Method of catheter tracking using image information
First Claim
1. A method of tracking the position of an imaging head of a catheter in three-dimensional space within a human body, the method comprising:
- receiving a first image captured by the catheter;
receiving a second image captured by the catheter;
comparing the first and second images to determine first correlation loss data between the first and second images;
determining first position data for the second image, relative to the first image, using the first correlation loss data; and
outputting the first position data.
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Accused Products
Abstract
An improved method of tracking a catheter'"'"'s position within a human body does not rely on x-rays, but instead calculates the position of the catheter'"'"'s imaging head by analyzing image data. Such an analysis is able to determine the position of the imaging head in 3 dimensional space, relative to an arbitrarily selected reference image. An image is compared with the reference image, correlation data between corresponding points on the two images are gathered, and a correlation loss rate in a particular direction is determined. This correlation loss rate is modeled to an exponential function, which is evaluated to estimate an angle of separation between the image and the reference image. One or more angles of separation are used to determine a position in three dimensional space of the image, relative to the reference image. By repeating this process for a series of images being gathered by a catheter, the position of the catheter can be determined. Additionally, a 3 dimensional map of lumens in the human body can be created.
36 Citations
31 Claims
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1. A method of tracking the position of an imaging head of a catheter in three-dimensional space within a human body, the method comprising:
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receiving a first image captured by the catheter;
receiving a second image captured by the catheter;
comparing the first and second images to determine first correlation loss data between the first and second images;
determining first position data for the second image, relative to the first image, using the first correlation loss data; and
outputting the first position data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A computer-useable medium, the medium comprising a sequence of instructions which, when executed by a processor, causes the processor to execute a method of tracking the position of an imaging head of a catheter within a human body, the method comprising:
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receiving a first image captured by the catheter;
receiving a second image captured by the catheter;
comparing the first and second images to determine first correlation loss data between the first and second images;
determining first position data for the second image, relative to the first image, using the first correlation loss data; and
outputting the first position data. - View Dependent Claims (21, 22, 23, 24, 25, 26)
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- 15. The computer-useable medium of claim 15, wherein determining first position data for the second image comprises determining a first angle of separation between the first and second images using the first correlation loss data, and determining first position data for the second image, relative to the first image, using the first angle of separation.
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27. A system for mapping a lumen in a patient, comprising:
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an imaging catheter adapted to capture a plurality of images of the lumen;
a computer adapted to receive the captured plurality of images and create a map of the lumen by determining a position in three dimensions of each of the plurality of images using data contained in the images; and
an output device adapted to output the map of the lumen. - View Dependent Claims (28, 29, 30, 31)
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Specification