel. A series of those frames can be combined to construct a three-dimensional image of an inside of the vessel. Three dimensional images allow for easier and more fluid viewing of vasculature anatomy and afford a clinician an ability to rapidly identify changes in a lumen border of the vasculature that are attributable to a disease state (e.g., an embolism or extent of arteriosclerosis).

Although rotational imaging systems have the potential for providing detailed images of the inside of vessels, the displayed image often includes various distortions arising during movement of the device through the lumen. For example, distortions can include images in a series appearing to be misaligned, improper display of vessel features due to the imaging device not precisely following the contours of the vessel, or distortion arising from the helical motion of the device as it is moved through the vessel. These distortions result in considerable intra- and inter-observer variability that may lead to conflicting or incorrect patient diagnosis.

SUMMARY

The invention provides methods and systems for correcting translational distortion in a medical image of a lumen of a biological structure. Various image distortions can occur during image acquisition, and generally result from the device not being centered in the lumen, the device not precisely following the contours of the lumen, and/or the helical motion of the device as it translates through the vessel. Systems and methods of the invention are able to correct those and other distortions. Accordingly, systems and methods of the invention improve frame to frame image consistency, image accuracy and multi-dimensional image construction. Improvements in the constructed image allow for more efficient clinical diagnoses and decreased user-specific variability in image construction and incorrect diagnosis.

The invention is applicable to data from any image gathering devices that acquire and process one, two, or three dimensional data sets from which three dimensional image compositions are derived. Exemplary devices include tomographic devices such as optical coherence tomography (OCT) devices, photo acoustic imaging devices and ultrasound devices, including, but not limited to, intravascular ultrasound spectroscopy (IVUS), and other catheter-based tomographic imaging technologies.

Through the use of the image processing techniques described herein, the vascular structure border for all imaging frames, or any subsets thereof, in a recorded data set are corrected for image distortions and provided to the user. Corrected lumen border images are provided to the user in one, two and three dimensional image displays by the methods and systems provided. The resulting corrected lumen border may be displayed as the final tomographic image, the image longitudinal display (ILD), splayed image and three dimensional image. User interface graphics provide input for other indicators on a monitor interface, such as a color bar indicating the size of the lumen.

In certain aspects, the invention provides a method for displaying a medical image of a lumen of a biological structure, for example a vessel lumen. In particular, a lumen is displayed having had distortions due to translational motion of the imaging device removed from the image. Removing distortions may be accomplished by correcting for translational distortions in the image data, and providing a one, two or three dimensional construction of the corrected image. Corrections may be accomplished without reference to any other data set.

In other aspects, the invention embodies a system for displaying a medical image of a vessel. The system may use a monitor to display an image of the lumen of the biological structure, a central processing unit (CPU), and storage coupled to the CPU for storing instructions. The system may be configured so that the CPU obtains image data of a lumen of a biological structure from an imaging device and corrects the image data for translational distortions and displays a corrected image.

The image data to be corrected may include any one of or combinations of splayed image data, image longitudinal display (ILD) data, three dimensional image data and tomographic image data. For example, tomographic image data that is acquired by an optical coherence tomography (OCT) catheter and corresponding OCT image data is particularly suited for the methods and systems described. Exemplary translational distortions to be corrected include frame alignment distortion, device angular distortion, and helical offset distortion.

In one example, compensating for frame alignment distortion includes identifying a reference position in each image frame and aligning each frame using the reference position. Another example of compensating for frame alignment includes aligning the reference position in all frames and calculating a new reference position from the aligned frames. A specific reference position can be the center of the lumen, but any reference position in the image frame can be used. Steps for aligning to the center of a lumen may include fitting a geometric shape to a lumen border, calculating a reference position within the area circumscribed by the geometric shape and aligning the image center to the reference position. The geometric shape to be fit to the lumen border includes, but is not limited to, a centroid, a circle or an ellipse. For greater consistency among frames for alignment purposes, the reference position can be smoothed across all image frames.

Another example includes compensating for angular distortion attributable to the imaging device. This example is generally accomplished as a multistep process. First, the method involves aligning a reference position of one frame with a catheter center position of a neighboring frame. Then, a longitudinal distance is determined between neighboring frames and an angle between two vectors is evaluated. The first vector is defined by a distance between a reference position in a first frame and a catheter center position in a neighboring frame, and the second vector may be defined by a distance between a reference position in a first frame and a reference position in said neighboring frame. Next, the neighboring frame is rotated about an axis through a value corresponding to the angle between the two vectors. The axis may be located in a plane defined by the neighboring frame, intersecting the catheter center position of the neighboring frame, and oriented perpendicular to a plane in which the first vector and second vector are located.

In another example of correcting for translational distortions, the correction compensates for helical distortion. Here, the image data first is evaluated for the longitudinal displacement for a 360° set of image data points. Second, the data points are interpolated to lie in a plane perpendicular to the direction of longitudinal displacement. The interpolation is applied proportionately to the angular coordinate and corresponding longitudinal coordinate position for each data point in the 360° scan such that the final correction places all data points for a 360° scan in the same plane.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 illustrates a partial cross-sectional view of an imaging catheter suitable for use with a rotational imaging system.

FIG. 2 illustrates a helical scanning pattern for a rotational imaging system.

FIG. 3 illustrates the geometry of a data stream acquired using the helical scanning pattern of FIG. 2

FIG. 4 illustrates an example of one source of distortion in OCT image data that is due to the change in position of a rotational imaging catheter relative to a vessel lumen wall as it is longitudinally displaced within the length of a vessel.

FIG. 5 shows a single frame image of a vessel lumen appearing off-center because the catheter occupies the center of the image.

FIG. 6 shows an ILD composed of a series of image frames where the catheter position varies relative to the lumen border. Each of the 200 individual lumen border images shifts out of alignment from other image frame lumen borders through the series, while the catheter remains in alignment.

FIG. 7 shows an example of a splayed image two-dimensional map of a vessel pullback.

FIG. 8 shows a three dimensional surface display of vessel lumen border centered relative to an imaging catheter. The three-dimensional display is constructed from uncorrected two-dimensional images.

FIG. 9A shows the optional procedural steps described herein for correcting geometric distortions in an image data set.

FIG. 9B shows the sub-steps in block 980 of FIG. 9A for correcting angular distortions of the imaging device.

FIG. 10 shows a corrected tomographic image of vessel having the image center shifted from the catheter center to a vessel lumen centroid.

FIG. 11 shows a corrected Image Longitudinal Display in which the image display is corrected by transforming the image slices from catheter-centered to being aligned at a vessel lumen center.

