System and Method for Registration of Localization and Imaging Systems for Navigational Control of Medical Devices
First Claim
1. A system for providing registration of a navigational system with localization of a medical device, comprising:
- a localization system having a location pad;
at least two plates removably inserted within the location pad, which plates include a plurality of reference markers that are visible to an X-ray imaging device,a display device for displaying a single X-ray image including the plurality of reference markers; and
a control means configured to obtain a registration of the localization system'"'"'s three-dimensional coordinates to the two-dimensional coordinates obtained from the single X-ray image.
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Abstract
A system and method are provided for obtaining registration of a localization system'"'"'s three-dimensional coordinates for a plurality of markers having known locations to the two-dimensional coordinates for the plurality of reference markers obtained from a single X-ray image. The method for registering a navigational system with a localization system having a plurality of reference markers includes determining the three-dimensional coordinates of the locations of a plurality of reference markers within the localization coordinate system, and providing a single two-dimensional X-ray image that includes a two dimensional location of the plurality of markers. The method further includes determining a coordinate transformation for obtaining a best fit registration of the localization system'"'"'s three-dimensional coordinates to the two-dimensional coordinates obtained from the single X-ray image, for at least one reference marker location.
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Citations
20 Claims
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1. A system for providing registration of a navigational system with localization of a medical device, comprising:
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a localization system having a location pad; at least two plates removably inserted within the location pad, which plates include a plurality of reference markers that are visible to an X-ray imaging device, a display device for displaying a single X-ray image including the plurality of reference markers; and a control means configured to obtain a registration of the localization system'"'"'s three-dimensional coordinates to the two-dimensional coordinates obtained from the single X-ray image. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of registering a localization system, having a plurality of reference markers with known coordinates within the localization system, with a navigational system, the method comprising:
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determining the three-dimensional coordinates of the locations of a plurality of reference markers within the localization coordinate system; providing a single two-dimensional X-ray image that includes a visual indication of the plurality of markers; determining a coordinate transformation for obtaining a best fit registration of the localization system'"'"'s three-dimensional coordinates to the two-dimensional coordinates obtained from the single X-ray image, for at least one reference marker location. - View Dependent Claims (9, 10, 11, 12, 13)
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14. A method of registering a localization system, having a plurality of reference markers with known coordinates within the localization system, with a navigational system, the method comprising:
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determining the three-dimensional coordinates of the locations of a plurality of reference markers within the localization coordinate system; providing a single two-dimensional X-ray image that provides a two-dimensional location of the plurality of markers; determining a coordinate transformation for obtaining a best fit registration of the localization system'"'"'s three-dimensional coordinates for the plurality of reference markers to the two-dimensional coordinates obtained from the single X-ray image for the locations of the plurality of reference markers. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification