Method and apparatus for real time quantitative three-dimensional image reconstruction of a moving organ and intra-body navigation

• US 7,343,195 B2
• Filed: 09/07/2001
• Issued: 03/11/2008
• Est. Priority Date: 05/18/1999
• Status: Expired due to Term

• Current Assignee: ST JUDE MEDICAL INTERNATIONAL HOLDING S. R.L.
• Original Assignee: MediGuide Ltd (Abbott Laboratories Incorporated)
• Inventors: Strommer, Gera M., Eichler, Uzi, Schwartz, Liat
• Primary Examiner(s): Casler; Brian L.
• Assistant Examiner(s): Roy; Baisakhi
• Application Number:
  US09/949,160
• Publication Number:
  US 20020049375A1
• Time in Patent Office: 2,377 Days
• Field of Search: 600/407, 600/425, 600/426, 600/427, 600/437, 600/438, 600/439, 600/424, 600/415, 600/434, 600/453, 606/130, 378/20, 378/205, 378/69
• US Class Current: 600/424
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• 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 2090/365 augmented reality, i.e. correlating a live optical image with another image
• 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 2090/3782 transmitter or receiver in catheter or minimal invasive instrument
• CPC Class Codes: A61B 2090/3784 both receiver and transmitter being in the instrument or receiver being also transmitter
• CPC Class Codes: A61B 2090/3958 emitting a signal
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• 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 5/0066 Optical coherence imaging
• CPC Class Codes: A61B 5/015 By temperature mapping of body part
• 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 5/352 Detecting R peaks, e.g. for synchronising diagnostic apparatus; Estimating R-R interval
• CPC Class Codes: A61B 5/7285 for synchronising or triggering a physiological measurement or image acquisition with a physiological event or waveform, e.g. an ECG signal A61B6/5205, A61B6/541, A61B8/5207, A61B8/543 take precedence
• CPC Class Codes: A61B 5/7445 : Display arrangements, e.g. multiple display units
• CPC Class Codes: A61B 6/503 : for diagnosis of the heart
• CPC Class Codes: A61B 6/504 : for diagnosis of blood vessels, e.g. by angiography
• CPC Class Codes: A61B 6/5247 : combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
• CPC Class Codes: A61B 6/541 : involving acquisition triggered by a physiological signal
• CPC Class Codes: A61B 8/0833 : involving detecting or locating foreign bodies or organic structures
• CPC Class Codes: A61B 8/0841 : for locating instruments
• CPC Class Codes: A61B 8/0891 : for diagnosis of blood vessels
• 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 8/4227 : characterised by straps, belts, cuffs or braces
• 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 8/483 : involving the acquisition of a 3D volume of data
• CPC Class Codes: A61B 8/5238 : for combining image data of patient, e.g. merging several images from different acquisition modes into one image for image registration algorithms G06T7/30
• CPC Class Codes: A61B 90/10 : for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras

Abstract

Medical imaging and navigation system including a processor, a medical positioning system (MPS), a two-dimensional imaging system and an inspected organ monitor interface, the MPS including an imaging MPS sensor, the two-dimensional imaging system including an image detector, the processor being coupled to a display unit and to a database, the MPS being coupled to the processor, the imaging MPS sensor being firmly attached to the image detector, the two-dimensional imaging system being coupled to the processor, the image detector being firmly attached to an imaging catheter.

Claims

1. Method for displaying an image sequence of a cyclically moving inspected organ that moves according to an organ motion cycle, comprising the steps of:

detecting an organ timing signal of said inspected organ, said organ timing signal including a plurality of occurrences within said organ motion cycle;

acquiring during said procedure of detecting a plurality of two-dimensional images of said inspected organ from different locations and orientations using an image detector;

detecting for each of said two-dimensional images acquired a respective location and orientation of said image detector;

associating each of said two-dimensional images with its corresponding respective image detector location and orientation and with a reading of said organ timing signal, which was detected at the same time as the acquisition of a said two-dimensional image, each said reading corresponding to a certain point in said organ motion cycle;

sorting said two-dimensional images into groups according to said cycle points in said organ motion cycle which correspond to the associated organ timing signal reading corresponding to a certain cycle point in said organ motion cycle;

reconstructing for each said group of two-dimensional images, a three-dimensional image based on the location and orientation associated with each of said two-dimensional images in a group, each said reconstructed three dimensional images being associated with respective cycle points of said organ motion cycle of said group;

detecting a real-time organ timing signal of said inspected organ at a time later than the detection of said organ timing signal;

identifying real-time cycle points within said real-time organ timing signal;

selecting for each said identified real-time cycle point one of said reconstructed three-dimensional images associated with a cycle point which corresponds to said identified real-time cycle point; and

displaying in real-time a sequence of said selected three-dimensional images.

2. The method according to claim 1, further comprising the following procedures, after said procedure of selecting:

detecting the location and orientation of a surgical tool; and

superimposing a representation of said surgical tool onto said selected three-dimensional image, according to said detected location and orientation of said surgical tool.

3. The method according to claim 2, wherein said detected location and orientation of said surgical tool and said detected location and orientation of said image detector, both reside in a single coordinate system.

4. The method according to claim 2, wherein said surgical tool is selected from the list consisting of:

clamp;

laser cutter;

brush;

catheter;

stent;

balloon;

pace maker electrode;

solution dispensing unit;

neuron electrode;

substance collection unit;

surgical delivery tool;

gene delivery tool;

drug delivery tool;

device delivery tool;

ablation catheter;

endoscope;

electrophysiological mapping device;

imaging device; and

a combination thereof.

5. The method according to claim 2, wherein said representation of said surgical tool indicates an estimated location of said surgical tool.

6. The method according to claim 2, wherein said representation of said surgical tool indicates the orientation of said surgical tool.

7. The method according to claim 2, wherein said representation of said surgical tool is in the form of a cursor.

8. The method according to claim 2, wherein said representation of said surgical tool is a pseudo realistic visualization of said surgical tool.

9. The method according to claim 2, wherein said representation of said surgical tool comprises a projection of a three-dimensional representation of said representation of said surgical tool, on a real time image.

10. The method according to claim 1, further comprising the following procedures, after said procedure of selecting:

detecting the location and orientation of a surgical tool; and

superimposing a representation of said detected location and orientation of said surgical tool, onto said selected three-dimensional image.

11. The method according to claim 1, further comprising the following procedures, prior to said procedure of displaying:

detecting a real time image; and

superimposing a projection of said selected three-dimensional image, onto said detected real time image.

12. The method according to claim 1, wherein said procedure of reconstruction is performed further according to the location and orientation information associated with each said selected two-dimensional images.