FIG. 12 shows a corrected splayed image map having the image center shifted from catheter center to a calculated vessel lumen center.

FIG. 13 shows a corrected three-dimensional surface display of vessel lumen border. The final image is constructed from two-dimensional images corrected for centering and alignment to a calculated lumen center.

FIG. 14 shows a notional example of an imaging catheter which is imaging at an angle with respect to the lumen wall.

FIG. 15 shows a notional example of the same vessel depicted in FIG. 14, but with a catheter imaging device remaining uniform in placement within the vessel lumen walls.

FIGS. 16 A and B provide graphical examples of two neighboring image frames having different catheter centers “C” and lumen centers “CG” for which an angular corrective alignment will be applied.

FIG. 17 provides an example of the angular and longitudinal coordinates (Z) for each frame, and the dashed lines represent the position of the new interpolated frames.

DETAILED DESCRIPTION OF THE INVENTION

Medical imaging is a general technology class in which sectional and multidimensional anatomic images are constructed from acquired data. The data can be collected from a variety of acquisition systems including, but not limited to, magnetic resonance imaging (MRI), radiography methods including fluoroscopy, x-ray tomography, computed axial tomography and computed tomography, optical coherence tomography (OCT), nuclear medicine techniques such as scintigraphy, positron emission tomography and single photon emission computed tomography, photo acoustic imaging ultrasound devices and methods including, but not limited to, intravascular ultrasound spectroscopy (IVUS), ultrasound modulated optical tomography, ultrasound transmission tomography, other tomographic techniques such as electrical capacitance, magnetic induction, functional MRI, optical projection and thermo-acoustic imaging, combinations thereof and combinations with other medical techniques that produce two- and three-dimensional images. At least all of these techniques are contemplated for use with the systems and methods of the present invention.

Medical imaging systems well suited for the present invention include rotational medical imaging systems. Exemplary rotational systems may use optical coherence tomography (OCT), or may include other types of imaging technology including, but not limited to, intravascular ultrasound spectroscopy (IVUS), RAMAN spectroscopy, alternative interferometric techniques, therapeutic or diagnostic delivery devices, pressure wires, and the like. In the case of an optical imaging system, light sources can be laser light, tunable laser light, multiple tunable laser lights with corresponding detectors, broadband light source, super-luminescent diode, tunable source, and the like.

Rotational system images (e.g. OCT and IVUS images) are acquired in the polar domain with coordinates of radius and angle (r, theta) but need to be converted to Cartesian coordinates (x, y) for display or rendering on a computer monitor. Typically, rotational systems consist of an imaging core which rotates and pulls back (or pushes forward) while recording an image video loop. This motion results in a three dimensional dataset of two dimensional image frames, where each frame provides a 360° slice of the vessel at different longitudinal locations. Although the exemplifications described herein are drawn to the invention as applied to OCT, the systems and methods are applicable to any imaging system, including at least those mentioned herein.

A particular medical imaging technique contemplated herein is optical coherence tomography (OCT). OCT systems and methods are generally described in Milner et al., U.S. Patent Application Publication No. 2011/0152771, Condit et al., U.S. Patent Application Publication No. 2010/0220334, Castella et al., U.S. Patent Application Publication No. 2009/0043191, Milner et al., U.S. Patent Application Publication No. 2008/0291463, and Kemp, N., U.S. Patent Application Publication No. 2008/0180683, the content of each of which is incorporated by reference in its entirety. OCT is a medical imaging methodology using a specially designed catheter with a miniaturized near infrared light-emitting probe attached to the distal end of the catheter. As an optical signal acquisition and processing method, it captures micrometer-resolution, three-dimensional images from within optical scattering media (e.g., biological tissue). OCT allows the application of interferometric technology to see from inside, for example, blood vessels, visualizing the endothelium (inner wall) of blood vessels in living individuals. OCT systems may be a spectrometer based OCT system or a Fourier Domain OCT, as disclosed in U.S. Patent Application No. 2009/0046295, herein incorporated by reference.

Commercially available optical coherence tomography systems are employed in diverse applications, including art conservation and diagnostic medicine, notably in ophthalmology where it can be used to obtain detailed images from within the retina. Recently it has also begun to be used in interventional cardiology to help diagnose coronary artery disease.

Various lumen of biological structures may be imaged with aforementioned imaging technologies in addition to blood vessels, including, but not limited, to vasculature of the lymphatic and nervous systems, various structures of the gastrointestinal tract including lumen of the small intestine, large intestine, stomach, esophagus, colon, pancreatic duct, bile duct, hepatic duct, lumen of the reproductive tract including the vas deferens, vagina, uterus and fallopian tubes, structures of the urinary tract including urinary collecting ducts, renal tubules, ureter, and bladder, and structures of the head and neck and pulmonary system including sinuses, parotid, trachea, bronchi, and lungs.

The arteries of the heart are particularly useful to examine with imaging devices such as OCT. OCT imaging of the coronary arteries can determine the amount of plaque built up at any particular point in the coronary artery. The accumulation of plaque within the artery wall over decades is the setup for vulnerable plaque which, in turn, leads to heart attack and stenosis (narrowing) of the artery. OCT is useful in determining both plaque volume within the wall of the artery and/or the degree of stenosis of the artery lumen. It can be especially useful in situations in which angiographic imaging is considered unreliable, such as for the lumen of ostial lesions or where angiographic images do not visualize lumen segments adequately. Example regions include those with multiple overlapping arterial segments. It is also used to assess the effects of treatments of stenosis such as with hydraulic angioplasty expansion of the artery, with or without stents, and the results of medical therapy over time.

FIG. 1 illustrates an exemplary catheter 100 for rotational imaging inside a lumen of any anatomical or mechanical conduit, vessel, or tube. The exemplary catheter 100 is suitable for in vivo imaging, particularly for imaging of an anatomical lumen or passageway, such as a cardiovascular, neurovascular, gastrointestinal, genitor-urinary tract, or other anatomical luminal structure. For example, FIG. 1 illustrates a vascular lumen 102 within a vessel 104 including a plaque buildup 106. The exemplary catheter 100 may include a rapid access lumen 108 suitable for guiding the catheter 100 over a guide-wire 110.

