Method and apparatus for registering 3D models of anatomical regions of a heart and a tracking system with projection images of an interventional fluoroscopic system
First Claim
1. An imaging system for use in a medical intervention procedure, comprising:
- a first image acquisition system configured to produce a fluoroscopy image of an anatomical region;
a second image acquisition system configured to produce a 3D model of the anatomical region;
an interventional tracking system configured to maneuver within the anatomical region, the interventional tracking system comprising a position indicator, a first anatomical reference system common to both the first and the second image acquisition systems;
a second anatomical reference system common to both the first image acquisition system and the interventional tracking system; and
a processing circuit configured to process executable instructions for;
registering the second image acquisition system with the first image acquisition system to define a first registration;
registering the interventional tracking system with the first image acquisition system to define a second registration; and
in response to the first and second registrations, registering the interventional tracking system with the second image acquisition system.
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Abstract
An imaging system for use in a medical intervention procedure is disclosed. A first image acquisition system is configured to produce a fluoroscopy image of an anatomical region. A second image acquisition system is configured to produce a 3D model of the anatomical region. An interventional tracking system, which includes a position indicator, is configured to maneuver within the anatomical region. A first anatomical reference system is common to both the first and the second image acquisition systems, and a second anatomical reference system is common to both the first image acquisition system and the interventional tracking system. A processing circuit configured to process executable instructions for registering the second image acquisition system with the first image acquisition system to define a first registration, registering the interventional tracking system with the first image acquisition system to define a second registration, and in response to the first and second registrations, registering the interventional tracking system with the second image acquisition system.
247 Citations
23 Claims
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1. An imaging system for use in a medical intervention procedure, comprising:
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a first image acquisition system configured to produce a fluoroscopy image of an anatomical region;
a second image acquisition system configured to produce a 3D model of the anatomical region;
an interventional tracking system configured to maneuver within the anatomical region, the interventional tracking system comprising a position indicator, a first anatomical reference system common to both the first and the second image acquisition systems;
a second anatomical reference system common to both the first image acquisition system and the interventional tracking system; and
a processing circuit configured to process executable instructions for;
registering the second image acquisition system with the first image acquisition system to define a first registration;
registering the interventional tracking system with the first image acquisition system to define a second registration; and
in response to the first and second registrations, registering the interventional tracking system with the second image acquisition system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 22, 23)
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16. A method of registering a 3D model of an anatomical region of a patent with a catheter-based tracking system, the catheter-based tacking system comprising a catheter with a position indicator, the method comprising:
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generating a fluoroscopy image of the anatomical region, the catheter with the position indicator being disposed within the anatomical region;
generating a 3D model of the anatomical region;
using a first common anatomical reference system and a discernible parameter associated with the catheter, registering the 3D model with the fluoroscopy image, thereby defining a first registration;
using a second common anatomical reference system and signals from the position indicator representative of the location of the catheter in the fluoroscopy image, registering the catheter-based system with the fluoroscopy image, thereby defining a second registration;
using the first registration and the second registration, registering the 3D model with the catheter-based tracking system. - View Dependent Claims (17, 18, 19)
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20. A cuter program product for registering a 3D model of an anatomical region of a patient with a catheter-based tracking system, the catheter-based tracking system comprising a catheter with a position indicator, the product comprising:
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a storage medium, readable by a processing circuit, storing instructions for execution by the processing circuit for;
generating a fluoroscopy image of the anatomical region, the catheter with the position indicator being disposed within the anatomical region;
generating a 3D model of the anatomical region;
using a first common anatomical reference system and a discernible parameter associated with the catheter, registering the 3D model with the fluoroscopy image, thereby defining a first registration;
using a second common anatomical reference system and signals from the position indicator representative of the location of the catheter in ate fluoroscopy image, registering the catheter-based tracking system with the fluoroscopy image, thereby defining a second registration; and
using the first registration and the second registration, registering the 3D model with the catheter-based tracking system;
wherein the first registration comprises generating a translation factor for translating the 3D model with respect to the fluoroscopy image, and generating a scaling factor for adjusting the scale of the 3D model with respect to the fluoroscopy image, the scaling factor being dependent on a discernable feature of the catheter.
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21. A computer program product for registering a 3D model of an anatomical region of a patient with projection image of the same from an interventional fluoroscopy system, the product comprising:
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a storage medium, readable by a processing circuit, storing instructions for execution by the processing circuit for;
generating a fluoroscopy image of the anatomical region from the fluoroscopy system, the anatomical region having disposed therein a catheter;
generating a 3D model of to anatomical region from a second image acquisition system of a different modality, analyzing the fluoroscopy image and the 3D model with respect to a common anatomical reference system;
monitoring the introduction of a catheter delivery apparatus into the anatomical region of interest;
navigating the catheter delivery apparatus over the registered model to an anatomical site of interest; and
using the catheter delivery apparatus to deliver therapy,
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Specification