Method and apparatus for registration, verification and referencing of internal organs
First Claim
1. A system for registering an anatomical region of a patient, comprising:
- an imaging device configured to produce image data of the anatomical region of the patient including image data coordinate information within the anatomical region in a first frame of reference;
a registration device including at least one position indicating element;
a restraining device comprising one of;
a balloon, vacuum ports disposed along a length of the restraining device, deployable hooks, cages, or stiffening wires, the restraining device being configured to receive the registration device and to maintain the registration device slidably along a path defined by the restraining device and lying within the anatomical region set out in the image data coordinate information;
a tracking device adapted to produce position data regarding the path defined by the restraining device as a followed path of the registration device within the anatomical region in a second frame of reference, wherein the position data is obtained by the tracking device sampling coordinates of the at least one position indicating element as the position indicating element is moved within the followed path of the registration device within the anatomical region; and
a computer element comprising a processor, wherein the processor is adapted to receive the image data including an image data path of the registration device in the image data coordinate information from the imaging device, receive the position data including the followed path of the registration device in the position data from the tracking device, and map the image data path of the registration device from the image data coordinate information and the followed path of the registration device from the position data together.
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Abstract
Systems and methods for registering, verifying, dynamically referencing, and navigating an anatomical region of interest of a patient are provided. In one embodiment, the anatomical region of interest is imaged using an imaging device such as, for example, an x-ray device. A tracked registration device may then be removably inserted following a path within the anatomical region and the position of the registration device may be sampled by a tracking device as the registration device is moved within the anatomical region through the catheter. The sampled position data is registered to the image data to register the path to the anatomical region of interest. The same or a similar device may be used to dynamically reference the movements affecting the anatomical region and modify the registration in real time. The registration may also be verified.
234 Citations
32 Claims
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1. A system for registering an anatomical region of a patient, comprising:
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an imaging device configured to produce image data of the anatomical region of the patient including image data coordinate information within the anatomical region in a first frame of reference; a registration device including at least one position indicating element; a restraining device comprising one of;
a balloon, vacuum ports disposed along a length of the restraining device, deployable hooks, cages, or stiffening wires, the restraining device being configured to receive the registration device and to maintain the registration device slidably along a path defined by the restraining device and lying within the anatomical region set out in the image data coordinate information;a tracking device adapted to produce position data regarding the path defined by the restraining device as a followed path of the registration device within the anatomical region in a second frame of reference, wherein the position data is obtained by the tracking device sampling coordinates of the at least one position indicating element as the position indicating element is moved within the followed path of the registration device within the anatomical region; and a computer element comprising a processor, wherein the processor is adapted to receive the image data including an image data path of the registration device in the image data coordinate information from the imaging device, receive the position data including the followed path of the registration device in the position data from the tracking device, and map the image data path of the registration device from the image data coordinate information and the followed path of the registration device from the position data together. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A computer-implemented method for registering an anatomical region of a patient, comprising:
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receiving image data of the anatomical region in a first frame of reference from an imaging device, the image data including image data of an image data path within the anatomical region; receiving position data from a registration device slidably disposed in a restraining device comprising one of;
a balloon, vacuum ports disposed along a length of the restraining device, deployable hooks, cages, or stiffening wires, the restraining device being configured to maintain the registration device along a path defined by the restraining device as a followed path within the anatomical region, wherein the position data is in a second frame of reference, the second frame of reference being of a tracking device, wherein the position data is obtained by the tracking device sampling a position of at least one position indicating element as the position of the at least one position indicating element moves following the followed path; andmapping the image data path of the image data and the followed path of the position data together using a registration transformation. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A method for registering an anatomical region of a patient, the method comprising:
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imaging the anatomical region using an imaging device to produce image data of the anatomical region including image data coordinate information of an imaging data path in a first frame of reference; slidably disposing a registration device in a restraining device, wherein the restraining device comprises one of;
a balloon, vacuum ports disposed along a length of the restraining device, deployable hooks, cages, or stiffening wires;inserting the registration device having first and second ends into a path within the anatomical region, wherein the first end of the registration device is inserted into the path within the anatomical region, and wherein the registration device includes at least one position indicating element located at the first end of the registration device; moving the registration device within the restraining device along the path within the anatomical region while sampling coordinates of the at least one position element to produce position data regarding a path of the registration device defined by the restraining device as a path of the registration device within the anatomical region in a second frame of reference, wherein coordinates of the one or more position indicating elements are sampled by a tracking device; and mapping together the imaging data path of the image data and the followed path of the position data using a registration transformation to produce a set of registration data for the followed path of the registration device relative to the imaging data path within the image data of the anatomical region. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32)
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Specification