The exemplary catheter 100 is disposed over an exemplary rotational imaging modality 112 that rotates about a longitudinal axis 114 thereof as indicated by arrow 116. The exemplary rotational imaging modality 112 may comprise, in one embodiment, an OCT system. OCT is an optical interferometric technique for imaging subsurface tissue structure with micrometer-scale resolution. In another embodiment, the exemplary rotational imaging modality 112 may comprise an ultrasound imaging modality, such as an IVUS system, either alone or in combination with an OCT imaging system. An exemplary OCT system may include a tunable laser or broadband light source or multiple tunable laser sources with corresponding detectors, and may be a spectrometer based OCT system or a Fourier Domain OCT system, as disclosed in U.S. Patent Application Publication No. 2009/0046295, herein incorporated by reference. The exemplary catheter 100 may be integrated with IVUS by an OCT-IVUS system for concurrent imaging, as described in, for example, Castella et al. U.S. Patent Application Publication No. 2009/0043191 and Dick et al. U.S. Patent Application Publication No. 2009/0018393, both incorporated by reference in their entirety herein.

Referring to FIGS. 1 and 2, the rotational imaging modality 112 may be longitudinally translated during rotation, as indicated by line 118 in FIG. 1. Thus, the rotational imaging modality 112 acquires data along a path 120 that includes a combination of rotation and/or longitudinal translation of the rotational imaging modality 112. FIG. 2 illustrates an exemplary path 120, which is a helical scanning pattern 120, resulting from such a combination. Because FIG. 2 is a cross-sectional view, the helical scanning pattern 120 is illustrated as would be traced on a rear half of a luminal surface 122 of the scanned vessel 104. The helical scanning pattern 120 facilitates scanning a three-dimensional space within and beneath the luminal surface 122 longitudinally as desired, but also introduces a data artifact commonly known as a seam line artifact during reconstruction of the data into a display frame, as will be further discussed herein below.

Referring to FIGS. 1 and 2, the longitudinal axis 114 is illustrated as linear for simplicity and clarity. However, the longitudinal axis 114 is not necessarily linear as illustrated. The longitudinal axis 114 may be curvilinear having a curvature following a tortuosity of the vessel 104. It will be understood that vessel 104 need not be linear, but may in fact have a curvilinear longitudinal axis 104 following the vessel 104 along a tortuous geometry, and that the present invention equally applicable to an imaging modality 112 longitudinally translated along the vessel 104 having a longitudinally linear and/or tortuous geometry.

Referring to FIG. 3, a portion of the three dimensional space within and beneath the luminal surface 122 scanned within a single rotational period is projected into a planar (two-dimensional) format. In this format, line 126 represents a circumferential axis plotted horizontally. The geometry of a data stream acquired utilizing the above-described helical scan pattern 120 relative to the geometry of the luminal surface 122 may be represented by the parallelogram 124 disposed over the horizontal line 126 in FIG. 3. Starting at a fixed data acquisition angle 200 (hereinafter a “FDAA 200”) conveniently denoted as zero degrees (0°) in FIG. 3, the rotational imaging modality 112 acquires data following a rotational path indicated by line 128 (parallel to the line 126) in FIG. 3. However, because the rotational imaging modality 112 may also be translated longitudinally, as indicated by line 130 in FIG. 3, the two-dimensional representation of the scanned three-dimensional space within and beneath the luminal surface 122 comprises the shape of the parallelogram 124. This means that at the end of one full rotation of the rotational imaging modality 112 as denoted in FIG. 3 by the FDAA 200 having a value of 360°, the rotational imaging modality 112 has translated longitudinally by a distance Z.

To perform the analysis of a clinical condition, images acquired with the rotational imaging devices are reconstructed in various display formats. However, the displayed images often have artifacts generated during the acquisition or processing of the acquired data. Artifacts arise from, for example, shadows in the lumen border from stents and guide wires used in the catheter portion of the imaging device. Other artifacts arise from any of a variety of dynamic motional effects including, for example, cardiac motion of the patient or external movement of the catheter. Because all scans are relative to the catheter imaging core, the catheter always appears at the center of a tomographic image. Thus, still other artifacts include lumen image distortions and frame to frame offset or misalignment of the lumen due to the catheter not being centrally located during translational motion, and is typically ascribed to the inherent tortuosity of the biological structure being imaged. Still other distortions arise from a discontinuity of the imaging data for a two-dimensional image slice as a result of the helical offset of the scan imaged. Such an offset arises from the combined rotational and translational motions of the imaging device, in which during a full 360° rotational scan the imaging core has translated longitudinally be a distance Z.

Distortions also arise because the imaging device position relative to the vessel wall varies due to, for example, the size and ductility of the catheter. Since all images are relative to the catheter imaging core, the catheter always appears in the center of the image. This results in successive images appearing as though the vessel is shifting position around the catheter imaging core. Such artifacts may be minor and tolerated as a nuisance depending on the vessel architecture. In other circumstances, however, the artifacts are so significant such that additional time consuming analysis or independent analytical techniques are needed to corroborate and conclude a clinical diagnosis. The inclusion of image artifacts and distortions in the image data can result in intra- and inter-observer variability and may lead to incorrect diagnosis.

Several image distortions commonly obtained from rotational imaging devices are described in FIGS. 4-8. Catheters generally have low ductility relative to a lumen and cannot conform exactly to the tortuous shape of, for example, a blood vessel in which it is imaging. FIG. 4 illustrates an example of one source of distortion in OCT image data that is due to the change in position of a rotational imaging catheter relative to a vessel lumen wall as it is longitudinally displaced within the length of a vessel. Because all images are relative to the catheter imaging core, the catheter always appears in the center of the image and successive images appear as though the vessel is shifting position around the catheter imaging core. This effect will cause the vessel at times to appear off-centered in the tomographic, splayed, two and three-dimensional images and Image Longitudinal Displays (ILD). FIG. 5 shows a single frame image of a vessel lumen appearing off-center because the catheter occupies the center of the image. FIG. 6 shows an ILD composed of a series of image frames where the catheter position varies relative to the lumen border. Each of the 200 individual lumen border images shifts out of alignment from other image frame lumen borders through the series, while the catheter remains in alignment. Thus, in either the tomographic or ILD image frames obtained during catheter pullback, the vessel may appear to move around the catheter.

Another example of an image display type that often has a distorted presentation is a “splayed image.” FIG. 7 shows an example of a splayed image two-dimensional map of a vessel pullback. The x-axis is rotational angle of the lumen border relative to the imaging device, and the y-axis is frame number. A splayed image is generated by integrating all pixel intensities beyond the vessel lumen border across all A-scans for all frames. Since a splayed image is constructed by integrating along A-scans, the coordinates of the resulting signal are presented relative to the catheter center, where the x-axis corresponds to the angle relative to the center of the image. The stent struts, due to their shadowing effect, are clearly seen in the image data. However, the angular spacing of the stent struts varies as caused by the eccentricity of the catheter during the pullback. The systems and methods described herein can be used to correct distortions and create a more accurate depiction of the stent distribution.

