TRACKING-BASED 3D MODEL ENHANCEMENT

• US 20160239963A1
• Filed: 02/12/2016
• Published: 08/18/2016
• Est. Priority Date: 02/13/2015
• Status: Active Grant

• Current Assignee: ST JUDE MEDICAL INTERNATIONAL HOLDING S. R.L.
• Original Assignee: St. Jude Medical International Holding SARL (Abbott Laboratories Incorporated)
• Inventors: Kor, Kobi, Kariv, Itay M., Cohen, Amit, Eichler, Uzi
• Granted Patent: US 10,163,204 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• 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 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2576/023 for the heart
• 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 5/063 using impedance measurements
• CPC Class Codes: A61B 5/283 Invasive
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/4225 using image intensifiers
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 6/481 involving the use of contrast agents
• CPC Class Codes: A61B 6/503 for diagnosis of the heart
• CPC Class Codes: A61B 6/5229 combining image data of a patient, e.g. combining a functional image with an anatomical image
• CPC Class Codes: A61B 6/5264 due to motion
• CPC Class Codes: G06T 11/003 Reconstruction from projections, e.g. tomography
• CPC Class Codes: G06T 2207/30048 Heart; Cardiac
• CPC Class Codes: G06T 7/0012 Biomedical image inspection
• CPC Class Codes: G06T 7/11 Region-based segmentation
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G06T 7/70 : Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G16H 30/40 : for processing medical images, e.g. editing

Abstract

A method for enhancing a three-dimensional (3D) reconstruction of an object comprises obtaining a signal indicative of a static 3D reconstruction of an object disposed in a tracking space, co-registering the 3D reconstruction to the 3D tracking space, collecting enhancement data from a tracked tool disposed in the 3D tracking space, and adding real-time features of the object to the static 3D reconstruction using the enhancement data. A system for enhancing data obtained by a medical system includes an electronic control unit configured to receive a first signal for a static 3D reconstruction of an organ, co-register the static 3D reconstruction to a 3D tracking space for a tracked tool, receive a second signal for enhancement data generated by the tracked tool operating within a region of interest of the organ, and add real-time features of the area of interest to the static 3D reconstruction using the enhancement data.

Claims

1. A method for enhancing a three-dimensional (3D) reconstruction of an internal organ of a patient disposed in a tracking space, the method comprising:

obtaining a signal indicative of a static 3D reconstruction of an object disposed in a 3D tracking space;

co-registering the 3D reconstruction to the 3D tracking space;

collecting enhancement data from a tracked tool disposed in the 3D tracking space; and

adding real-time features of the object to the static 3D reconstruction using the enhancement data.

2. The method of claim 1, wherein the 3D tracking space is disposed in a Medical Positioning System (MPS) coordinate system and the static 3D reconstruction is disposed in a 3D coordinate system.

3. The method of claim 2, wherein the real-time features comprise motion of the object.

4. The method of claim 3, wherein the static 3D reconstruction is animated in synchronicity with motion of the object based on real-time movement of the tracked tool engaged with the object.

5. The method of claim 3, wherein the object comprises a heart and the motion comprises heart wall motion arising from beating of the heart.

6. The method of claim 2, wherein the real-time features comprise an extension of a boundary of the static 3D reconstruction.

7. The method of claim 6, wherein the extension of the boundary of the static 3D reconstruction comprises a trace from the tracked tool in the MPS coordinate system co-registered with the static 3D reconstruction in the 3D coordinate system.

8. The method of claim 6, wherein the object comprises a heart and the extension of the boundary comprises an extension of a branch of a coronary sinus.

9. The method of claim 8, wherein the branch of the coronary sinus is mapped in the static 3D reconstruction using contrast fluid, and the extension of the boundary extends beyond where the contrast fluid terminates.

10. The method of claim 2, wherein the co-registering comprises matching the static 3D reconstruction with an estimated volumetric model generated by the tracked tool.

11. The method of claim 10, wherein the estimated volumetric model is determined by matching a trace from the tracked tool with a 2D representation of the object.

12. The method of claim 11, wherein the 2D representation comprises an X-ray image of the object.

13. The method of claim 2, further comprising compensating for movement of the object.

14. The method of claim 13, wherein movement of the object comprises respiration of the patient.

15. The method of claim 14, wherein the compensation comprises synchronizing period frequencies of the 3D reconstruction and the enhancement data.

16. The method of claim 13, wherein movement of the object comprises muscular movement of the internal organ.

17. The method of claim 16, wherein the compensation comprises associating an anchor with the static 3D reconstruction in the 3D coordinate system with the 3D tracking space in the MPS coordinate system.

18. A system for enhancing data acquired from a medical system, the system comprising the following:

an electronic control unit (ECU) configured to;

receive a first signal for a static 3D reconstruction of an organ;

co-register the static 3D reconstruction to a 3D tracking space for a tracked tool;

receive a second signal for enhancement data generated by the tracked tool operating within a region of interest of the organ; and

add real-time features of the area of interest to the static 3D reconstruction using the enhancement data.

19. The system of claim 18, further comprising a tracked tool in communication with the ECU to provide the second signal.

20. The system of claim 19, wherein the 3D reconstruction is animated in synchronicity with motion of the organ based on real-time movement of the tracked tool in the organ.

21. The system of claim 19, wherein the real-time features comprise an extension of a boundary of the static 3D reconstruction.

22. The system of claim 21, wherein the extension of the boundary of the static 3D reconstruction comprises a trace from the tracked tool in a Medical Positioning System (MPS) coordinate system co-registered with the 3D reconstruction in a 3D coordinate system.

23. The system of claim 18, wherein the co-registering comprises matching the static 3D reconstruction with an estimated volumetric model generated by the tracked tool.

24. The system of claim 23, wherein the estimated volumetric model is determined by matching a trace from the tracked tool with a 2D representation of the organ.

25. The system of claim 18, wherein the ECU is further configured to compensate for respiration of a patient of the organ.

26. The system of claim 25, wherein the ECU is configured to compensate for respiration of the patient of the organ by synchronizing period frequencies of the 3D reconstruction and the enhancement data.

27. The system of claim 18, wherein the ECU is further configured to compensate for muscular movement of the organ.

28. The system of claim 27, wherein the ECU is further configured to compensate for muscular movement of the organ by associating an anchor with the 3D reconstruction and with the 3D tracking space at a known location.