Tracking-based 3D model enhancement

• US 10,163,204 B2
• Filed: 02/12/2016
• Issued: 12/25/2018
• Est. Priority Date: 02/13/2015
• Status: Active Grant

• Current Assignee: ST JUDE MEDICAL INTERNATIONAL HOLDING S. R.L.
• Original Assignee: ST JUDE MEDICAL INTERNATIONAL HOLDING S. R.L.
• Inventors: Kariv, Itay M., Cohen, Amit, Eichler, Uzi, Kor, Kobi
• Primary Examiner(s): Carter, Aaron W
• Application Number:
  US15/042,613
• Publication Number:
  US 20160239963A1
• Time in Patent Office: 1,047 Days
• Field of Search: 382128, 382154, 382254, 382115, 382199, 382131, 382270, 128920, 25036304, 378 4, 600410, 600420, 600431, 600499, 600407, 600437, 600436, 600645, 348344, 348355, 705 2, 705 3
• CPC Class Codes: A61B 2017/00243 cardiac
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2576/023 for the heart
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 5/063 using impedance measurements
• CPC Class Codes: A61B 5/283 Invasive
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/4225 using image intensifiers
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 6/481 involving the use of contrast agents
• CPC Class Codes: A61B 6/503 for diagnosis of the heart
• CPC Class Codes: A61B 6/5229 combining image data of a patient, e.g. combining a functional image with an anatomical image
• CPC Class Codes: A61B 6/5264 due to motion
• CPC Class Codes: G06T 11/003 Reconstruction from projections, e.g. tomography
• CPC Class Codes: G06T 2207/30048 Heart; Cardiac
• CPC Class Codes: G06T 7/0012 Biomedical image inspection
• CPC Class Codes: G06T 7/11 Region-based segmentation
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G06T 7/70 : Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G16H 30/40 : for processing medical images, e.g. editing

Abstract

A method for enhancing a three-dimensional (3D) reconstruction of an object comprises obtaining a signal indicative of a static 3D reconstruction of an object disposed in a tracking space, co-registering the 3D reconstruction to the 3D tracking space, collecting enhancement data from a tracked tool disposed in the 3D tracking space, and adding real-time features of the object to the static 3D reconstruction using the enhancement data. A system for enhancing data obtained by a medical system includes an electronic control unit configured to receive a first signal for a static 3D reconstruction of an organ, co-register the static 3D reconstruction to a 3D tracking space for a tracked tool, receive a second signal for enhancement data generated by the tracked tool operating within a region of interest of the organ, and add real-time features of the area of interest to the static 3D reconstruction using the enhancement data.

Claims

1. A method for enhancing a three-dimensional (3D) reconstruction of an internal organ of a patient disposed in a tracking space, the method comprising:

obtaining a signal indicative of a static 3D reconstruction of an object disposed in a 3D tracking space;

co-registering the 3D reconstruction to the 3D tracking space;

collecting enhancement data from a tracked elongate medical device disposed in the 3D tracking space; and

adding real-time features of the object to the static 3D reconstruction using the enhancement data, wherein the static 3D reconstruction is animated in synchronicity with motion of the object based on real-time movement of the tracked elongate medical device engaged with the object to create a 4D model,

wherein the 3D tracking space is disposed in a Medical Positioning System (MPS) coordinate system and the static 3D reconstruction is disposed in a 3D coordinate system and

wherein the real-time features comprise an extension of a boundary of the static 3D reconstruction, and wherein the object comprises a heart and the extension of the boundary comprises an extension of a branch of a coronary sinus and

wherein the object comprises a heart and the extension of the boundary comprises an extension of a branch of a coronary sinus, and

wherein the branch of the coronary sinus is mapped in the static 3D reconstruction using contrast fluid, and (a) the extension of the boundary extends beyond where the contrast fluid currently terminates, or (b) the contrast fluid is located at the extension of the boundary but has dissipated from an initial concentration effective to visualize the extension.