A three dimensional model of vessel wall is usually constructed through the acquisition of a series of two dimensional images, and therefore also may display distortions based on those present in the two-dimensional images. FIG. 8 shows a three-dimensional surface reconstruction of a vessel wall with distortional artifacts because it is constructed from uncorrected two-dimensional images. As in FIGS. 4-7, the position of the vessel wall is determined relative positioned to the catheter, and therefore the surface of the three-dimensional model is slightly distorted by the change in position of the catheter along the pullback.

The invention herein provides methods and systems for correcting medical images of biological structures with distortions and displaying a corrected image. Removal of distortions can be accomplished by correcting for angular and translational distortions and providing a one, two or three dimensional construction of the corrected image. Corrections are accomplished without reference to any other data set.

Without limiting the scope of the invention, descriptions of the embodiments use terms such as alignment, frame alignment, image alignment, referencing (with respect to frame(s) and image(s)), and image registration. These terms are used within a general framework of aligning one or more images using, as referencing points, one or more common features among the images. Common features among images may include, but are not limited to, a Cartesian coordinate, a polar coordinate, a pixel location, a data point location, or an image feature, for example a lumen border. In certain embodiments at least one anatomical feature in the image is used as a reference point. In other embodiments at least one non-anatomical feature is used as a reference point.

Since all depth scan data is acquired relative to an imaging device's imaging core, a common image feature is desirable to create a series of images that are aligned to portray a more accurate depiction of an anatomical structure. When data is acquired by the imaging core, the core always appears at the center of the image and any longitudinal change in the position of the imaging core has the result of the vessel appearing to move around the core. Therefore, various embodiments are contemplated that establish a common feature of a medical image or image data file to be used for alignment.

FIG. 9 shows the procedural steps described herein for correcting geometric distortions in an image data set. The skilled artisan will appreciate that not all steps presented in are required, and that some steps are optional depending on the presence and severity of any corrections to be made.

In FIG. 9 (a), block 900 is for an initial step of fitting a geometric structure to the vessel lumen. Block 920 is for calculating a new reference point based on the geometric structure fitted to the vessel lumen. Block 940 is for an alignment step to align all the images with a calculated or predetermined reference point. Block 960 is for the correction of angular distortions present in the data set. Block 980 is for the removal of distortions resulting from helical sampling patterns. After these steps are completed, selected features of the image data set are used for alignment and construction of a two- and/or three-dimensional image, as described herein.

In FIG. 9 (b) are the sub-steps to correcting angular distortions as presented in FIG. 9 (a), block 960. Block 961 is for the identification of a lumen border and a lumen center. Block 962 is for the identification of a reference position in a first image and a non-reference position in a second position. Block 963 is for the computation of a longitudinal translation vector between the first and second images. Block 964 is for the computation of an angle between a first vector corresponding to the reference position in the first image and the catheter position in the second image, and a second vector corresponding to the reference position in the first image and the lumen center in the second image. Block 965 if for computing a plane from the vectors in 964 and its angular relation to the image plane of the first image. Block 966 is for determining the axis of rotation for the second image. Block 967 is for rotating the second image into its corrected position.

Referring now to FIG. 9 (a) and general methods to correct for a medical image having geometric distortions, in one embodiment of the invention an anatomical structure of the image can be identified, for example a border of a vessel lumen, and at least one feature of the anatomical structure can be used to align the images.

Referring to FIG. 9 (a), block 900, in an exemplary embodiment a lumen border of a vessel is identified (for example either manually or automatically with the use of a computer). Generally, a vessel lumen is approximated using geometric shapes including, but not limited to, polygons, circles and ellipses. Many commercially available programs and algorithms, as well as freeware programs, can be used for a fitting and an identification of a center of a circle, ellipse or polygon that has been fitted to a vessel lumen image (see, for example, MATLAB, GNU Octave, FlexPro, Scilab, FreeMat, Rlab, Sysquake, LabVIEW, COMSOL Script, O-Matrix, jLab, and the like). These programs use mathematical principles well known to those in the art. See Johnson, Roger A., Advanced Euclidean Geometry, Dover Publishing (2007) (orig. pub. 1929) and modern variations on computational geometry in, for example, Burr et al. in Proceedings of the 17th Canadian Conference on Computational Geometry (2005) pgs 260-263. Alternatively, manual fitting of polygons, circles and/or ellipses to the image data sets can be performed with subsequent manual or automated determination of a new center.

Referring to FIG. 9 (a), block 920, a new reference point is determined using a geometric structure fitted to a vessel lumen. In certain methods for defining a center of a vessel lumen, a geometric centroid of a lumen can be calculated in each image slice by fitting a polygon of n-sides to the inside of the lumen, and using a calculated centroid as a new reference point. A centroid can be considered a geometric center, or barycenter, of a plane figure or two-dimensional shape that is the intersection of all straight lines that divide the two-dimensional shape into two parts having equal moment about the line, i.e. it can be considered the “average” (arithmetic mean) of all points of the two-dimensional shape. Therefore, a polygon fitted to a lumen border can have a calculated centroid for use in image alignment. In certain exemplifications, a polygon also can be fitted to the lumen through automated methods known to those having skill in the art, or fitted manually.

The centroid can be calculated using methods well known to those in the art, including, for example, Equation 1:

$\begin{array}{cc}\mathrm{EQUATION}1& \\ C=\frac{x_1+x_2+\dots +x_k}{k}& \left(1\right)\end{array}$ where the centroid is of a finite set of k points x₁, x₂, . . . , x_k in Rⁿ; by integration. Another formula for calculating a centroid is shown in Equation 2:

$\begin{array}{cc}\mathrm{EQUATION}2& \\ C=\frac{\int \mathrm{xg}\left(x\right)dx}{\int g\left(x\right)dx}& \left(2\right)\end{array}$ where g is the characteristic function of the subset, which is 1 inside X and 0 outside it. Another formula for the centroid can be:

$\begin{array}{cc}\mathrm{EQUATION}3& \\ C_k=\frac{\int {\mathrm{zS}}_k\left(z\right)dz}{\int S_k\left(z\right)dz}& \left(3\right)\end{array}$ where C_k is the kth coordinate of C, and S_k(z) is the measure of the intersection of X with the hyperplane defined by the equation x_k=z. Again, the denominator is simply the measure of X. For a planar figure, in particular, the barycenter coordinates can be calculated using:

$\begin{array}{cc}\mathrm{EQUATION}4a,b& \\ C_x=\frac{\int x{S}_y\left(x\right)dx}{A}& \left(4a\right)\\ C_y=\frac{\int y{S}_x\left(y\right)dy}{A}& \left(4b\right)\end{array}$ The centroid of a non-self-intersecting closed polygon defined by n vertices (x₀, y₀), (x₁, y₁), . . . , (x_n-1, y_n-1) is the point (C_x, C_y), can be determined using:

