Method,a System for Generating a Spatial Roadmap for an Interventional Device and Quality Control System for Guarding the Spatial Accuracy Thereof

• US 20080021297A1
• Filed: 02/03/2005
• Published: 01/24/2008
• Est. Priority Date: 02/10/2004
• Status: Abandoned Application

• Current Assignee: Koninklijke Philips N.V.
• Original Assignee: Koninklijke Philips N.V.
• Inventors: Boosten, Marcel
• Application Number:
  US10/597,749
• Publication Number:
  US 20080021297A1
• Time in Patent Office: Days
• US Class Current: 600/374
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00694 with means correcting for movement of or for synchronisation with the body
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/3782 transmitter or receiver in catheter or minimal invasive instrument
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 5/7207 of noise induced by motion artifacts
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/503 for diagnosis of the heart
• CPC Class Codes: A61B 6/5264 due to motion
• CPC Class Codes: A61B 8/0833 involving detecting or locating foreign bodies or organic structures
• CPC Class Codes: A61B 8/5276 due to motion
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers

Abstract

The invention relates to a method, a system for generating a spatial roadmap for an interventional device and a quality control system for guarding the spatial accuracy thereof. In an embodiment of the system 100 for practicing the invention an X-ray imager 100a is used for acquiring suitable images D_i-1, D_i, . . . , D_N, showing the volume under examination, comprising the catheters 182a, 182b. These X-ray images are then processed by means of per se known reconstruction method to yield a motion-corrected three-dimensional volume of examination. This volume is then presented by means of suitable user-interface 181 on a display unit 183 together with distal portions of the catheters 182a, 182b provided with detectable markers (for simplicity only one detectable marker per catheter is shown). The motion-corrected three-dimensional image of the target organ 184 is used to construct the motion-corrected target organ-oriented three-dimensional coordinate system which is then used for drawing the spatial roadmap 183 and which is also used to locate a spatial position of a displaceable catheter 185, provided with a further detectable marker 185′. These computations are carried out using computing means 160. The computing means 160 can be further arranged to carry out a further computation comprising a computation of a spatial discrepancy between the envisaged spatial roadmap 183 and the position of the displaceable catheter 185′. In case a substantial discrepancy is signalled and in case the catheters are positioned within the target organ by means of a controllable navigation system 190, the computing means calculates a control signal S to be applied to the navigation system 190 to correct for the mismatch between the spatial roadmap 183 and the position of the displaceable catheter 185. The control unit then applies a correction signal S to the navigation system 190 after which an interventional procedure carries on.

Claims

1. A method for generating a spatial roadmap (12) representing an envisaged trajectory of an interventional device (13di) within a target organ (1), said method comprising the steps of:

acquiring image data (D_i-1, D_i, D_i+1) of detectable markers (5a-5d, 7a-7d) arranged within the target organ (1);

constructing a motion-corrected target organ-oriented three-dimensional coordinate system (10) using said image data (D_i-1D_i, D_i+1);

deriving a respective spatial position information (5c_x,5c_y,5c_z) of the detectable markers within the motion-corrected target organ-oriented three-dimensional coordinate system (10);

constructing the spatial roadmap (12) within the target organ (1) by interrelating the respective spatial position information (5c_x,5c_y,5c_z) of the detectable markers (5a-5d, 7a-7d).

2. A method according to claim 1, said method further comprising the steps of:

acquiring a set of readings (31,33,35) at their respective measurement locations within the target organ using an interventional measurement catheter;

presenting the set of readings on the spatial roadmap (40a).

3. A method according to claim 1, wherein the method further comprises the steps of:

acquiring further image data (I1,I2) of a displaceable catheter (13di) in the target organ (1) for a dwell position of the displaceable catheter, said displaceable catheter comprising further detectable markers (13a), said further image data comprising images of detectable markers (5a-5d, 7a-7d) and further detectable markers (13a);

deriving further respective spatial position information (13a_x,13a_y,13a_z) of the further detectable markers of the displaceable catheter within the motion-corrected target-organ oriented three-dimensional coordinate system (10).

