System and method of graphically generating anatomical structures using ultrasound echo information

• US 7,610,078 B2
• Filed: 08/26/2005
• Issued: 10/27/2009
• Est. Priority Date: 08/26/2005
• Status: Active Grant

• Current Assignee: Boston Scientific Scimed (Boston Scientific Corporation)
• Original Assignee: Boston Scientific Scimed (Boston Scientific Corporation)
• Inventors: Willis, N. Parker
• Primary Examiner(s): Le; Long V
• Assistant Examiner(s): Selkin; Saurel J
• Application Number:
  US11/213,516
• Publication Number:
  US 20070049821A1
• Time in Patent Office: 1,523 Days
• Field of Search: 382/128, 382/154, 600/374, 600/424, 600/443, 600/459, 700/98, 700/118, 345/419, 345/420, 345/424
• US Class Current: 600/424
• CPC Class Codes: A61B 18/1492 having a flexible, catheter-like structure, e.g. for heart ablation A61B18/1477 takes precedence
• CPC Class Codes: A61B 2018/00351 Heart
• CPC Class Codes: A61B 2018/00839 Bioelectrical parameters, e.g. ECG, EEG
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/2063 Acoustic tracking systems, e.g. using ultrasound
• 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 5/1076 for measuring dimensions inside body cavities, e.g. using catheters A61B3/1005 takes precedence
• CPC Class Codes: A61B 8/06 Measuring blood flow measuring volume flow in general G01F, e.g. G01F1/66, G01F1/72; measuring speed of fluids in general G01P5/00
• CPC Class Codes: A61B 8/0858 involving measuring tissue layers, e.g. skin, interfaces
• CPC Class Codes: A61B 8/0883 for diagnosis of the heart
• CPC Class Codes: A61B 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00

Abstract

Methods and systems for graphically creating a representation of an anatomical structure, such as a heart, is provided. The distal end of an elongated probe is moved within the anatomical structure, and geometric shapes are defined within a coordinate system. By defining geometric shapes, such as spheres or circles, as the distal probe end is moved within the anatomical structure, the cavity within the anatomical structure can be represented. A representation of at least a portion of the anatomical structure can be graphically generated based on the geometric shapes, e.g., by determining a union of the geometric shapes and conforming the graphical representation around the union of the shapes. In the case of a heart, the union of the shapes will generally represent the blood volume within the heart, so that the graphical anatomical representation (which in this case will be a graphical representation of the endocardial surface of the heart) can be accurately conformed around the representative blood volume.

Claims

1. A method of graphically creating a representation of an anatomical structure, comprising:

moving the distal end of an elongated probe within the anatomical structure;

generating data, based on signals emitted by the probe, while the distal probe end is moved within the anatomical structure;

defining geometric shapes, based on the generated data, within a coordinate system, each of the geometric shapes originating from the distal probe end; and

graphically generating a representation of at least a portion of the anatomical structure based on the geometric shapes.

2. The method of claim 1, wherein the coordinate system is a three-dimensional coordinate system.

3. The method of claim 1, wherein the anatomical structure is a heart.

4. The method of claim 1, wherein the geometric shapes comprise spheres.

5. The method of claim 1, wherein the geometric shapes comprise at least two different shapes.

6. The method of claim 1, wherein a size of each geometric shape is defined by a distance between the distal probe end and a surface of the anatomical structure.

7. The method of claim 1, wherein the geometric shapes originate from a plurality of points on the probe distal end.

8. The method of claim 1, further comprising transmitting ranging signals between the probe distal end and a reference point, wherein a position of each geometric shape within the coordinate system is determined based on the ranging signals.

9. The method of claim 6, further comprising transmitting a signal from the probe distal end, wherein the distance is determined based on an intersection between the signal and the surface of the anatomical structure.

10. The method of claim 9, wherein the signal is an ultrasound signal.

49. The method of claim 1, wherein the graphical generation of the representation comprises creating a graphical anatomical shell around the geometric shapes.

11. A medical system for use with an anatomical structure, comprising:

an elongated medical probe including a shaft having a distal end and a signal emitting element carried by the shaft distal end;

at least one processor configured for;

generating data, based on signals emitted by the element, while the distal probe end is moved within the anatomical structure;

defining a plurality of three-dimensional geometric shapes, based on the generated data, within a coordinate system; and

graphically generating a representation of at least a portion of the anatomical structure based on the geometric shapes.

12. The system of claim 11, wherein the coordinate system is a three-dimensional coordinate system.

13. The system of claim 11, wherein the probe is an intravascular catheter.

14. The system of claim 11, wherein the geometric shapes comprise spheres.

15. The system of claim 11, wherein the geometric shapes comprise at least two different shapes.

16. The system of claim 11, wherein medical probe includes a plurality of signal emitting elements carried by the distal shaft end, and wherein the at least one processor is configured for defining the geometric shapes based on the signal emitted by each element.