$\begin{array}{cc}\mathrm{EQUATION}5\left(a\text{-}c\right)& \\ C_x=\frac{1}{6A}\sum _{i=0}^{n-1}\left(x_i+x_{i+1}\right)\left(x_i{y}_{i+1}-x_{i+1}{y}_i\right)& \left(5a\right)\\ C_y=\frac{1}{6A}\sum _{i=0}^{n-1}\left(y_i+y_{i+1}\right)\left(x_i{y}_{i+1}-x_{i+1}{y}_i\right)& \left(5b\right)\end{array}$ and, where A is the polygon's signed area,

$\begin{array}{cc}A=\frac{1}{2}\sum _{i=0}^{n-1}\left(x_i{y}_{i+1}-x_{i+1}{y}_i\right)& \left(5c\right)\end{array}$

In these formulas, the vertices are assumed to be numbered in order of their occurrence along the polygon's perimeter, and the vertex (x_n, y_n) is assumed to be the same as (x₀, y₀). Note that if the points are numbered in clockwise order, an area A, computed as above, can have a negative sign but the centroid coordinates will be correct. Exemplary discussions of methods for evaluation of a centroid can be found in, for example, Johnson, Roger A., Advanced Euclidean Geometry, Dover Publishing (2007) (orig. pub. 1929), incorporated by reference in its entirety. It is to be noted that Equations 1-6 embody non-limiting examples of evaluating a centroid fit to a vessel lumen border, but any equation appropriate to achieve the desired centroid calculation can be incorporated into the methods and systems presented herein.

In another method for defining a center of a vessel lumen, a circle or ellipse is fitted to, for example, polar coordinates, Cartesian coordinates, pixel locations or data point locations of a vessel lumen. Fitting can be accomplished manually by a clinician. Alternatively, fitting can be accomplished by using a selected set of anatomical data points present across all images. In this method, even if, for example, vessel lumen diameter increases or decreases, the anatomical landmarks can remain consistent so that any new reference centers of an ellipse or circle fitted to those landmarks also can remain anatomically correct throughout the full set of images.

In an alternative embodiment, a largest diameter circle or ellipse can be fit to a vessel lumen without having overlapped significantly with the vessel lumen border. For example, a pre-determined number and/or location of allowable overlaps or interferences between the data points corresponding to a circumference of a fitted shape (e.g., circle or ellipse) and any data points corresponding to a lumen border can be used in the positioning of the circle or ellipse. In certain embodiments there may be no allowable interferences. In other embodiments, there may be no allowable interferences between a selected set of lumen border edge points. In still other embodiments, a range of allowable overlaps can be predetermined. These methods and systems also contemplate being applied to polar coordinates or Cartesian coordinates and the like, or data point locations within the image file, for example pixel locations.

Fitting a circle or ellipse to data points as described herein can be through application of computational algorithms searching for a best fit to data points or edge points in the OCT image data. Difference algorithms, least squares, polynomial fitting, geometric and algebraic fitting methods and similar techniques are commonly found in commercially available computational mathematics and statistical packages, for example curve fitting and regression analysis packages, that also affords the user to automate an analysis of a set of data (see, for example, MATLab and GNU Scientific Library software packages). The same program software can identify the center of the circle or ellipse using well known mathematical principles. See Johnson, Roger A., Advanced Euclidean Geometry, Dover Publishing (2007) (orig. pub. 1929) and modern variations on computational geometry in, for example, Burr et al. in Proceedings of the 17th Canadian Conference on Computational Geometry (2005) pgs 260-263. Alternatively, manual fitting and center point calculation of circles and/or ellipses to the data sets can be applied.

Referring to FIG. 9 (a), block 940, image registration techniques are also contemplated for use with the systems and methods of the invention described herein. Image registration techniques are well known to those having skill in the art. Image registration generally can be considered as a process of overlaying or aligning two or more images by geometrically aligning a reference image to a non-reference image. In a series of image alignments, a non-reference image can become a reference image once alignment to a prior reference image is determined. Alternatively, a full set of images can be transformed into alignment, sub-sets of an image data set can be aligned, or a full set of aligned images can be further processed to refine the final image registration. Referencing image data sets can be accomplished at least by multi-view analysis, multi-temporal analysis, multimodal analysis and scene-to-model registration, as such terms and techniques are adopted and applied throughout the art. Regardless which technique is utilized, the majority of the registration techniques consist of detection of features within an image, matching those features between and among images, parameterizing mapping functions to be applied to image transformations, and image resampling and transformation. Exemplary discussions of image registration techniques and their application can be found in, for example, B. Zitova and J. Flusser, Image and Vision Computing (2003) pgs 977-1000, M. Petrou (2004), J. B. Antoine Maintz and M. A. Viergever Technical Report UU-CS-1998-22, University Utrecht (1998), M. V. Wyawahare et al. Int. Journal of Signal Processing, Image Processing and Pattern Recognition (2009) 2(3):11-28, C. B. Fookes and M. Bennamoun, Technical Report ISBN: 1 86435 569 7, RCCVA, QUT, Brisbane, Australia, (May 2002) and A. Goshtasby (2005) 2-D and 3-D Image Registration for Medical, Remote Sensing and Industrial Applications (Wiley, Hoboken, N.J.; 2005), each incorporated by reference in their entirety herein.

In particular examples, image registration techniques known to those in the art are used to align at least one parameter among all image frames. Therefore, it is contemplated that anatomical features such as a newly defined center based on a lumen border of an image and any corresponding data points, and/or non-anatomical features of an image such as, for example, a center of an image frame can be used for image registration or alignment. In certain examples, image registration utilizing cross correlation techniques and its variants such as phase correlation are implemented. Many techniques are known to those in the art, as described by B. Zitova and J. Flusser Image and Vision Computing (2003) pgs 977-1000, J. B. A. Maintz and M. A. Viergever, Technical Report UU-CS-1998-22, University Utrecht (1998), and L. G. Brown, ACM Computing Surveys (1992) Vol. 24; pgs 325-376, A. Goshtasby (2005) 2-D and 3-D Image Registration for Medical, Remote Sensing and Industrial Applications (Wiley, Hoboken, N. J.; 2005), and others, each incorporated by reference in its entirety herein. Therefore, selected features of the images can be aligned, shifting the image of the OTC imaging device away from the center of the image.

