METHOD AND SYSTEM FOR REGISTERING A MEDICAL SITUATION ASSOCIATED WITH A FIRST COORDINATE SYSTEM, IN A SECOND COORDINATE SYSTEM USING AN MPS SYSTEM

• US 20110130649A1
• Filed: 01/31/2011
• Published: 06/02/2011
• Est. Priority Date: 01/13/2003
• Status: Active Grant

• Current Assignee: ST JUDE MEDICAL INTERNATIONAL HOLDING S. R.L.
• Original Assignee: ST JUDE MEDICAL INTERNATIONAL HOLDING S. R.L.
• Inventors: Strommer, Gera, Eichler, Uzi
• Granted Patent: US 10,398,345 B2
• Time in Patent Office: Days
• US Class Current: 600/424
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/256 having a database of accessory information, e.g. including context sensitive help or scientific articles
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• 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 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61B 5/702 Posture restraints
• CPC Class Codes: A61B 5/704 Tables
• CPC Class Codes: A61N 5/1049 for verifying the position of the patient with respect to the radiation beam
• CPC Class Codes: G06T 2207/10081 Computed x-ray tomography [CT]
• CPC Class Codes: G06T 2207/30021 Catheter; Guide wire
• CPC Class Codes: G06T 2207/30101 Blood vessel; Artery; Vein; Vascular
• CPC Class Codes: G06T 7/33 using feature-based methods

Abstract

System for registering a first image with a second image, the system including a first medical positioning system for detecting a first position and orientation of the body of a patient, a second medical positioning system for detecting a second position and orientation of the body, and a registering module coupled with a second imager and with the second medical positioning system, the first medical positioning system being associated with and coupled with a first imager, the first imager acquiring the first image from the body, the first imager producing the first image by associating the first image with the first position and orientation, the second medical positioning system being associated with and coupled with the second imager, the second imager acquiring the second image and associating the second image with the second position and orientation, the registering module registering the first image with the second image, according to the first position and orientation and the second position and orientation.

Claims

1-70. -70. (canceled)

71. System for adjusting an imager, by means of a moving mechanism, to a desired orientation with respect to a section of the body of a patient to acquire a visual representation of said section, the visual representation including an optimal representation of a portion of interest of a medical intervention device when inserted into said section, the system comprising:

a medical positioning system;

a processor coupled with said medical positioning system and with said moving mechanism; and

a device position and orientation detector coupled with said medical intervention device at said portion of interest and with said medical positioning system,

wherein said medical positioning system detects a device position and orientation of said device position and orientation detector, said medical positioning system providing said device position and orientation to said processor,

wherein said processor determines said desired orientation according to said device position and orientation, and

wherein said processor directs said moving mechanism to move said imager to said desired orientation.

72. The system according to claim 71 wherein said moving mechanism is configured for one of (i) moving said imager;

(ii) moving a table, configured for said patient, relative to said imager; and

(iii) moving both said imager and said table.

73. The system according to claim 72, wherein said medical positioning system (MPS) is associated with a coordinate system, said imager being calibrated with said MPS.

74. The system according to claim 71, further comprising an imager position and orientation detector coupled with said imager and with said medical positioning system,

wherein said medical positioning system detects an imager position and orientation of said imager position and orientation detector, said medical positioning system providing said imager position and orientation to said processor, and

wherein said processor determines said desired orientation according to said device position and orientation and said imager position and orientation.

75. The system according to claim 71, wherein said imager comprises:

a radiation generator located at one side of said body; and

a radiation detector located at another side of said body, said radiation detector detecting the radiation generated by said radiation generator, said portion of interest being located between said radiation generator and said radiation detector,

wherein said system further comprises a display coupled with said imager,

wherein said radiation detector detects said visual representation, when said imager is located at said orientation, and

wherein said display displays said visual representation.

76. The system according to claim 71, wherein said moving mechanism has at least one degree of freedom.

77. The system according to claim 71, wherein said imager operates in a radiation domain selected from the group consisting of:

nuclear;

ultrasonic; and

electromagnetic.

78. The system according to claim 71, wherein said medical intervention device is selected from the group consisting of:

catheter;

drug deliver unit; and

tissue severing unit.

87. The system according to claim 71, further comprising:

a user interface configured to receive an input from a user respective of said desired orientation of said imager.

88. The system of claim 87 wherein said medical positioning system (MPS) is associated with a coordinate system, said moving mechanism being synchronized with said coordinate system, said processor being configured to determine a vector indicative of a direction of said medical intervention device according to said device position and orientation, said processor being configured to direct moving mechanism so as to move said imager such that an axis associated with said imager is in a desired relationship with said determined vector.

89. The system of claim 88 wherein in said desired relationship, said axis is normal to said vector.

90. The system of claim 87 wherein said user interface is configured to receive said input as a user designation of said desired orientation for said imager on a three-dimensional visual representation of said section of said body of said patient.

79. Method for adjusting an imager to a desired orientation to acquire a visual representation of a section of the body of a patient, the visual representation including an optimal representation of a portion of interest of a medical intervention device, the method comprising the steps of:

detecting a device position and orientation of a position and orientation detector coupled with said medical intervention device, at said portion of interest;

determining said desired orientation according to said device position and orientation, such that said imager can acquire said visual representation; and

directing a moving mechanism to move said imager to said desired orientation.

80. The method according to claim 79, further comprising the step of inserting said medical intervention device into said body.

81. The method according to claim 79, further comprising the steps of:

detecting an imager position and orientation of an imager position and orientation detector coupled with said imager; and

determining the position and orientation of said imager from said imager position and orientation.

82. The method according to claim 79, further comprising the step of retrieving an imager position and orientation from said imager.

83. The method according to claim 79, further comprising the step of acquiring said visual representation by said imager.

84. The method according to claim 83, further comprising the step of displaying said visual representation.

85. The method according to claim 79, wherein said moving mechanism has at least one degree of freedom.

86. The method according to claim 79, wherein said imager acquires said visual representation by irradiating said section.