Rotational stereo roadmapping

• US 20080009715A1
• Filed: 05/16/2006
• Published: 01/10/2008
• Est. Priority Date: 05/16/2006
• Status: Active Grant

• Current Assignee: Siemens Healthineers AG (Siemens AG), Board of Trustees of the Leland Stanford Junior University (Stanford University)
• Original Assignee: Board of Trustees of the Leland Stanford Junior University (Stanford University)
• Inventors: Kukuk, Markus, Napel, Sandy
• Granted Patent: US 8,233,962 B2
• Time in Patent Office: Days
• US Class Current: 600/425
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 6/4028 resulting in acquisition of views from substantially different positions, e.g. EBCT
• CPC Class Codes: A61B 6/481 involving the use of contrast agents
• CPC Class Codes: A61B 6/504 for diagnosis of blood vessels, e.g. by angiography
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

An improved method is disclosed for imaging in an interventional medical procedure that is more advanced than a conventional 2D image processing application and less restrictive than a 3D reconstruction image processing application. In contrast to the prior art 2D imaging application in which a single 2D image is acquired, the inventive method acquires and stores a set of 2D anatomical images while rotating a C-arm/X-ray source using a single injection of contrast agent. In lieu of performing a 3D reconstruction, the multiplicity of anatomical views provided by the set of 2D anatomical images adequately serve as a visual “rotatable roadmap” to perform classical 2D-roadmapping navigation. The “rotatable roadmap” assists a user to locate an ideal working view of the patient'"'"'s region of operative interest.

Claims

1. A computer-implemented method for imaging in an interventional medical procedure, the method comprising:

(a) reviewing a plurality of pre-stored anatomical images of a region of interest in a patient'"'"'s body to identify an optimal image;

(b) selecting said optimal image based on said reviewing step;

(c) moving a radiation source and detector to a pre-stored position associated with said selected optimal image;

(d) constructing a composite image comprised of the selected optimal image and a live image, wherein said live image comprises a medical device displayed in real-time;

(e) displaying said composite image, wherein said composite image comprises a displayed position and orientation of said medical device relative to said selected optimal anatomical image of said region of interest of said patient; and

(f) navigating the medical device an incremental amount towards a target location in said patient in reliance on said displayed composite image.

2. The method of claim 1, further comprising acquiring said plurality of pre-stored anatomical images preoperatively.

3. The method of claim 2, wherein the step of acquiring said plurality of pre-stored anatomical images further comprises the steps of:

rotating said radiation source/detector proximate said patient'"'"'s region of interest;

acquiring each of said plurality of anatomical images at a unique position during said rotation; and

recording each of said respective unique positions during said rotation.

4. The method of claim 3, further comprising:

storing each of said acquired plurality of anatomical images; and

storing each of said recorded unique positions associated with each of said acquired anatomical images.

5. The method of claim 3, wherein the unique position comprises a unique angular position.

6. The method of claim 2, wherein the step of acquiring said plurality of images occurs while injecting the patient with a single injection of contrast agent.

7. The method of claim 1, further comprising the steps of:

determining if said target location is reached, subsequent to said navigating step (f);

repeating steps (a) through (f) in the case where it is determined that said target location is not reached;

determining if there is at least one additional target location; and

repeating steps (a) through (f) in the case where it is determined that there is at least one additional target location; and

otherwise terminating said medical procedure.

8. The method of claim 1, wherein said radiation source comprises an x-ray radiation source.

9. The method of claim 8, wherein said x-ray radiation source comprises a C-arm x-ray radiation source.

10. The method of claim 1, wherein said live image is a live fluoroscopic image.

11. The method of claim 1, further comprising the step of finding a corresponding image to the currently displayed image to form a stereo-pair, and wherein said stereo-pair is displayed stereoscopically.

12. A computer readable medium having program instructions stored thereto for implementing the method claimed in claim 1 when executed in a digital processing device.

13. A computer-implemented method for imaging in an interventional medical procedure, the method comprising:

(a) moving a radiation source/detector to a position within an image acquisition path;

(b) displaying a particular pre-stored anatomical image from among a plurality of pre-stored anatomical images of a region of interest of a patient, in dependence upon said position of said radiation source/detector at said step (a);

(c) repeating steps (a)-(b) to review particular pre-stored images being displayed at said step (b) to select an optimal image;

(d) constructing a composite image comprised of the selected optimal image and a live image of a medical device displayed in real-time;

(e) displaying said composite image, wherein said composite image comprises a displayed position and orientation of said medical device relative to said selected optimal anatomical image of said region of interest of said patient; and

(f) navigating the medical device an incremental amount towards a target location in said patient in reliance on said displayed composite image

14. The method of claim 13, further comprising, prior to said navigating step (f), the steps of:

determining a current position of said radiation source/detector at said step (a);

comparing the current position of the radiation source/detector with a pre-stored position of said particular pre-stored image being displayed at said step (b);

displaying the difference in degrees between the current position of the radiation source/detector and the pre-stored position of said particular pre-stored image being displayed; and

adjusting the position of the radiation source/detector until said difference is determined to be less than a pre-determined difference threshold.

15. The method of claim 13, further comprising the step of finding a corresponding image to the currently displayed image to form a stereo-pair, and wherein said stereo-pair is displayed stereoscopically.

16. The method of claim 13, wherein said radiation source comprises an x-ray radiation source.

17. The method of claim 16, wherein said x-ray radiation source comprises a C-arm x-ray radiation source.

18. The method of claim 17 wherein said live image is a live fluoroscopic image.

19. A computer readable medium having program instructions stored thereto for implementing the method claimed in claim 13 when executed in a digital processing device.