Interpolative mathematical techniques may be applied to image data sets that need to be transformed, as such transformations may result in, for example, non-integral numerical data sets. Certain interpolation schemes are desirable for a particular class of interpolants, and thus may be chosen accordingly. Interpolative schemes can be confined to regression analysis or simple curve fitting. In other examples, interpolation of trigonometric functions may include, when better suited to the data, using trigonometric polynomials. Other interpolation schemes contemplated herein include, but are not limited to, linear interpolation, polynomial interpolation and spline interpolation. Still other interpolative forms can use rational functions or wavelets. Multivariate interpolation is the interpolation of functions of more than one variable, and in other examples multivariate interpolation is completed with include bi-linear interpolation and bi-cubic interpolation in two dimensions, and tri-linear interpolation in three dimensions. These interpolation techniques and others known to those in the art, and as such are contemplated for use in the methods and systems described herein.

Referring to FIG. 9 (a), block 940, it is further contemplated that the center of the imaging device catheter can be transformed to a vessel lumen center, thereby achieving frame to frame alignment of the vessel lumen. Transformation of the imaging device catheter to a center coordinate can be achieved, for example, through computational modeling by attaching a spring constant of appropriate tension from a calculated lumen center to a catheter center. The spring stiffness may be a predetermined or nominal parameter attributable to the catheter based on design and materials of manufacture.

After a new image reference point is defined, the various one-, two- and three-dimensional sets of images may be transformed with respect to the new reference point to account for translational shift of the image structures, for example a vessel lumen, of each frame, i.e., the new reference point become the center of alignment across all image frames. FIG. 10 shows a tomographic image display as provided in FIG. 5, but re-centered with respect to the calculated centroid of the lumen border. As shown in FIG. 10 the catheter is shifted off center as it is no longer the center of the image display. As a clinician scrolls through a series of images, the vessel lumen will appear to be in the same relative position, but the imaging device will appear to move.

FIG. 11 shows an image longitudinal display (ILD) of FIG. 6, but re-centered with respect to the calculated centroid of the lumen border. For each of the 200 A-scans in the ILD, the A-scan was transformed to a new reference point that has been calculated in each scan allowing for alignment of the image scans to a center of a vessel lumen border. Alternatively, each A-scan can be interpolated to calculate a new, common reference center followed by alignment of A-scans to an interpolated reference point.

FIG. 12 shows a splayed image as provided in FIG. 7, but with individual A-scans re-centered based on a calculated lumen centroid. For each A-scan, a new angle theta was recalculated relative to the newly defined reference point. To align the frames, the data corresponding to the splayed image can be sampled or interpolated to a regularly spaced angle. From the image shown in FIG. 7 compared to FIG. 12, the stent struts have been repositioned and appear more regularly spaced.

FIG. 13 shows a three dimensional representation of a vessel lumen outer edge as provided in FIG. 8, with the image frames repositioned by interpolation of transformation according to a new reference point corresponding to a calculated vessel lumen center. The distortions appearing in the image shown in FIG. 8 that are due to a changing positioning eccentricity of the imaging device are minimized with the transformation.

In approaches where a new reference point is determined as described herein, a reference point may have significant translational displacement among the proximal (e.g., neighboring) and distal image frames. Such translational displacement can be the result of, but not limited to, the tortuous path of a vessel lumen being imaged, presence of vessel side branches, severe stenosis or other dynamic motions including the cardiac motion of the patient or movement of the catheter. Therefore, in a certain embodiment of the present invention, a new calculated reference point in each image of a set of image frames as determined from the methods described herein can be additionally mathematically refined using data point smoothing with respect to the aligned reference points. This processing step can increase the overall consistency of image alignment. Smoothing algorithms can incorporate the methods as described herein, and additionally may include linear regression, polynomial fitting and the like, with variations on the fitting an alignment of images to utilize various filters including, but not limited to, median filters, Gaussian filters, Gaussian low-pass filters and the like. In certain embodiments, the width of the filter may be changed to accommodate a preferred weight for the data to adjust for, for example, different imaging systems and/or configurations, or the particular characteristic of the data points being aligned. Thus, it is contemplated that the size and shape of a filter used in conjunction with the alignment algorithm may vary and is not limited to the examples provided in the present invention.

Referring to FIG. 9 (a), block 960, the methods and systems described herein contemplate corrections to image distortions arising from catheters and/or imaging devices oriented at angles relative to a vessel lumen border. Ideally, a catheter will remain centered within a vessel, approximately equi-distant from the vessel lumen walls and following any tortuous paths assumed by the vessel. In such a case, the angle of incidence of an OCT radiofrequency beam will be consistent and uniform from image frame to image frame. However, observation of imaging catheters shows that they are flexible, bending considerably within the vessel lumen. FIG. 14 shows a notional example of an imaging catheter which is imaging at an angle with respect to the lumen wall. In an uncorrected reconstructed image, vessel wall features appear at different longitudinal distances than the true anatomical distribution, and size and location of anatomic features can be significantly distorted. FIG. 15 shows a notional example of the same vessel depicted in FIG. 14, but with a catheter imaging device remaining uniform in placement within the vessel lumen walls. In the latter case, the images acquired from the imaging device will match the anatomical features in location and size.

The technique for correcting catheter angle distortion presented herein can recover some or all of a gross anatomical geometry of a vessel in addition to the localized geometry of a vessel relative to an imaging catheter. A full and true gross anatomical image with respect to, for example, a patient's heart, body or other frame of reference can be enhanced by inclusion of geometric data from co-registered angiographic, extracorporeal ultrasound, or other sensing means that records the position of an imaging catheter and/or vessel with respect to a frame of reference. An additional embodiment uses the distortion correction procedure described herein as a co-registration technique with an independent metric for refining the position and angular placement of the imaging device. Co-registration techniques are exemplified in, for example, Huennekens et al. US Patent Application Publication No. 2006/0241465, Huennekens et al US Patent Application Publication No. 2007/0038061, each of which is incorporated herein in their entirety.

To correct for an angular distortion of the catheter 960 and imaging device, an angle of the catheter at any position within the vessel lumen can be estimated and corrected directly from the dataset being acquired and without reference to an independent evaluation for the orientation of the device. Steps for corrections for angular distortions 960 are illustrated in FIG. 9 (b), in which there can be seven steps to correct for a catheter angle distortion.

Referring to FIG. 9 (b), block 961, the first step to correct for a catheter angle distortion involves identification of a lumen border and evaluation of a center of a lumen. These processes can be performed using techniques as described herein, such as calculating a lumen centroid, fitting a circle or ellipse to a set of lumen border data points and evaluating the positional center of the ellipse or circle, or determining a maximum sized circle or ellipse than can be fit into a lumen border and evaluating its positional center.

