IDENTIFICATION AND PRESENTATION OF DEVICE-TO-VESSEL RELATIVE MOTION

• US 20100222671A1
• Filed: 05/17/2010
• Published: 09/02/2010
• 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: Barzelay, Zohar, Steinberg, Alexander, Klaiman, Eldad, COHEN, Ran
• Granted Patent: US 9,216,065 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 provided for use with a tool that is inserted into a portion of a body of a subject that undergoes cyclic motion. A plurality of native images of the tool inside the portion of the body are acquired, at respective phases of the cyclic motion. The native images are stabilized with respect to a feature of the portion of the body. In response to stabilizing the native images, an output is generated that is indicative of an extent of movement of the tool with respect to the portion of the body. Other embodiments are also described.

Claims

1. A method for use with a tool that is inserted into a portion of a body of a subject that undergoes cyclic motion, the method comprising:

acquiring a plurality of native images of the tool inside the portion of the body, at respective phases of the cyclic motion;

stabilizing the native images with respect to a feature of the portion of the body; and

in response to stabilizing the native images, generating an output that is indicative of an extent of movement of the tool with respect to the portion of the body.

2. The method according to claim 1, wherein generating the output comprises generating an alphanumeric output.

3. The method according to claim 1, wherein generating the output comprises demonstrating movement of the tool with respect to the portion of the body by displaying at least one stabilized image that is based upon the stabilized raw images, an indication of the movement being displayed on the at least one stabilized image

4. The method according to claim 3, wherein stabilizing the images comprises tracking the images with respect to the feature, and combining the images into a single image, and wherein demonstrating the movement of the tool with respect to the portion comprises demonstrating the movement of the tool by virtue of displaying the single image.

5. The method according to claim 3, wherein stabilizing the images comprises tracking the images with respect to the feature, and generating a tracked image stream, and wherein demonstrating the movement of the tool with respect to the portion comprises demonstrating the movement of the tool by virtue of displaying the image stream.

6. The method according to claim 3, further comprising enhancing the images, wherein displaying the stabilized image comprises displaying at least one stabilized and enhanced image.

7. The method according to claim 3, further comprising determining movement of the tool with respect to the portion of the body, by determining motion of images belonging to the plurality of images with respect to each other, wherein demonstrating movement of the tool with respect to the portion comprises overlaying an indication of the movement of the tool onto the stabilized image.

8. Apparatus for use with a portion of a subject'"'"'s body that assumes a plurality of different shapes, during respective phases of a motion cycle of the portion, the apparatus comprising:

an image-acquisition device configured to acquire a plurality of image frames of the portion of the subject'"'"'s body during the respective phases of the motion cycle of the portion;

a display; and

at least one processor, comprising;

image-receiving functionality configured to receive the image frames into the processor,

baseline-designation functionality configured to designate at least one of the image frames as a first baseline image frame, a shape of the portion in the baseline image frame being designated as a first baseline shape of the portion;

non-baseline-shape identification functionality configured to identify a first non-baseline-shape image frame of the plurality of image frames, by identifying an image frame in which the portion is not shaped in the first baseline shape; and

shape-deformation functionality configured to deform the shape of the portion in the non-baseline-shape image frame, such that the shape of the portion becomes more similar to the first baseline shape of the portion than when the portion in the non-baseline-shape image frame is not deformed; and

display-driving functionality configured, in response to the deforming of the shape of the portion in the non-baseline-shape image frame, to drive the display to display an output.

9. The apparatus according to claim 8, wherein the processor further comprises image-combination functionality configured to form at least a first composite image by combining the deformed non-baseline image frame with the baseline image frame, and wherein the display-driving functionality is configured to drive the display to display the first composite image.

10. The apparatus according to claim 9, wherein:

the baseline-designation functionality is configured to designate at least one of the image frames as a second baseline image frame, a shape of the portion in the second baseline image frame being designated as a second baseline shape of the portion;

the non-baseline identification functionality is configured to identify a second non-baseline image frame of the plurality of image frames, by identifying an image frame in which the portion is not shaped in the second baseline shape;

the shape-deformation functionality is configured to deform the shape of the portion in the second non-baseline image frame, such that the shape of the portion becomes more similar to the second baseline shape of the portion than when the portion in the second non-baseline image frame is not deformed;

the image-combination functionality is configured to form a second composite image by combining the deformed second non-baseline image frame with the second baseline image frame; and

the display-driving functionality is configured to drive the display to display the first and second composite images as an image stream.

