Method and system for registering an image with a navigation reference catheter
First Claim
1. A method of processing a medical image of an anatomical body containing image data arranged in an image coordinate system, the method comprising:
- placing a plurality of reference elements into contact with an anatomical body;
transmitting signals between the reference elements to establish a navigational coordinate system internal to the anatomical body;
determining the location of a physical structure within the navigational coordinate system;
determining the location of an image reference corresponding to the physical structure within the image coordinate system; and
registering the navigational and image coordinate systems based on the determined location of the physical structure within the navigational coordinate system and the determined location of the image reference within the image coordinate system.
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Accused Products
Abstract
Methods and systems for processing and/or superimposing a medical image of an anatomical body (e.g., a heart) with graphical information are provided. Reference elements and/or reference catheter are placed in contact with the anatomical body. A physical structure within a navigational coordinate system is located using the reference elements and/or reference catheter. An image reference within an image coordinate corresponding to the physical structure is located. Location of the image reference can be accomplished, e.g., by displaying the medical image and electronically marking the displayed image reference, or by automatically locating image data corresponding to the image reference. The navigational and image coordinate systems are then registered based on the location of the physical structure within the navigational coordinate system and the location of the image reference within the image coordinate system, which allows graphical information to be accurately merged with the medical image data.
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Citations
66 Claims
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1. A method of processing a medical image of an anatomical body containing image data arranged in an image coordinate system, the method comprising:
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placing a plurality of reference elements into contact with an anatomical body;
transmitting signals between the reference elements to establish a navigational coordinate system internal to the anatomical body;
determining the location of a physical structure within the navigational coordinate system;
determining the location of an image reference corresponding to the physical structure within the image coordinate system; and
registering the navigational and image coordinate systems based on the determined location of the physical structure within the navigational coordinate system and the determined location of the image reference within the image coordinate system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A medical system for processing a medical image of an anatomical body containing image data arranged in an image coordinate system, the system comprising:
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one or more catheters carrying a plurality of reference elements;
control circuitry configured for conditioning the reference elements to transmit signals between each other; and
one or more processors configured for establishing a navigational coordinate system based on the transmitted signals, determining the location of a physical structure within the navigational coordinate system, determining the location of an image reference corresponding to the physical structure within the image coordinate system, and registering the navigational and image coordinate systems based on the determined location of the physical structure within the navigational coordinate system and the determined image reference within the image coordinate system. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32)
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33. A method of superimposing a medical image of an anatomical body and graphical information, the method comprising:
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placing a reference catheter in contact with the anatomical body;
moving a functional catheter within the anatomical body;
acquiring location information with the functional catheter by transmitting signals between the reference and functional catheters;
generating the graphical information based on the location information;
locating a physical structure spatially correlated to the reference catheter;
identifying an image reference corresponding to the physical structure; and
merging the graphical information and medical image based on the located physical structure and the identified image reference. - View Dependent Claims (34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50)
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51. A medical system for superimposing a medical image of an anatomical body and graphical information, the method comprising:
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a reference catheter;
a functional catheter;
control circuitry configured for conditioning the reference and functional catheters to transmit signals between each other; and
one or more processors configured for acquiring location information with the functional catheter based on the transmitted signals, locating a physical structure spatially correlated to the reference catheter, generating the graphical information based on the location information, identifying an image reference corresponding to the physical structure, and merging the graphical information and medical image based on the located physical structure and the identified image reference. - View Dependent Claims (52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65)
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66-124. -124. (canceled)
Specification