Referring to FIG. 9 (b), block 962, the second step to correct for a catheter angle distortion involves identifying the reference and non-reference positions in a Cartesian coordinate system between two images. The reference positions, for example, can be a center of a lumen (see step 1) as a reference position and a center of an imaging catheter or imaging device from a neighboring image 2 being a non-reference position. FIGS. 16 (a) and (b) provide notional examples of two neighboring image frames having respective catheter centers “C” and lumen centers “CG.” Next, transform image 2 into alignment with image 1 so that the position of the catheter center of image 2 is aligned to the lumen center of image 1 and preserving the rotational and angular orientation of the frames. The reference point of frame 1 now serves as a point of origin for evaluating angular relationships between image 1 and image 2.

Referring to FIG. 9 (b), block 963, the third step to correct for catheter angle distortion involves computing a longitudinal translation between successive frames. A vector Z can be defined as a coordinate and distance for longitudinal translation of the imaging device between catheter center “C” of image 1 and lumen center “CG” image 2. Image device longitudinal pullback rate is known from predetermined parameters derived by a clinician or one having skill in the art, from which the magnitude of the Z vector is easily derived.

Referring to FIG. 9 (b), block 964, the fourth step to correct for catheter angle distortion involves computing an angle “theta” between two vectors from image 1 to image 2. One vector can be defined as CG₂ and is determined using the Cartesian coordinate of the reference point of image 1 and the lumen center of image 2. A second vector can be defined as C₂ and is determined using the Cartesian coordinate of the reference point of image 1 and the catheter center of image 2. The angle between the vectors CG₂ and C₂ can be calculated using, for example, vector dot product formulation provided in Equation 6 and as is well known to those in the art:θ=cos⁻¹{(CG₂·C₂)/(|CG₂∥C₂)}  EQUATION 6

Referring to FIG. 9 (b), block 965, the fifth step to correct for catheter angle distortion involves computing a plane between the two vectors of step 4 and relative angular offset of the plane with an image 1 plane. A plane “CG₂C₂” can be defined by vectors CG₂ and C₂, and the angle of the plane determined in relation to the plane defined by image 1. Because the vectors CG₂ and C₂ are defined by three Cartesian coordinate positions (the position of the lumen center in image 1, the position of the lumen center in image 2, and the position of the catheter center in image 2), a CG₂C₂ plane can be determined in relation to the plane defined by image 1, and standard geometric formulation may be used to evaluate the relative angle θ between the CG₂C₂ and image 1 plane.

Referring to FIG. 9 (b), block 966, the sixth step to correct for catheter angle distortion involves determining an axis of rotation with which to reorient image 2 to image 1. The axis of rotation can be determined using standard geometric formulation known to those in the art (see references incorporated herein) wherein a calculated axis will possess the following criteria: orientation is perpendicular to plane CG₂C₂, lays within the plane of image 2, and intersects the original catheter position of image 2.

Referring to FIG. 9 (b), block 967, the seventh to correct for catheter angle distortion involves rotating the non-referenced image 2 into a proper orientation with reference image 1. The XYZ Cartesian coordinates of image 2 can, in their entirety, by uniformly rotated around the axis determined in step 6. An angular distance of rotation to be applied is the angle calculated in step 4.

Each of the steps illustrated in FIG. 9 (b) are repeated for all sequential image frames, wherein the non-referenced image from a preceding pair of aligned image frames becomes a reference image. The process is repeated for the entire set of images in an imaging run. In another embodiment, the final transformed data set may further incorporate interpolating a spacing parameter among the frames using interpolative techniques as described herein. Other exemplary reference positions that can be used for the calculations in each of the steps illustrated in FIG. 9 (b), in addition to a center of a lumen vessel calculated using techniques described herein (e.g. center of a circle or ellipse or a centroid), can be any position not directly limited to a position defined by the vascular anatomy. For example, any data point position common to all images in a data set can be used. In particular, any data point or position defined with image registration techniques are applicable to the methods described herein.

Referring to FIG. 9(a), block 980, the methods and systems contemplate removing distortion from a helical sampling patterns arising from an imaging device. Another correction to imaging data embodied by the methods and systems of the present invention compensates for a helical sampling pattern of the imaging apparatus (in this case OCT). A typical OCT catheter rotates as it moves longitudinally and collects data, resulting in a helical image acquisition pattern of the vessel lumen border. For each 360° degree rotation of the imaging core, an image data scan is created. Although each image data scan consists of a lumen border data set acquired at multiple longitudinal positions, a final scan is represented or displayed as a single plane acquired along a longitudinal trajectory. The single image plane displays distortions according to the rate of longitudinal displacement and rotational speed of the imaging device. In order to correct for the distortion due to the helical sampling pattern of the imaging core, interpolation algorithms can be applied to correct the distortion in those data points that lie ahead of and/or behind the final image display. The degree of interpolation applied to a data point can be proportional to an angular coordinate and corresponding longitudinal coordinate for each data point in a 360° image scan. The degree of interpolation applied to distorted XYZ coordinates of each pixel to correct to true XYZ coordinates can easily be computed based on the known pullback (or push-forward) rate of the catheter, after which interpolative transforming techniques (bilinear, bicubic, nearest neighbor, etc.) can be applied. Interpolation can be done with either the polar or scan converted data. FIG. 17 provides an example of the angular and longitudinal coordinates (Z) for each frame, and the dashed lines represent the position of the new interpolated frames.

The foregoing and other features and advantages of the invention are apparent from the following detailed description of exemplary embodiments, read in conjunction with the accompanying drawing. The systems and methods of use described herein may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Accordingly, the systems and methods of use described herein may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. The systems and methods of use described herein can be performed using any type of computing device, such as a computer, that includes a processor or any combination of computing devices where each device performs at least part of the process or method.

Suitable computing devices typically include mass memory and typically include communication between devices. The mass memory illustrates a type of computer-readable media, namely computer storage media. Computer storage media may include volatile, non-volatile, removable and non-removable media implemented in any method or technology for storage information, such as computer readable instructions, data structures, program modules or other data. Examples of storage media include RAM, ROM, EEPROM, flash memory, or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, radiofrequency identification tags or chips, or any other medium which can be used to store the desired information and which can be accessed by a computing device.

Methods of communication between devices or components of a system can include both wired and wireless (e.g., radiofrequency, optical or infrared, optics including fiber-optics and or lens systems) communications methods and such methods provide any other type of computer readable communications media. Such communications media typically embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave, data signal, or other transport mechanism and include any information delivery media. The terms “modulated data signal” and “carrier-wave signal” includes a signal that has one or more of its characteristics set or changed in such a manner as to encode information, instructions, data, and the like, in the signal. By way of example, communication media includes wired media and wireless media such as acoustic, radiofrequency, infrared, and other wireless media.

