Method and apparatus for image guided position tracking during percutaneous procedures
First Claim
Patent Images
1. A method of displaying images of a heart, the method comprising:
- storing a time-related sequence of cardiac images of a heart, the time-related sequence of cardiac images associated with at least one cardiac data parameter;
determining a position of a portion of a medical instrument relative to the heart;
determining at least one measurement of the at least one cardiac data parameter;
selecting at least one cardiac image from the time-related sequence of cardiac images according to the at least one measurement of the at least one cardiac data parameter; and
overlaying a representation of the position onto the at least one cardiac image to indicate the portion relative to the heart.
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Accused Products
Abstract
Methods and apparatuses for guiding the positioning of a device with a position tracking sensor and pre-recorded images. At least one embodiment of the present invention uses pre-recorded time-dependent images (e.g., anatomical images or diagnostic images) to guide the positioning of a medical instrument (e.g., catheter tips) using real time position tracking during diagnostic and/or therapeutic operations with pre-recorded images. In one embodiment of the present invention, predetermined spatial relations are used to determine the position of a tracked medical instrument relative to the pre-recorded images.
308 Citations
98 Claims
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1. A method of displaying images of a heart, the method comprising:
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storing a time-related sequence of cardiac images of a heart, the time-related sequence of cardiac images associated with at least one cardiac data parameter;
determining a position of a portion of a medical instrument relative to the heart;
determining at least one measurement of the at least one cardiac data parameter;
selecting at least one cardiac image from the time-related sequence of cardiac images according to the at least one measurement of the at least one cardiac data parameter; and
overlaying a representation of the position onto the at least one cardiac image to indicate the portion relative to the heart. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of displaying images to guide a medical operation, the method comprising:
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determining a first state of an organ from at least one first measurement of at least one parameter; and
determining a first image from a plurality of images of the organ to display the organ in the first state, the plurality of images corresponding to the organ in a plurality of states. - View Dependent Claims (9, 10, 11, 12, 13)
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14. A method of displaying images to guide a medical operation, the method comprising:
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storing a plurality of images of an organ, the plurality of images associated with at least one parameter; and
automatically playing back the plurality of images in real time according to real time measurements of the at least one parameter. - View Dependent Claims (15, 16)
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17. A method to display an image for guiding a medical operation, the method comprising:
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collecting an image of an organ of a person, the image being generated by an imaging system and in a coordinate system of the imaging system while the person is in a first position relative to a platform in the imaging system;
collecting first position information that represents a position of a portion of a medical instrument in a coordinate system of a position determination system, the first position information being generated by the position determination system while the person is in the first position relative to the platform in the position determination system after the person and the platform are transported from the imaging system to the position determination system;
determining a second position that is a position of the portion of the medical instrument relative to the organ depicted in the image and is derived from the first position information; and
overlaying a representation of the portion of the medical instrument onto the image of the organ according to the second position to display the position of the portion of the medical instrument relative to the organ. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25)
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26. A method to determine a position of a portion of a medical instrument relative to an organ, the method comprising:
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receiving data for aligning overlaying positions determined by a position determination system relative to a reference object with corresponding positions on images generated from an imaging system relative to the reference object, the reference object being at a first position in the imaging system when the images are generated, the reference object being at a second position in the position determination system when the positions are determined;
receiving position information of the portion of the medical instrument determined by the position determination system, the position information being determined when the reference object is in a third position relative to the organ in the position determination system;
determining a position of the portion of the medical instrument relative to the organ depicted in a first image from the position information and the data, the first image being generated by the imaging system when the reference object is in the third position relative to the organ in the imaging system. - View Dependent Claims (27, 28, 29, 30)
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31. A machine readable medium containing executable computer program instructions which when executed by a data processing system cause said system to perform a method of displaying images of a heart, the method comprising:
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storing a time-related sequence of cardiac images of a heart, the time-related sequence of cardiac images associated with at least one cardiac data parameter;
determining a position of a portion of a medical instrument relative to the heart;
determining at least one measurement of the at least one cardiac data parameter;
selecting at least one cardiac image from the time-related sequence of cardiac images according to the at least one measurement of the at least one cardiac data parameter; and
overlaying a representation of the position onto the at least one cardiac image to indicate the portion relative to the heart. - View Dependent Claims (32, 33, 34, 35, 36, 37)
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38. A machine readable medium containing executable computer program instructions which when executed by a data processing system cause said system to perform a method of displaying images to guide a medical operation, the method comprising:
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determining a first state of an organ from at least one first measurement of at least one parameter; and
determining a first image from a plurality of images of the organ to display the organ in the first state, the plurality of images corresponding to the organ in a plurality of states. - View Dependent Claims (39, 40, 41, 42, 43)
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44. A machine readable medium containing executable computer program instructions which when executed by a data processing system cause said system to perform a method of displaying images to guide a medical operation, the method comprising:
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storing a plurality of images of an organ, the plurality of images associated with at least one parameter; and
automatically playing back the plurality of images in real time according to real time measurements of the at least one parameter. - View Dependent Claims (45, 46)
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47. A machine readable medium containing executable computer program instructions which when executed by a data processing system cause said system to perform a method to display an image for guiding a medical operation, the method comprising:
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collecting an image of an organ of a person, the image being generated by an imaging system and in a coordinate system of the imaging system while the person is in a first position relative to a platform in the imaging system;
collecting first position information that represents a position of a portion of a medical instrument in a coordinate system of a position determination system, the first position information being generated by the position determination system while the person is in the first position relative to the platform in the position determination system after the person and the platform are transported from the imaging system to the position determination system;
determining a second position that is a position of the portion of the medical instrument relative to the organ depicted in the image and is derived from the first position information; and
overlaying a representation of the portion of the medical instrument onto the image of the organ according to the second position to display the position of the portion of the medical instrument relative to the organ. - View Dependent Claims (48, 49, 50, 51, 52, 53, 54)
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55. A machine readable medium containing executable computer program instructions which when executed by a data processing system cause said system to perform a method to determine a position of a portion of a medical instrument relative to an organ, the method comprising:
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receiving data for aligning overlaying positions determined by a position determination system relative to a reference object with corresponding positions on images generated from an imaging system relative to the reference object, the reference object being at a first position in the imaging system when the images are generated, the reference object being at a second position in the position determination system when the positions are determined;
receiving position information of the portion of the medical instrument determined by the position determination system, the position information being determined when the reference object is in a third position relative to the organ in the position determination system;
determining a position of the portion of the medical instrument relative to the organ depicted in a first image from the position information and the data, the first image being generated by the imaging system when the reference object is in the third position relative to the organ in the imaging system. - View Dependent Claims (56, 57, 58, 59)
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60. A data processing system to display images of a heart, the data processing system comprising:
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means for storing a time-related sequence of cardiac images of a heart, the time-related sequence of cardiac images associated with at least one cardiac data parameter;
means for determining a position of a portion of a medical instrument relative to the heart;
means for determining at least one measurement of the at least one cardiac data parameter;
means for selecting at least one cardiac image from the time-related sequence of cardiac images according to the at least one measurement of the at least one cardiac data parameter; and
means for overlaying a representation of the position onto the at least one cardiac image to indicate the portion relative to the heart. - View Dependent Claims (61, 62, 63, 64, 65, 66)
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67. A data processing system to display images to guide a medical operation, the data processing system comprising:
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means for determining a first state of an organ from at least one first measurement of at least one parameter; and
means for determining a first image from a plurality of images of the organ to display the organ in the first state, the plurality of images corresponding to the organ in a plurality of states. - View Dependent Claims (68, 69, 70, 71, 72)
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73. A data processing system to display images to guide a medical operation, the data processing system comprising:
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means for storing a plurality of images of an organ, the plurality of images associated with at least one parameter; and
means for automatically playing back the plurality of images in real time according to real time measurements of the at least one parameter. - View Dependent Claims (74, 75)
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76. A data processing system to display an image for guiding a medical operation, the data processing system comprising:
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means for collecting an image of an organ of a person, the image being generated by an imaging system and in a coordinate system of the imaging system while the person is in a first position relative to a platform in the imaging system;
means for collecting first position information that represents a position of a portion of a medical instrument in a coordinate system of a position determination system, the first position information being generated by the position determination system while the person is in the first position relative to the platform in the position determination system after the person and the platform are transported from the imaging system to the position determination system;
means for determining a second position that is a position of the portion of the medical instrument relative to the organ depicted in the image and is derived from the first position information; and
means for overlaying a representation of the portion of the medical instrument onto the image of the organ according to the second position to display the position of the portion of the medical instrument relative to the organ. - View Dependent Claims (77, 78, 79, 80, 81, 82, 83)
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84. A data processing system to determine a position of a portion of a medical instrument relative to an organ, the data processing system comprising:
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means for receiving data for aligning overlaying positions determined by a position determination system relative to a reference object with corresponding positions on images generated from an imaging system relative to the reference object, the reference object being at a first position in the imaging system when the images are generated, the reference object being at a second position in the position determination system when the positions are determined;
means for receiving position information of the portion of the medical instrument determined by the position determination system, the position information being determined when the reference object is in a third position relative to the organ in the position determination system;
means for determining a position of the portion of the medical instrument relative to the organ depicted in a first image from the position information and the data, the first image being generated by the imaging system when the reference object is in the third position relative to the organ in the imaging system. - View Dependent Claims (85, 86, 87, 88)
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89. A guiding system to guide a percutaneous procedure, the system comprising:
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a data processing system, the data processing system comprising;
memory; and
a processor coupled to the memory;
an imaging system coupled to the data processing system, the image system generating a plurality of images of an organ, the plurality of images corresponding to the organ in a plurality of states, the memory storing the plurality of images, the data processing system receiving at least one measurement of at least one parameter, the processor determining a first state of the organ from the at least one measurement, the processor determining a first image from a plurality of images to display the organ in the first state. - View Dependent Claims (90, 91, 92, 93, 94, 95, 96, 97, 98)
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Specification