17. The system of claim 11, wherein a size of each geometric shape is defined by a distance between the distal shaft end and a surface of the anatomical structure, and the at least one processor is configured for determining the distance based on an intersection between the emitted signal and the surface of the anatomical structure.

18. The system of claim 11, wherein the element is an ultrasound transducer.

19. The system of claim 11, further comprising:

a tracking element carried by the distal shaft end; and

ranging circuitry configured for transmitting signals between the tracking element and a reference point, wherein the at least one processor is configured for determining a position of each geometric shape within the coordinate system based on the signals.

20. The system of claim 11, further comprising an output device configured for displaying the graphical representation.

21. The system of claim 15, wherein the element is configured for emitting signals in at least two different modes, and the at least two different geometric shapes are respectively defined based on the at least two modes.

50. The system of claim 11, wherein the graphical generation of the representation comprises creating a graphical anatomical shell around the geometric shapes.

22. A method of graphically creating a representation of an anatomical structure, comprising:

moving the distal end of an elongated probe within the anatomical structure;

defining geometric shapes within a coordinate system while the distal probe end is moved within the anatomical structure, each of the geometric shapes originating from the distal probe end;

determining a union of the geometric shapes; and

graphically generating a representation of at least a portion of the anatomical structure based on the union of the geometric shapes.

23. The method of claim 22, wherein the coordinate system is a three-dimensional coordinate system.

24. The method of claim 22, wherein the anatomical structure is a heart.

25. The method of claim 22, wherein the geometric shapes comprise three-dimensional shapes.

26. The method of claim 22, wherein the geometric shapes comprise two-dimensional shapes.

27. The method of claim 22, wherein the geometric shapes comprise spheres.

28. The method of claim 22, wherein the geometric shapes comprise circles.

29. The method of claim 22, wherein the geometric shapes comprise at least two different shapes.

30. The method of claim 22, wherein a size of each geometric shape is defined by a distance between the distal probe end and a surface of the anatomical structure.

31. The method of claim 22, wherein the geometric shapes originate from a plurality of points on the probe distal end.

32. The method of claim 28, further comprising transmitting a signal from the probe distal end, wherein the distance is determined based on an intersection between the signal and the surface of the anatomical structure.

33. The method of claim 30, wherein the signal is an ultrasound signal.

34. The method of claim 22, further comprising transmitting ranging signals between the probe distal end and a reference point, wherein a position of each geometric shape within the coordinate system is determined based on the ranging signals.

51. The method of claim 22, wherein the graphical generation of the representation comprises creating a graphical anatomical shell around the union of the geometric shapes.

35. A medical system for use with an anatomical structure, comprising:

an elongated medical probe including a shaft having a distal end and a signal emitting element carried by the shaft distal end;

at least one processor configured for;

defining a plurality of geometric shapes within a coordinate system based on the signal emitted by the element;

determining a union of the geometric shapes; and

graphically generating a representation of at least a portion of the anatomical structure based on the union of the geometric shapes.

36. The system of claim 35, wherein the coordinate system is a three-dimensional coordinate system.

37. The system of claim 35, wherein the probe is an intravascular catheter.

38. The system of claim 35, wherein the geometric shapes comprise three-dimensional shapes.

39. The system of claim 35, wherein the geometric shapes comprise two-dimensional shapes.

40. The system of claim 35, wherein the geometric shapes comprise spheres.

41. The system of claim 35, wherein the geometric shapes comprise circles.

42. The system of claim 35, wherein the geometric shapes comprise at least two different shapes.

43. The system of claim 35, wherein medical probe includes a plurality of signal emitting elements carried by the distal shaft end, and wherein the at least one processor is configured for defining the geometric shapes based on the signal emitted by each element.

44. The system of claim 42, wherein the element is configured for emitting signals in at least two different modes, and the at least two different geometric shapes are respectively defined based on the at least two modes.

45. The system of claim 35, wherein a size of each geometric shape is defined by a distance between the distal shaft end and a surface of the anatomical structure, and the at least one processor is configured for determining the distance based on an intersection between the emitted signal and the surface of the anatomical structure.

46. The system of claim 35, wherein the element is an ultrasound transducer.

47. The system of claim 35, further comprising:

a tracking element carried by the distal shaft end; and

ranging circuitry configured for transmitting signals between the tracking element and a reference point, wherein the at least one processor is configured for determining a position of each geometric shape within the coordinate system based on the signals.

48. The system of claim 35, further comprising an output device configured for displaying the graphical representation.

52. The system of claim 35, wherein the graphical generation of the representation comprises creating a graphical anatomical shell around the geometric shapes.