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Systems and methods for interventional procedure planning

  • US 10,588,597 B2
  • Filed: 12/30/2013
  • Issued: 03/17/2020
  • Est. Priority Date: 12/31/2012
  • Status: Active Grant
First Claim
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1. A method of deploying an interventional instrument, the method performed by a processing system, the method comprising:

  • registering a distal segment of a guide catheter with a patient coordinate system;

    tracking, using a tracking system, a position of the distal segment of the guide catheter;

    determining an insertion length between an imaging probe and the distal segment of the guide catheter based on the tracked position of the distal segment of the guide catheter, wherein the imaging probe is extendably disposed within the guide catheter;

    with the imaging probe extended to the insertion length relative to the distal segment of the guide catheter, receiving an image of an anatomic structure from the imaging probe, the image having an image frame of reference, the distal segment of the guide catheter having a catheter frame of reference;

    receiving location data associated with a target structure identified in the image, wherein the received location data is in the image frame of reference; and

    transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference based on the determined insertion length and the tracked position of the distal segment of the guide catheter, wherein transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference further includes determining a roll angle for the image frame of reference with respect to the catheter frame of reference.

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