OPERATION OF A REMOTE MEDICAL NAVIGATION SYSTEM USING ULTRASOUND IMAGE
6 Assignments
0 Petitions
Accused Products
Abstract
A method of operating a remote medical navigation system using ultrasound, employs ultrasound imaging from a medical device to supplement or to replace conventional x-ray imaging of the operating region during navigation.
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Citations
95 Claims
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4. A method of operating a remote navigation system that moves the distal end of a medical device in an operating region in a subject using as reference internally acquired ultrasound imaging with a localized ultrasound imaging catheter and system, the method comprising:
- ultrasonically imaging the operating region;
registering the ultrasonic imaging system relative to the remote navigation system by using localization information corresponding to the ultrasound imaging catheter, and thence determining a spatial mapping between the remote navigation system and the ultrasound imaging system;
fusing the ultrasound image plane with three dimensional pre-operative data on the remote navigation system;
marking a target location on the fused image plane; andusing computer-controlled remote navigation to navigate the medical device to the selected target location.
- ultrasonically imaging the operating region;
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9. A method of operating a remote navigation system that moves the distal end of a medical device in an operating region in a subject using as reference internally acquired ultrasound imaging with an ultrasound imaging catheter and system, where the ultrasound imaging catheter is re-oriented by robotic means as the medical device is steered by the remote navigation system, such that the medical device stays within the imaging field-of-view of the ultrasound imaging catheter.
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10. A method of operating a remote navigation system that moves the distal end of a medical device in an operating region in a subject using as reference internally acquired ultrasound imaging with an ultrasound imaging catheter and system, where a re-orientation of the ultrasound imaging catheter is computed and displayed as the medical device is steered by the remote navigation system, such that the medical device stays within the imaging field-of-view of the ultrasound imaging catheter.
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11. A method of operating a remote navigation system that moves the distal end of a medical device in an operating region in a subject using as reference internally acquired ultrasound imaging with a localized ultrasound imaging catheter and system, the method comprising:
- ultrasonically imaging the operating region;
registering the ultrasonic imaging system relative to the remote navigation system by using localization information corresponding to the ultrasound imaging catheter, and thence determining a spatial mapping between the remote navigation system and the ultrasound imaging system;
fusing three dimensional pre-operative image data with the ultrasound image data to provide additional anatomical context; andnavigating the medical device remotely using the fused data as additional reference.
- ultrasonically imaging the operating region;
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13. A method of operating a remote navigation system that orients the distal end of a medical device in an operating region in a subject using as reference internally acquired ultrasound imaging with an ultrasound imaging catheter and system, the method comprising:
- ultrasonically imaging the operating region;
registering the ultrasonic imaging system relative to the remote navigation system by marking two points in the distal portion of the ultrasound catheter on a pair of X-ray images, as well as an additional third point in the pair of X-ray images, marking similar points in the ultrasound image, and thence determining a spatial mapping between the remote navigation system and the ultrasound imaging system;
fusing three dimensional pre-operative image data with the ultrasound image data to provide additional anatomical context; andnavigating the medical device remotely using the fused data as additional reference.
- ultrasonically imaging the operating region;
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15. A method of operating a remote navigation system that moves the distal end of a medical device in an operating region in a subject using as reference internally acquired ultrasound imaging with an ultrasound imaging catheter and system, where the medical device is remotely steered to lie within the field-of-view of the ultrasound imaging catheter, followed by a re-orientation of the ultrasound imaging catheter as the medical device is subsequently moved to anatomical targets of interest such that the medical device subsequently continues to stay within the imaging field-of-view of the ultrasound imaging catheter.
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24. A method of operating a remote navigation system that orients the distal end of a medical device in an operating region in a subject using external ultrasound imaging, the method comprising:
- ultrasonically imaging the operating region;
registering the ultrasonic imaging system relative to the remote navigation system;
displaying an image of the operating region obtained from the ultrasonic imaging;
indicating a desired direction of movement on the displayed image;
controlling the remote navigation system to orient the distal end of the medical device in the desired direction of movement.
- ultrasonically imaging the operating region;
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25. A method of operating a remote navigation system that orients the distal end of a medical device in an operating region in a subject using external ultrasound imaging, the method comprising:
- ultrasonically imaging the operating region;
registering the ultrasonic imaging system relative to the remote navigation system;
displaying an image of the operating region obtained from the ultrasonic imaging;
indicating a desired destination for the distal end of the medical device;
controlling the remote navigation system to orient the distal end of the medical device in a direction to reach the desired destination. - View Dependent Claims (26, 27, 28)
- ultrasonically imaging the operating region;
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73. A method of navigating the distal end of a medical device through a body lumen, the method comprising:
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ultrasonically imaging the portion of the body lumen surrounding the distal end of the medical device; and comparing the image of the portion of the body lumen with a three dimensional reconstruction of the body lumen to locate the distal end of the medical device relative to the preoperative reconstruction. - View Dependent Claims (74, 75)
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76. A method of navigating the distal end of a medical device through a body lumen, the method comprising:
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creating a three-dimensional reconstruction of the body lumen; ultrasonically imaging the portion of the body lumen surrounding the distal end of the medical device; comparing the image of the portion of the body lumen with a three dimensional reconstruction of the body lumen to locate the distal end of the medical device relative to the preoperative reconstruction; orienting the distal end of the medical device and advancing the medical device; and advancing the medical device in the body lumen. - View Dependent Claims (77, 78)
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79. A method of navigating the distal end of a medical device through a body lumen, the method comprising,
creating a three-dimensional reconstruction of the body lumen; -
ultrasonically imaging the portion of the body lumen surrounding the distal end of the medical device; comparing the image of the portion of the body lumen with a three dimensional reconstruction of the body lumen to locate the distal end of the medical device relative to the preoperative reconstruction; orienting the distal end of the medical device and advancing the medical device; and advancing the medical device in the body lumen. - View Dependent Claims (80, 81)
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82. A method of navigating the distal end of a medical device through a body lumen, the method comprising:
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ultrasonically imaging the portion of the body lumen surrounding the distal end of the medical device; displaying an image of the portion of the body lumen surrounding the distal end of the medical device; and orienting the displayed image by comparing the image of the portion of the body lumen with a three dimensional reconstruction of the body lumen to locate the distal end of the medical device relative to the preoperative reconstruction.
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87. A method of navigating the distal end of a medical device through a body lumen, the method comprising:
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ultrasonically imaging the portion of the body lumen surrounding the distal end of the medical device; displaying an image of the portion of the body lumen surrounding the distal end of the medical device; and orienting the displayed image by comparing the image of the portion of the body lumen with a three dimensional reconstruction of the body lumen to locate the distal end of the medical device relative to the preoperative reconstruction. - View Dependent Claims (88, 89, 90, 91)
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92. A method of operating a remote navigation system that moves the distal end of a medical device in an operating region in a subject using as reference internally acquired ultrasound imaging with an ultrasound imaging catheter and system, where the ultrasound catheter is advanced by robotic means as the medical device is steered by the remote navigation system, such that the medical device remains within the imaging field-of-view of the ultrasound imaging catheter.
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Specification