Methods and systems for performing medical procedures with reference to projective image and with respect to pre-stored images
First Claim
1. A method of navigating a probe to a target point-of-interest in a body cavity of a patient, comprising the steps of:
- (a) acquiring a plurality of projective images of at least a portion of the body cavity, using a projective imaging device, each said projective image being acquired with said projective imaging device in a different respective disposition relative to a reference frame;
(b) for each said projective image, measuring said respective disposition of said projective imaging device;
(c) estimating a location of the target point-of-interest, relative to said reference frame, from said projective images, said estimating being based on said measured dispositions of said projective imaging device;
(d) inserting the probe into the body cavity;
(e) measuring a location of the probe relative to said reference frame; and
(f) moving the probe, within the body cavity, so as to minimize a difference between said measured location of the probe and said estimated location of the target point-of-interest.
1 Assignment
0 Petitions
Accused Products
Abstract
A catheter (26) is navigated within a body cavity (28) of a patient (24). This navigation is enabled by the provision of the transmitter (30) of electromagnetic radiation under platform (34), a receiver (40) of electromagnetic radiation rigidly attached to fluoroscope (22), and a receiver (32) of radiation rigidly attached to the catheter (26), all three of which are connected by wires (51) to a computer (50). The computer (50) displays, on a display unit (48), the image of the body cavity (28) acquired by the fluoroscope (22), with an icon representing the catheter (26) superposed on the image in the location and orientation of catheter (26) relative to the body (28). There is no representational imaging device equipped with a receiver in the apparatus of the current invention.
195 Citations
104 Claims
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1. A method of navigating a probe to a target point-of-interest in a body cavity of a patient, comprising the steps of:
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(a) acquiring a plurality of projective images of at least a portion of the body cavity, using a projective imaging device, each said projective image being acquired with said projective imaging device in a different respective disposition relative to a reference frame;
(b) for each said projective image, measuring said respective disposition of said projective imaging device;
(c) estimating a location of the target point-of-interest, relative to said reference frame, from said projective images, said estimating being based on said measured dispositions of said projective imaging device;
(d) inserting the probe into the body cavity;
(e) measuring a location of the probe relative to said reference frame; and
(f) moving the probe, within the body cavity, so as to minimize a difference between said measured location of the probe and said estimated location of the target point-of-interest. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A navigating system for navigating a probe to a point-of-interest in a body cavity of a patient, comprising:
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(a) a projective imaging device for acquiring a plurality of projective images of at least a portion of the body cavity;
(b) a disposing system for measuring, for each said projective image, a respective disposition of said projective imaging device relative to a reference frame;
(c) a mechanism for estimating a location of the point-of-interest, relative to said reference frame, from said projective images, said estimating being based on said measured dispositions of said projective imaging device; and
(d) a locating system for measuring a location of the probe relative to said reference frame. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29)
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30. A method of acquiring an image volume of a body, comprising the steps of:
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(a) for each of a plurality of nominal dispositions of a projective imaging device relative to a reference frame;
(i) measuring an actual disposition of said projective imaging device relative to said reference frame, (ii) if said actual disposition is not substantially the same as said each nominal disposition, moving said projective device until said actual disposition is substantially the same as said each nominal disposition, and (iii) acquiring a respective projective image of the body, using said projective imaging device at said each nominal disposition; and
(b) transforming said plurality of projective images into the image volume. - View Dependent Claims (31, 32, 33, 34, 36, 37, 38, 39)
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35. An imaging system for acquiring an image volume of a body, comprising:
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(a) a projective imaging device for acquiring projective images of the body;
(b) a disposing system for measuring dispositions of said projective imaging device relative to a reference frame;
(c) a mechanism for moving said projective imaging device among a plurality of nominal dispositions thereof, with reference to said measured disposition; and
(d) a processor for transforming said projective images into the image volume, each said projective image having been acquired at a different respective said nominal disposition.
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40. A method of acquiring an image volume of a body, comprising the steps of:
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(a) for each of a plurality of dispositions of a projective imaging device relative to a reference frame;
(i) moving said imaging device to said disposition as measured by a disposing system, and (ii) acquiring a respective projective image of the body; and
(b) transforming said projective images into the image volume according to said measurements of said dispositions. - View Dependent Claims (41)
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42. An imaging system for acquiring an image volume of a body, comprising:
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(a) a projective imaging device for acquiring projective images of the body;
(b) a disposing system for measuring dispositions of said projective imaging device relative to a reference frame; and
(c) a processor for transforming said projective images into the image volume according to said measured dispositions. - View Dependent Claims (43, 44, 45, 46, 48, 49, 50, 51, 52, 53)
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47. A method of acquiring an output image volume of a body, comprising the steps of:
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(a) for each of a plurality of actual dispositions of a projective imaging device;
(i) moving said projecting imaging device to said each actual disposition, and (ii) acquiring a respective projective image of the body, using said projective imaging device at said each actual disposition;
(b) based on said projective images, estimating said actual dispositions; and
(c) based on said estimated dispositions, transforming said projective images into the output image volume.
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54. An imaging system for acquiring an image volume of a body, comprising:
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(a) a projective imaging device for acquiring a plurality of projective images of at least a portion of the body at actual respective dispositions of said projective imaging device; and
(b) a processor for estimating said actual dispositions from said projective images and for transforming said projective images into the image volume, said transforming being based on said estimated dispositions. - View Dependent Claims (55, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87)
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56. A method of navigating a probe in a body cavity of a patient, comprising the steps of:
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(a) acquiring a plurality of images of at least a portion of the body cavity, using an imaging device, while measuring, for each said image, a respective disposition of said imaging device relative to a reference frame, each said image being acquired at a different said respective disposition;
(b) selecting one of said first images to use as a guide image; and
(c) displaying said guide image along with an icon representative of a disposition of the probe within the body cavity.
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69. A method of treating a body of a patient, comprising the steps of:
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(a) simultaneously;
(i) acquiring a first image of at least a portion of the body, using an imaging device, (ii) measuring a disposition of said imaging device relative to a reference frame, and (iii) measuring a disposition of the body relative to said reference frame;
(b) restoring said imaging device and the body to respective dispositions that are equivalent to said measured dispositions; and
(c) performing a medical procedure on the body with reference to said first image after said restoring of said imaging device and of the body to said equivalent dispositions.
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88. A method of treating a body of a patient, comprising the steps of:
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(a) simultaneously;
(i) acquiring a first image of at least a portion of the body, using an imaging device, (ii) measuring a disposition of said imaging device relative to a reference frame, and (iii) measuring a first disposition of the body relative to said reference frame;
(b) measuring a second disposition of the body relative to said reference frame; and
(c) performing a medical procedure on the body with reference to said first image and with reference to all three said dispositions. - View Dependent Claims (89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104)
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Specification