SYSTEM AND METHOD FOR NAVIGATING AN ULTRASOUND CATHETER TO IMAGE A BEATING HEART

• US 20110009740A1
• Filed: 09/09/2010
• Published: 01/13/2011
• Est. Priority Date: 06/30/1998
• Status: Active Grant

• Current Assignee: St. Jude Medical, Atrial Fibrillation Division, Inc. (Abbott Laboratories)
• Original Assignee: St. Jude Medical, Atrial Fibrillation Division, Inc. (Abbott Laboratories)
• Inventors: Hauck, John A.
• Granted Patent: US 8,333,705 B2
• Time in Patent Office: Days
• US Class Current: 600/424
• CPC Class Codes: A61B 2017/00243 cardiac
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2053 Tracking an applied voltage gradient
• CPC Class Codes: A61B 2090/367 creating a 3D dataset from 2D images using position information
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 2562/046 in a matrix array
• 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 5/1076 for measuring dimensions inside body cavities, e.g. using catheters A61B3/1005 takes precedence
• CPC Class Codes: A61B 5/287 Holders for multiple electrodes, e.g. electrode catheters for electrophysiological study [EPS]
• CPC Class Codes: A61B 5/6852 Catheters
• CPC Class Codes: A61B 8/0841 for locating instruments
• CPC Class Codes: A61B 8/0883 for diagnosis of the heart
• CPC Class Codes: A61B 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/4254 using sensors mounted on the probe
• CPC Class Codes: A61B 8/463 characterised by displaying multiple images or images and diagnostic data on one display composite display in devices for short-range imaging with acoustic waves G01S7/52074
• CPC Class Codes: A61B 8/466 adapted to display 3D data 3D imaging and stereoscopic displays in devices for short-range imaging with acoustic waves G01S15/8993 and G01S7/52068, respectively; 3D image rendering G06T15/00; manipulating 3D models for computer graphics G06T19/00
• CPC Class Codes: A61B 8/5223 for extracting a diagnostic or physiological parameter from medical diagnostic data for algorithms to analyse biomedical images G06T7/0012
• CPC Class Codes: A61B 8/5253 : combining overlapping images, e.g. spatial compounding
• CPC Class Codes: A61B 8/5292 : using additional data, e.g. patient information, image labeling, acquisition parameters
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61N 1/056 : Transvascular endocardial electrode systems
• CPC Class Codes: A61N 1/3625 : External stimulators
• CPC Class Codes: A61N 1/37 : Monitoring; Protecting
• CPC Class Codes: A61N 1/3702 : Physiological parameters A61N1/365 takes precedence; evoked response A61N1/371

Abstract

Catheter navigation is coupled with ultrasound imaging to yield a context map showing the location on a heart of the ultrasonically imaged frame.

Claims

1. A system for navigating an ultrasound catheter to image a beating heart, comprising:

a catheter carrying an ultrasonic transducer configured to generate a sound wave and sense an echo wave to obtain ultrasound data for a first portion of the interior surface of the heart; and

,

an imaging system for simultaneously displaying an ultrasound image of the first portion and a three-dimensional context map of the heart and simultaneously highlighting a first surface on the context map corresponding to the first portion and a second surface on the context map corresponding to a second portion of the interior surface of the heart for which ultrasound data was previously captured by the ultrasonic transducer.

2. The system of claim 1 wherein the imaging system displays the ultrasound image in real time.

3. The system of claim 1 wherein the first and second portions partially overlap.

4. The system of claim 1 wherein the context map displays a section of the heart that includes the first portion and additional portions of the heart adjacent the first portion.

5. The system of claim 1, further comprising a robotic mechanism operatively coupled to the catheter to position and orient the catheter.

10. The system of claim 1 wherein the position of the first portion is determined responsive to a position of the sensor element and the ultrasound data.

6. A system for navigating an ultrasound catheter to image a beating heart, comprising:

a catheter carrying a sensor element and an ultrasonic transducer configured to generate a sound wave and sense an echo wave to obtain ultrasound data for a first portion of the interior surface of the heart;

a navigation system operatively coupled to the sensor element for determining a position of the first portion; and

,

an imaging system for simultaneously displaying an ultrasound image of the first portion and a three-dimensional context map of the heart and simultaneously highlighting a first surface on the context map corresponding to the first portion and a second surface on the context map corresponding to a second portion of the interior surface of the heart for which ultrasound data was previously captured by the ultrasonic transducer.

7. The system of claim 6, wherein said navigation system determines a position and an orientation of the sensor element.

8. The system of claim 6 wherein said sensor element is disposed on a longitudinal axis of the catheter and the catheter includes a plurality of additional sensor elements, each one of the additional sensor elements spaced radially from the axis and at approximately equal circumferential distances from circumferentially adjacent others of the additional sensor elements.

9. The system of claim 6 wherein said additional sensor elements are in a common plane.

11. The system of claim 6 wherein the imaging system displays the ultrasound image in real time.

12. The system of claim 6 wherein the first and second portions partially overlap.

13. The system of claim 6 wherein the context map displays a section of the heart that includes the first portion and additional portions of the heart adjacent the first portion.

14. The system of claim 6, further comprising a robotic mechanism operatively coupled to the catheter to position and orient the catheter.

15. A method of navigating an ultrasound catheter to image a beating heart, comprising the steps of:

positioning a catheter in the interior of the heart, the catheter carrying an ultrasonic transducer;

generating a sound wave and sensing an echo wave to obtain ultrasound data for a first portion of the interior surface of the heart; and

,

simultaneously displaying an ultrasound image of the first portion and a three-dimensional context map of the heart and simultaneously highlighting a first surface on the context map corresponding to the first portion and a second surface on the context map corresponding to a second portion on the interior surface of the heart for which ultrasound data was previously captured by the ultrasonic transducer.

16. The method of claim 15 wherein said catheter further carries a sensor element and further comprising the step of determining a position of the sensor element.

17. The method of claim 16, further comprising the steps of:

determining a position of the ultrasonic transducer responsive to the position of the sensor element;

calculating a distance from the ultrasonic transducer to the first portion; and

,

determining a location of the first portion responsive to the position of the ultrasonic transducer and the distance.

18. The method of claim 15, further comprising the steps of

repositioning the catheter in the interior of the heart;

generating a sound wave and sensing an echo wave to obtain ultrasound data for a third portion of the interior surface of the heart; and

,

simultaneously displaying an ultrasound image of the third portion and a three-dimensional context map of the heart and simultaneously highlighting the first and second surfaces and a third surface on the context map corresponding to the third portion.

19. The method of claim 15 wherein the ultrasound image is displayed in real time.

20. The method of claim 15 wherein the first and second portions partially overlap.