SYSTEM AND METHOD FOR SUPERIMPOSING A REPRESENTATION OF THE TIP OF A CATHETER ON AN IMAGE ACQUIRED BY A MOVING IMAGER
First Claim
1. Method for displaying a representation of the tip of a medical device located within a body region of interest of the body of a patient, on an image of the body region of interest, the image being acquired by an image detector of a moving imager, the method comprising the procedures of:
- acquiring at least one medical positioning system (MPS) sensor image of at least one MPS sensor, by said image detector, at a physical zoom setting of said image detector respective of said image, and at a selected image detector region of interest setting of said image detector, said at least one MPS sensor being associated with an MPS, said at least one MPS sensor responding to an electromagnetic field generated by a plurality of electromagnetic field generators, firmly coupled with a moving portion of said moving imager;
determining a set of intrinsic and extrinsic parameters, according to sensor image coordinates of each of said at least one MPS sensor image, in a two-dimensional optical coordinate system respective of said image detector, and according to non-real-time MPS coordinates of respective ones of said at least one MPS sensor, in an MPS coordinate system respective of said MPS;
determining two-dimensional optical coordinates of said tip of said medical device, according to said physical zoom setting, according to said set of intrinsic and extrinsic parameters, according to said selected image detector region of interest setting, and according to real-time MPS coordinates of an MPS sensor located at said tip of said medical device;
superimposing said representation of said tip of said medical device, on said image of said body region of interest, according to said two-dimensional optical coordinates; and
displaying said representation of said tip of said medical device superimposed on said image of said body region of interest.
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Accused Products
Abstract
A method displays a representation of the tip of a medical device located within a body region of interest of the body of a patient, on an image of the body region of interest, the image being acquired by an image detector of a moving imager. The method includes the procedures of acquiring a medical positioning system (MPS) sensor image of an MPS sensor, determining a set of intrinsic and extrinsic parameters, determining two-dimensional optical coordinates of the tip of the medical device, superimposing the representation of the tip of the medical device, on the image of the body region of interest, and displaying the representation of the tip of the medical device superimposed on the image of the body region of interest.
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Citations
58 Claims
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1. Method for displaying a representation of the tip of a medical device located within a body region of interest of the body of a patient, on an image of the body region of interest, the image being acquired by an image detector of a moving imager, the method comprising the procedures of:
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acquiring at least one medical positioning system (MPS) sensor image of at least one MPS sensor, by said image detector, at a physical zoom setting of said image detector respective of said image, and at a selected image detector region of interest setting of said image detector, said at least one MPS sensor being associated with an MPS, said at least one MPS sensor responding to an electromagnetic field generated by a plurality of electromagnetic field generators, firmly coupled with a moving portion of said moving imager; determining a set of intrinsic and extrinsic parameters, according to sensor image coordinates of each of said at least one MPS sensor image, in a two-dimensional optical coordinate system respective of said image detector, and according to non-real-time MPS coordinates of respective ones of said at least one MPS sensor, in an MPS coordinate system respective of said MPS; determining two-dimensional optical coordinates of said tip of said medical device, according to said physical zoom setting, according to said set of intrinsic and extrinsic parameters, according to said selected image detector region of interest setting, and according to real-time MPS coordinates of an MPS sensor located at said tip of said medical device; superimposing said representation of said tip of said medical device, on said image of said body region of interest, according to said two-dimensional optical coordinates; and displaying said representation of said tip of said medical device superimposed on said image of said body region of interest. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34)
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35. System for displaying a representation of the tip of a medical device located within a body region of interest of a patient, on an image of the body region of interest, the image being acquired by an image detector of a moving imager, the system comprising:
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at least one magnetic field generator firmly coupled with a moving portion of said moving imager, said at least one magnetic field generator producing a magnetic field at said body region of interest; a medical device medical positioning system (MPS) sensor coupled with said tip of said medical device, said medical device MPS sensor detecting said magnetic field; an MPS coupled with said at least one magnetic field generator and with said medical device MPS sensor, said at least one magnetic field generator being associated with an MPS coordinate system respective of said MPS, said MPS determining MPS coordinates of said medical device MPS sensor, according to an output of said medical device MPS sensor; and a processor coupled with said MPS, said processor determining two-dimensional coordinates of said tip of said medical device located within said body region of interest, according to a physical zoom setting of said image detector respective of said image, according to a set of intrinsic and extrinsic parameters respective of said image detector, according to a selected image detector region of interest setting of said image detector, and according to said MPS coordinates of said medical device MPS sensor, said processor superimposing a representation of said tip of said medical device, on said image, according to said two-dimensional coordinates. - View Dependent Claims (36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58)
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Specification