INCORPORATION BY REFERENCE

References and citations to other documents, such as patents, patent applications, patent publications, journals, books, papers, web contents, have been made throughout this disclosure. All such documents are hereby incorporated herein by reference in their entirety for all purposes.

EQUIVALENTS

The invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The foregoing embodiments are therefore to be considered in all respects illustrative rather than limiting on the invention described herein. Scope of the invention is thus indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims

1. A method for displaying a medical image of a lumen of a biological structure, the method comprising providing at least one computer-readable medium having instructions stored thereon which, when executed by a computing device, cause the computing device to carry out operations comprising: obtaining image data of a lumen of a biological structure from an imaging device;correcting the image data for translational distortions, wherein correcting is accomplished without reference to another data set and wherein correcting comprises compensating for device angular distortion, wherein compensating comprises:aligning a reference position of a first frame with a catheter center position of a neighboring frame;determining a longitudinal distance between neighboring frames;evaluating an angle between two vectors, wherein a first vector is defined by a distance between a reference position in a first frame and a catheter center position in a neighboring frame, and a second vector is defined by a distance between a reference position in a first frame and a reference position in said neighboring frame; androtating the neighboring frame about an axis through a value corresponding to the angle between the said two vectors, wherein said axis is located in a plane defined by the neighboring frame, intersecting the catheter center position of the neighboring frame, and oriented perpendicular to a plane in which said first vector and second vector are located; anddisplaying a corrected image.

2. The method of claim 1, wherein the structure is a vessel.

3. The method of claim 1, wherein the image data is selected from the group consisting of splayed image data, image longitudinal display (ILD) data, three dimensional image data, tomographic image data, and a combination thereof.

4. The method of claim 3, wherein the medical imaging device comprises an optical coherence tomography (OCT) catheter and the image data is OCT image data.

5. The method of claim 1, wherein the translational distortions are selected from the group consisting of frame alignment distortion, device angular distortion, helical offset distortion, and a combination thereof.

6. The method of claim 1, wherein correcting comprises compensating for frame alignment distortions.

7. The method of claim 6, wherein compensating comprises: identifying a reference position in each frame of the image data; andaligning each frame using the reference position.

8. The method of claim 7, further comprising: aligning reference positions in all neighboring frames; and calculating a new reference position from the aligned frames.

9. The method of claim 7, wherein the reference position is a lumen center.

10. The method of claim 7, wherein identifying further comprises: fitting a geometric shape to a lumen border;calculating a reference position within the area circumscribed by the geometric shape; andaligning the image center to the reference position.

11. The method of claim 10, wherein the geometric shape is a centroid, a circle, or an ellipse.

12. The method of claim 10, wherein the reference position is smoothed across all image frames.

13. A method for displaying a medical image of a lumen of a biological structure, the method comprising providing at least one computer-readable medium having instructions stored thereon which, when executed by a computing device, cause the computing device to carry out operations comprising: obtaining image data of a lumen of a biological structure from an imaging device;correcting the image data for translational distortions, wherein correcting is accomplished without reference to another data set and wherein correcting comprises compensating for helical offset distortion, wherein compensating comprises:evaluating the longitudinal displacement for a 360° set of image data points; andinterpolating data points to lie in a plane perpendicular to the direction of longitudinal displacement, wherein said interpolation is proportional to an angular coordinate and corresponding longitudinal coordinate for each data point in a 360° image scan; anddisplaying a corrected image.

14. A system for displaying a medical image of a lumen of a biological structure, the system comprising a monitor to display an image of the lumen of the biological structure, a central processing unit (CPU), and storage coupled to the CPU for storing instructions that configure the CPU to: obtain image data of a lumen of a biological structure from an imaging device;correct the image data for translational distortions, wherein correcting is accomplished without reference to another data set and wherein to correct comprises compensating for device angular distortion, wherein compensating comprises: aligning a reference position of a first frame with a catheter center position of a neighboring frame;determining a longitudinal distance between neighboring frames;evaluating an angle between two vectors, wherein a first vector is defined by a distance between a reference position in a first frame and a catheter center position in a neighboring frame, and a second vector is defined by a distance between a reference position in a first frame and a reference position in said neighboring frame; androtating the neighboring frame about an axis through a value corresponding to the angle between the said two vectors, wherein said axis is located in a plane defined by the neighboring frame, intersecting the catheter center position of the neighboring frame, and oriented perpendicular to a plane in which said first vector and second vector are located; anddisplay a corrected image.

15. The system of claim 14, wherein the structure is a vessel.

16. The system of claim 15, wherein the image data is selected from the group consisting of splayed image data, image longitudinal display (ILD) data, three dimensional image data, tomographic image data, and a combination thereof.

17. The system of claim 16, wherein the medical imaging device comprises an optical coherence tomography (OCT) catheter and the image data is OCT image data.

18. The system of claim 14, wherein the translational distortions are selected from the group consisting of frame alignment distortion, device angular distortion, helical offset distortion, and a combination thereof.

19. The system of claim 14, wherein to correct comprises compensating for frame alignment distortions.

20. The system of claim 19, wherein compensating comprises: identifying a reference position in each frame of the image data; andaligning each frame using the reference point.

21. The system of claim 20, further comprising: aligning reference positions all neighboring frames; andcalculating a new reference position from the aligned frames.

22. The system of claim 20, wherein the reference position is a lumen center.

23. The system of claim 20, wherein identifying further comprises: fitting a geometric shape to a lumen border;calculating a reference position within the area circumscribed by the geometric shape; andaligning the image center to the reference position.

24. The system of claim 23, wherein the geometric shape is a centroid, a circle, or an ellipse.

25. The system of claim 23, wherein the reference position is smoothed across all image frames.

26. A system for displaying a medical image of a lumen of a biological structure, the system comprising a monitor to display an image of the lumen of the biological structure, a central processing unit (CPU), and storage coupled to the CPU for storing instructions that configure the CPU to: obtain image data of a lumen of a biological structure from an imaging device;correct the image data for translational distortions, wherein correcting is accomplished without reference to another data set and wherein to correct comprises compensating for device angular distortion and wherein to correct comprises compensating for helical offset distortion, wherein compensating comprises: evaluating the longitudinal displacement for a 360° set of image data points; andinterpolating data points to lie in a plane perpendicular to the direction of longitudinal displacement, wherein said interpolation is proportional to an angular coordinate and corresponding longitudinal coordinate for each data point in a 360° image scan; anddisplay a corrected image.