AUTOMATIC CORRECTION AND UTILIZATION OF A VASCULAR ROADMAP COMPRISING A TOOL

• US 20100191102A1
• Filed: 12/30/2009
• Published: 07/29/2010
• Est. Priority Date: 03/08/2007
• Status: Active Grant

• Current Assignee: Sync-Rx, Ltd. (Koninklijke Philips N.V.)
• Original Assignee: Sync-Rx, Ltd. (Koninklijke Philips N.V.)
• Inventors: Cohen, Ran, Tolkowsky, David, STEINBERG, Alexander, Philipp, Sagiv
• Granted Patent: US 9,008,754 B2
• Time in Patent Office: Days
• US Class Current: 600/424
• CPC Class Codes: A61B 17/12036 partial occlusion
• CPC Class Codes: A61B 17/1204 temporary occlusion
• CPC Class Codes: A61B 17/12136 Balloons
• CPC Class Codes: A61B 18/02 by cooling, e.g. cryogenic techniques devices for cooling specific reflex points of the body within cell-life limits A61H39/06
• CPC Class Codes: A61B 18/1492 having a flexible, catheter-like structure, e.g. for heart ablation A61B18/1477 takes precedence
• CPC Class Codes: A61B 18/24 with a catheter A61B18/26, A61B18/28 take precedence
• CPC Class Codes: A61B 2017/00252 for by-pass connections, i.e. connections from heart chamber to blood vessel or from blood vessel to blood vessel
• CPC Class Codes: A61B 2017/00694 with means correcting for movement of or for synchronisation with the body
• CPC Class Codes: A61B 2017/00703 correcting for movement of heart, e.g. ECG-triggered
• CPC Class Codes: A61B 2017/1205 Introduction devices
• CPC Class Codes: A61B 2017/22044 with a pointed tip
• CPC Class Codes: A61B 2017/22094 for crossing total occlusions, i.e. piercing
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/254 being adapted depending on the stage of the surgical procedure
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 5/0044 for the heart
• CPC Class Codes: A61B 5/7285 : for synchronising or triggering a physiological measurement or image acquisition with a physiological event or waveform, e.g. an ECG signal A61B6/5205, A61B6/541, A61B8/5207, A61B8/543 take precedence
• CPC Class Codes: A61B 5/7289 : Retrospective gating, i.e. associating measured signals or images with a physiological event after the actual measurement or image acquisition, e.g. by simultaneously recording an additional physiological signal during the measurement or image acquisition
• CPC Class Codes: A61B 6/12 : Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/469 : for selecting a region of interest [ROI]
• CPC Class Codes: A61B 6/481 : involving the use of contrast agents
• CPC Class Codes: A61B 6/501 : for diagnosis of the head, e.g. neuroimaging or craniography
• CPC Class Codes: A61B 6/503 : for diagnosis of the heart
• CPC Class Codes: A61B 6/504 : for diagnosis of blood vessels, e.g. by angiography
• CPC Class Codes: A61B 6/5217 : extracting a diagnostic or physiological parameter from medical diagnostic data
• CPC Class Codes: A61B 6/5247 : combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
• CPC Class Codes: A61B 6/541 : involving acquisition triggered by a physiological signal
• CPC Class Codes: A61B 8/0883 : for diagnosis of the heart
• CPC Class Codes: A61B 8/0891 : for diagnosis of blood vessels
• CPC Class Codes: A61B 8/543 : involving acquisition triggered by a physiological signal
• CPC Class Codes: A61F 2/958 : Inflatable balloons for placing stents or stent-grafts
• CPC Class Codes: G06T 11/60 : Editing figures and text; Combining figures or text
• CPC Class Codes: G06T 2207/10121 : Fluoroscopy
• CPC Class Codes: G06T 2207/30048 : Heart; Cardiac
• CPC Class Codes: G06T 2207/30101 : Blood vessel; Artery; Vein; Vascular
• CPC Class Codes: G06T 5/00 : Image enhancement or restoration
• CPC Class Codes: G06T 7/0012 : Biomedical image inspection
• CPC Class Codes: G06T 7/0014 : using an image reference approach
• CPC Class Codes: G06T 7/13 : Edge detection
• CPC Class Codes: G06T 7/246 : using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06T 7/62 : of area, perimeter, diameter or volume
• CPC Class Codes: G06V 2201/034 : of medical instruments
• CPC Class Codes: G06V 40/103 : Static body considered as a whole, e.g. static pedestrian or occupant recognition
• CPC Class Codes: G16H 50/30 : for calculating health indices; for individual health risk assessment

Abstract

Apparatus and methods are described including generating a road map of a blood vessel. Subsequent to the generation of the road map, a tool is inserted into the blood vessel. While the tool is inside the blood vessel, the position of the tool is determined. The road map is modified to account for the determined position of the tool. Other embodiments are also described.

Claims

1. A method, comprising:

generating a road map of a blood vessel;

subsequently, inserting a tool into the blood vessel;

while the tool is inside the blood vessel, determining a position of the tool; and

modifying the road map to account for the determined position of the tool.

2. The method according to claim 1, wherein modifying the road map comprises automatically modifying the road map to account for the determined position of the tool.

3. The method according to claim 1, wherein modifying the road map comprises modifying the road map in real time.

4. The method according to claim 1, wherein modifying the road map comprises modifying the road map in near real time.

5. The method according to claim 1, wherein determining the position of the tool comprises automatically determining the position of the tool by identifying a portion of the tool that is visible in an image of the blood vessel.

6. The method according to claim 1, wherein modifying the road map comprises reshaping the roadmap.

7. The method according to claim 1, wherein modifying the road map comprises redrawing the roadmap.

8. The method according to claim 1, wherein modifying the road map comprises modifying the roadmap such that at least a portion of the tool appears within the road map.

9. The method according to claim 1, wherein the tool includes a wire, and wherein inserting the tool into the blood vessel comprises inserting the wire into the blood vessel.

10. The method according to claim 1, wherein the tool includes a catheter, and wherein inserting the tool into the blood vessel comprises inserting the catheter into the blood vessel.

11. Apparatus, comprising:

an image-acquisition device configured to acquire a set of images of blood vessels of a subject;

a tool configured to be placed inside one of the blood vessels;

a display; and

at least one processor, comprising;

image-receiving functionality configured to receive the set of images into the processor;

road-map-generation functionality configured to generate a road map of the blood vessels, based upon the set of images;

tool-location functionality configured to determine a position of the tool subsequent to the generation of the road map; and

road-map-modification functionality configured to modify the road map to account for the determined position of the tool; and

display-driving functionality configured to drive the display to display an output to a user based on the modified road map.

12. The apparatus according to claim 11, wherein the road-map-modification functionality is configured to automatically modify the road map to account for the determined position of the tool.

13. The apparatus according to claim 11, wherein the road-map-modification functionality is configured to modify the road map in real time.

14. The apparatus according to claim 11, wherein the road-map-modification functionality is configured to modify the road map in near real time.

15. The apparatus according to claim 11, wherein the tool-location functionality is configured to automatically determine the position of the tool by identifying a portion of the tool that is visible in an image of the blood vessel.

16. The apparatus according to claim 11, wherein the road-map-modification functionality is configured to modify the road map by reshaping the roadmap.

17. The apparatus according to claim 11, wherein the road-map-modification functionality is configured to modify the road map by redrawing the roadmap.

18. The apparatus according to claim 11, wherein the road-map-modification functionality is configured to modify the road map such that at least a portion of the tool appears within the road map.

19. The apparatus according to claim 11, wherein the tool comprises a wire.

20. The apparatus according to claim 11, wherein the tool comprises a catheter.