11. Apparatus for use with a tool that is inserted into a portion of a body of a subject that undergoes cyclic motion, the apparatus comprising:

a display configured to display at least one image of the portion of the subject'"'"'s body;

an imaging device configured to acquire a plurality of native images of the tool inside the portion of the body, at respective phases of the cyclic motion; and

at least one processor, comprising;

image-receiving functionality configured to receive the image frames into the processor,

image-stabilization functionality configured to stabilize the native images with respect to a feature of the portion of the body; and

display-driving functionality configured, in response to the image-stabilization of the native images, to drive the display to display an output that is indicative of an extent of movement of the tool with respect to the portion of the body.

12. The apparatus according to claim 11, wherein the display-driving functionality is configured to drive the display to display the output that is indicative of the extent of the movement of the tool with respect to the portion of the body by driving the display to display an alphanumeric output.

13. The apparatus according to claim 11, wherein the display-driving functionality is configured to drive the display to display the output that is indicative of the extent of the movement of the tool with respect to the portion of the body by driving the display to demonstrate movement of the tool with respect to the portion of the body by displaying at least one stabilized image that is based upon the stabilized raw images, an indication of the movement being displayed on the at least one stabilized image

14. The apparatus according to claim 13, wherein:

the image-stabilization functionality is configured to stabilize the images by tracking the images with respect to the feature, and combining the images into a single image, and

the display-driving functionality is configured, in response to the image-stabilization of the native images, to drive the display to demonstrate the movement of the tool with respect to the portion by virtue of displaying the single image.

15. The apparatus according to claim 14, wherein:

the image-stabilization functionality is configured to stabilize the images by tracking the images with respect to the feature, and generating a tracked image stream, and

the display-driving functionality is configured, in response to the image-stabilization of the native images, to drive the display to demonstrate the movement of the tool with respect to the portion by virtue of displaying the image stream.

16. The apparatus according to claim 14, wherein the processor further comprises image-enhancement functionality configured to enhance the images, wherein the display-driving functionality is configured to drive the display to display at least one stabilized and enhanced image.

17. The apparatus according to claim 14, wherein the processor further comprises tool-motion-determination functionality configured to determine movement of the tool with respect to the portion of the body, by determining motion of images belonging to the plurality of images with respect to each other, and wherein the display-driving functionality is configured to drive the display to demonstrate the movement of the tool by overlaying an indication of the movement of the tool onto the stabilized image.

18. A method for use with a portion of a subject'"'"'s body that assumes a plurality of different shapes, during respective phases of a motion cycle of the portion, the method comprising:

acquiring a plurality of image frames of the portion of the subject'"'"'s body during the respective phases of the motion cycle of the portion;

designating at least one of the image frames as a first baseline image frame, a shape of the portion in the baseline image frame being designated as a first baseline shape of the portion;

identifying a first non-baseline-shape image frame of the plurality of image frames, by identifying an image frame in which the portion is not shaped in the first baseline shape;

deforming the shape of the portion in the non-baseline-shape image frame, such that the shape of the portion becomes more similar to the first baseline shape of the portion than when the portion in the non-baseline-shape image frame is not deformed; and

in response to the deforming of the shape of the portion in the non-baseline-shape image frame, displaying an output.

19. The method according to claim 18, further comprising forming at least a first composite image by combining the deformed non-baseline image frame with the baseline image frame, wherein displaying the output comprises displaying the first composite image.

20. The method according to claim 19,

further comprising:

designating at least one of the image frames as a second baseline image frame, a shape of the portion in the second baseline image frame being designated as a second baseline shape of the portion;

identifying a second non-baseline image frame of the plurality of image frames, by identifying an image frame in which the portion is not shaped in the second baseline shape;

deforming the shape of the portion in the second non-baseline image frame, such that the shape of the portion becomes more similar to the second baseline shape of the portion than when the portion in the second non-baseline image frame is not deformed; and

forming a second composite image by combining the deformed second non-baseline image frame with the second baseline image frame;

wherein displaying the output comprises displaying the first and second composite images as an image stream.

21. A method for imaging a portion of a body of a subject that moves as a result of cardiac cyclic activity of the subject and that also undergoes additional motion that is at least partially a result of a respiratory cycle of the subject, the method comprising:

identifying a given phase of the cardiac cyclic activity;

generating a stabilized set of image frames of the portion of the subject'"'"'s body

by outputting a set of image frames corresponding to image frames of the portion acquired during the given phase, and

by image tracking at least the set of image frames to reduce imaged motion of the portion of the subject'"'"'s body associated with the additional motion; and

displaying the tracked set of image frames of the portion of the subject'"'"'s body.