Systems and methods for interventional procedure planning
First Claim
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.
1 Assignment
0 Petitions
Accused Products
Abstract
A method includes registering a distal segment of a guide catheter with a patient coordinate system; tracking a position of the distal segment; determining an insertion length based on the tracked position, wherein the imaging probe is disposed within 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 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 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, wherein transforming the location data further includes determining a roll angle for the image frame of reference with respect to the catheter frame of reference.
66 Citations
27 Claims
-
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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 27)
-
-
13. A system comprising:
-
non-transitory computer readable media containing computer executable instructions for planning a procedure to deploy an interventional instrument including; instructions for registering a distal segment of a guide catheter with a patient coordinate system; instructions for tracking, using a tracking system, a position of the distal segment of the guide catheter; instructions for 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; instructions for receiving an image of an anatomic structure from the imaging probe while extended the insertion length beyond the distal segment of the guide catheter, the image having an image frame of reference, the distal segment of the guide catheter having a catheter frame of reference; instructions for 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 instructions for transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference based on the 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. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
-
Specification