Method and apparatus for real-time navigation assist in interventional radiological procedures

• US 5,274,551 A
• Filed: 11/29/1991
• Issued: 12/28/1993
• Est. Priority Date: 11/29/1991
• Status: Expired due to Term

• Current Assignee: General Electric Company
• Original Assignee: General Electric Company
• Inventors: Corby, Nelson R. Jr.
• Primary Examiner(s): Envall, Jr., Roy N.
• Assistant Examiner(s): Poinvil, Frantzy
• Application Number:
  US07/800,374
• Time in Patent Office: 760 Days
• Field of Search: 364/413.13, 358/88, 358/98, 382/6, 382/33, 382/55, 382/16, 382/46, 382/51, 128/654-658
• US Class Current: 600/433
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/463 characterised by displaying multiple images or images and diagnostic data on one display

Abstract

An integrated system for real-time navigation assist during interventional radiological procedures utilizes a two-dimensional model of a catheter guide wire, obtained by performing image analysis on a fluoroscopic image in realtime, and a three-dimensional model of a patient'"'"'s vascular system. The system backprojects the two-dimensional model into the three dimensional model and provides a three-dimensional display of the catheter in a patient'"'"'s vascular system in real-time.

Claims

1. A method for providing real-time navigation assist for Interventional Radiological procedures in a fluoroscopic examination system including a fluoroscope, a three-dimensional display device, an image digitizer with storage capability, and a three-dimensional model of a patient'"'"'s vascular system, said method comprising the steps of:

extracting pixels in a digitized fluoroscopic image corresponding to the path of a catheter within the vascular system of a patient undergoing an IR procedure;

backprojecting said catheter path into said three-dimensional model; and

displaying a three-dimensional image on said three-dimensional display device, said image representing said catheter within said three-dimensional model.

2. The method of claim 1 wherein said backprojecting step comprises the steps of:

determining the approximate region of said three-dimensional model in which said catheter is traveling; and

correlating the pathways in said region with said pixels.

3. A method for providing real-time navigation assist for Interventional Radiological procedures in a fluoroscopic examination system including a fluoroscope, a three dimensional display device, an image digitizer with storage capability, and a three-dimensional model of a patient'"'"'s vascular system, said method comprising the steps of:

creating a binary peak image;

constructing a two-dimensional model of said catheter path from said binary peak image;

backprojecting said catheter path into said three-dimensional model; and

displaying a three-dimensional image on said three dimensional display device.

4. The method of claim 3 wherein said constructing step comprises the steps of:

a) thinning said binary peak image;

b) organizing said thinned binary peak image into pixel chains;

c) organizing said pixel chains into first and second trees of pixel chains, wherein said first and second tree represent a first and second direction relative to the longest of said pixel chains and said first and second trees represent paths of semi-connected pixel chains;

d) searching said trees for longest valid paths through the nodes of said trees;

e) selecting a path with minimum curvature if no single valid path is longest;

f) repeating steps c-e using a next longest of said pixel chains in step c;

g) selecting a longest of the valid paths found in step d; and

h) representing said longest valid path as a set of line segments.

5. An apparatus for providing real-time navigation assist for Interventional Radiological procedures in a fluoroscopic examination system including a fluoroscope, a three-dimensional display device, an image digitizer with storage capability, and a three-dimensional model of a patient'"'"'s vascular system, said apparatus comprising:

means for extracting pixels in a digitized fluoroscopic image corresponding to the path of a catheter within the vascular system of a patient undergoing an IR procedure;

means for backprojecting said catheter path into said three-dimensional model; and

means for displaying a three-dimensional image on said three-dimensional display device, said image representing said catheter within said three-dimensional model.

6. The apparatus of claim 5 wherein said backprojecting means comprises:

means for determining the approximate region of said three-dimensional model in which said catheter is traveling; and

means for correlating the pathways in said region with said pixels.

7. An apparatus for providing real-time navigation assist for Interventional Radiological procedures in a fluoroscopic examination system including a fluoroscope, a three dimensional display device, an image digitizer with storage capability, and a three-dimensional model of a patient'"'"'s vascular system, said apparatus comprising:

means for creating a binary peak image;

means for constructing a two-dimensional model of said catheter path from said binary peak image;

means for backprojecting said catheter path into said three-dimensional model; and

means for displaying a three-dimensional image on said three dimensional display device.

8. The apparatus of claim 7 wherein said constructing means comprises:

a) means for thinning said binary peak image;

b) means for organizing said thinned binary peak image into pixel chains;

c) means for organizing said pixel chains into first and second trees of pixel chains, wherein said first and second tree represent a first and second direction relative to the longest of said pixel chains and said first and second trees represent paths of semi-connected pixel chains;

d) means for searching said trees for longest valid paths through the nodes of said trees;

e) means for selecting a path with minimum curvature if no single valid path is longest;

f) means for repeating steps c-e using a next longest of said pixel chains in step c;

g) means for selecting a longest of the valid paths found in step d; and

h) means for representing said longest valid path as a set of line segments.

9. An apparatus for providing real-time navigation assist for Interventional Radiological procedures in a fluoroscopic examination system including a fluoroscope, a three-dimensional display device, an image digitizer with storage capability, and a three-dimensional mode of a patient'"'"'s vascular system, said apparatus comprising:

a digital computer comprising means for;

extracting pixels, in a digitized fluoroscopic image, corresponding to the path of a catheter within the vascular system of a patient undergoing an IR procedure;

backprojecting said catheter path into said three-dimensional model; and

displaying a three-dimensional image on said three-dimensional display device, said image representing said catheter within said three-dimensional model.

10. The apparatus of claim 9 wherein said digital computer comprises means for:

determining the approximate region of said three-dimensional model in which said catheter is traveling; and

correlating the pathways in said region with said pixels.

11. An apparatus for providing real-time navigation assist for Interventional Radiological procedures in a fluoroscopic examination system including a fluoroscope, a three-dimensional display device, an image digitizer with storage capability, and a three-dimensional model of a patient'"'"'s vascular system, said apparatus comprising:

a digital computer programmed to;

create a binary peak image;

construct a two-dimensional model of said catheter path from said binary peak image; and

backproject said catheter path into said three-dimensional model; and

means for displaying a three-dimensional image on said three-dimensional display device.

12. The apparatus of claim 11 wherein said digital computer comprises means for:

a) thinning said binary peak image;

b) organizing said thinned binary peak image into pixel chains;

c) organizing said pixel chains into first and second trees of pixel chains, wherein said first and second tree represent a first and second direction relative to the longest of said pixel chains and said first and second trees represent paths of semi-connected pixel chains;

d) searching said trees for longest valid paths through the nodes of said trees;

e) selecting a path with minimum curvature if no single valid path is longest;

f) repeating steps c-e using a next longest of said pixel chains in step c;

g) selecting a longest of the valid paths found in step d; and

h) representing said longest valid path as a set of line segments.