2. The method of claim 1, wherein the real-time features comprise motion of the object.

3. The method of claim 2, wherein the object comprises a heart and the motion comprises heart wall motion arising from beating of the heart.

4. The method of claim 1, wherein the extension of the boundary of the static 3D reconstruction comprises a trace from the tracked elongate medical device in the MPS coordinate system co-registered with the static 3D reconstruction in the 3D coordinate system.

5. The method of claim 1, wherein the co-registering comprises matching the static 3D reconstruction with an estimated volumetric model generated by the tracked elongate medical device.

6. The method of claim 5, wherein the estimated volumetric model is determined by matching a trace from the tracked elongate medical device with a 2D representation of the object.

7. The method of claim 6, wherein the 2D representation comprises an X-ray image of the object.

8. The method of claim 1, further comprising compensating for movement of the object.

9. The method of claim 8, wherein movement of the object comprises respiration of the patient.

10. The method of claim 9, wherein the compensation comprises synchronizing period frequencies of the 3D reconstruction and the enhancement data.

11. The method of claim 8, wherein movement of the object comprises muscular movement of the internal organ.

12. The method of claim 11, wherein the compensation comprises associating an anchor with the static 3D reconstruction in the 3D coordinate system with the 3D tracking space in the MPS coordinate system.

21. The method of claim 1, wherein the 3D reconstruction includes a centerline data of the branch of the coronary sinus that extends beyond where the contrast fluid currently terminates or (b) the contrast fluid is located at the extension of the boundary but has dissipated from an initial concentration effective to visualize the extension.

22. The method of claim 1, wherein the 4D model is displayed on a display with one or more of an image and a model.

13. A system for enhancing data acquired from a medical system, the system comprising the following:

a tracked tool in communication with the ECU to provide the second signal; and

an electronic control unit (ECU) configured to;

receive a first signal for a static 3D reconstruction of an organ;

co-register the static 3D reconstruction to a 3D tracking space for a tracked elongate medical device;

receive a second signal for enhancement data generated by the tracked elongate medical device operating within a region of interest of the organ; and

add real-time features of the area of interest to the static 3D reconstruction using the enhancement data, wherein the 3D reconstruction is animated in synchronicity with motion of the organ based on real-time movement of the tracked elongate medical device in the organ

wherein the 3D tracking space is disposed in a Medical Positioning System (MPS) coordinate system and the static 3D reconstruction is disposed in a 3D coordinate system and

wherein the real-time features comprise an extension of a boundary of the static 3D reconstruction, and wherein the object comprises a heart and the extension of the boundary comprises an extension of a branch of a coronary sinus and

wherein the object comprises a heart and the extension of the boundary comprises an extension of a branch of a coronary sinus, and

wherein the branch of the coronary sinus is mapped in the static 3D reconstruction using contrast fluid, and (a) the extension of the boundary extends beyond where the contrast fluid currently terminates, or (b) the contrast fluid is located at the extension of the boundary but has dissipated from an initial concentration effective to visualize the extension.

14. The system of claim 13, wherein the extension of the boundary of the static 3D reconstruction comprises a trace from the tracked elongate medical device in a Medical Positioning System (MPS) coordinate system co-registered with the 3D reconstruction in a 3D coordinate system.

15. The system of claim 13, wherein the co-registering comprises matching the static 3D reconstruction with an estimated volumetric model generated by the tracked elongate medical device.

16. The system of claim 15, wherein the estimated volumetric model is determined by matching a trace from the tracked elongate medical device with a 2D representation of the organ.

17. The system of claim 13, wherein the ECU is further configured to compensate for respiration of a patient of the organ.

18. The system of claim 17, wherein the ECU is configured to compensate for respiration of the patient of the organ by synchronizing period frequencies of the 3D reconstruction and the enhancement data.

19. The system of claim 13, wherein the ECU is further configured to compensate for muscular movement of the organ.

20. The system of claim 19, wherein the ECU is further configured to compensate for muscular movement of the organ by associating an anchor with the 3D reconstruction and with the 3D tracking space at a known location.