TOMOGRAPHIC IMAGING FOR INTERVENTIONAL TOOL GUIDANCE
First Claim
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1. A navigational tracking method for visually tracking a navigational tool, comprising:
- acquiring a set of projection data using an X-ray source and detector at a first frequency or when prompted by a user or physiological monitor, wherein the set of projection data is acquired over a limited angular range by continuously moving the X-ray source and detector in an orbital trajectory with respect to a navigational volume such that the X-ray source and detector each stay on different respective sides of the navigational volume;
determining a position of a high-contrast instrument within the set of projection data or images generated using the set of projection data;
updating an instrument representation of the high-contrast instrument in the navigational volume at a first rate based on the determined position; and
updating a tissue representation depicting low-contrast structures within the navigational volume at a second rate that is equal to or less than the first rate, wherein the low-contrast structures include a target structure or region of the high-contrast instrument.
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Abstract
The present disclosure relates to the identification and tracking of a navigational instrument (e.g., a needle) in three-dimensions, with substantially real-time image updates of the instrument and updates of the tissue at an equal or lower rate. In certain embodiments, the images are acquired using a C-arm tomosynthesis system configured to move the X-ray source and detector in respective planes above and below the patient.
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Citations
21 Claims
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1. A navigational tracking method for visually tracking a navigational tool, comprising:
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acquiring a set of projection data using an X-ray source and detector at a first frequency or when prompted by a user or physiological monitor, wherein the set of projection data is acquired over a limited angular range by continuously moving the X-ray source and detector in an orbital trajectory with respect to a navigational volume such that the X-ray source and detector each stay on different respective sides of the navigational volume; determining a position of a high-contrast instrument within the set of projection data or images generated using the set of projection data; updating an instrument representation of the high-contrast instrument in the navigational volume at a first rate based on the determined position; and updating a tissue representation depicting low-contrast structures within the navigational volume at a second rate that is equal to or less than the first rate, wherein the low-contrast structures include a target structure or region of the high-contrast instrument. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A navigational imaging system, comprising:
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an X-ray source configured to move on a first side of a patient support; a detector configured to move on a second side of the patient support opposite the first side; a controller and one or more processing components configured to, alone or in combination; continuously move the X-ray source and detector along orbital trajectories within a limited angular range and to operate the X-ray source and detector; acquire a set of projection data at a first frequency or when prompted by a user or physiological monitor; determine a position of a high-contrast instrument using the set of projection data or images generated using the set of projection data; update an instrument representation of the high-contrast instrument in a navigational volume at a first rate; and update a tissue representation depicting low-contrast structures within the navigational volume at a second rate that is equal to or less than the first rate, wherein the low-contrast structures include a target structure or region of the high-contrast instrument. - View Dependent Claims (15, 16, 17)
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18. A navigational tracking method comprising:
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generating an initial volume comprising a target of a navigational procedure and surrounding tissue; depicting a representation of a navigational tool within the initial volume; determining a location of the navigational tool using a subset of projections or images generated from the subset of projections derived from a larger set of projections; updating, at a first rate, the representation of the navigational tool within the initial volume based on the location; updating, at a second rate, the depiction of the target and surrounding tissue based on at least the larger set of projections. - View Dependent Claims (19, 20, 21)
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Specification