4. A method according to claim 3, wherein the method further comprises the step of:

matching further respective spatial position information to the spatial roadmap automatically (40a,40b).

5. A method according to claim 1, wherein for purpose of derivation of a motion-corrected target organ-oriented three-dimensional coordinate system (10) an image acquisition by means of a rotational scan (I) of an X-ray source around the target organ is carried out.

6. A method according to claim 1, wherein for purpose of derivation of a motion-corrected target organ oriented three-dimensional coordinate system (10) an image acquisition of the target organ by means of a magnetic resonance apparatus is carried out.

7. A system (100) for generating a spatial roadmap representing an envisaged trajectory of an interventional device within a target organ, said system comprising:

a catheter (182a,182b, 185) arranged with detectable markers, said detectable markers being conceived to be positioned within the target organ;

a data acquisition system (100a, 113) arranged to acquire image data (D_i-1, D_i, D_i+1, I, I1, I2) comprising the detectable markers;

computation means (160) arranged to;

construct a motion-corrected target organ-oriented three-dimensional coordinate system (10) based on said images;

derive a respective spatial position information (207a_x, 207a_y, 207a_z, 207b_x, 207b_y, 207b_z) of the detectable markers within the motion-corrected target organ-oriented three-dimensional coordinate system (10);

construct the spatial roadmap (210) within the target organ by means of interrelating the respective spatial position information of the detectable markers.

8. A system according to claim 7, wherein said catheter is further arranged to acquire readings at their respective locations within the target organ, said computation means (160) being further arranged to present said readings on said spatial roadmap.

9. A system according to claim 7, wherein the system further comprises a displaceable catheter (208) conceived to be displaceably arranged within the target organ (204), said displaceable catheter being arranged with further detectable markers (208a), the data acquisition means being further arranged to acquire further image data of the detectable markers and the further detectable markers for a dwell position of the displaceable catheter, the computation means being further arranged to derive further respective spatial position information (208a_x, 208a_y, 208a_z) of the further detectable markers within the motion-corrected target organ-oriented three-dimensional coordinate system (10).

10. A system according to claim 7, wherein the computation means (160) is further arranged to match the further respective spatial position information of the further detectable markers to the spatial roadmap (210,212).

11. A system according to claim 7, wherein the system further comprises navigation means (190) conceived to position the catheter and/or the displaceable catheter (182a,182b,185) within the target organ.

12. A system according to claim 11, wherein the computation means is arranged to control (S) the navigation means in order to conform the further spatial position information to the spatial roadmap (210,212).

13. A system according to claim 7, wherein said system further comprises a user interface (30,200) arranged to feedback a three-dimensional image of the spatial roadmap (40a, 210) and the spatial position of the catheter and/or the displaceable catheter.

14. A system according to claim 13, wherein the user interface is arranged to present a further three-dimensional image comprising the target organ (204).

15. A quality control system (160′

) arranged to guard a spatial accuracy of a system as claimed in claim 7, said quality control system comprising;

means (162) for recording a spatial position of detectable markers;

means (162′

) for monitoring the spatial position of the detectable markers;

means (164) for signalling a displacement of any of the detectable markers during an intervention;

means (166) for calibration of the motion-corrected organ-oriented three-dimensional coordinate system to yield a new motion-corrected organ-oriented three-dimensional coordinate system using the recorded spatial position of the detectable markers;

means (168) for calibration of the spatial roadmap for the new motion-corrected organ-oriented three-dimensional coordinate system.

16. A quality control system according to claim 15, wherein said system further comprises means (170) for conforming a path of a displaceable catheter to the spatial roadmap.

17. A quality control system according to claim 16, wherein the displaceable catheter is being positioned by means of a guiding system (190), the means (170) for conforming a path of the displaceable catheter to the spatial roadmap being arranged to communicate (S) to said guiding system (190).