Method and apparatus for medical intervention procedure planning and location and navigation of an intervention tool

• US 7,778,686 B2
• Filed: 08/12/2004
• Issued: 08/17/2010
• Est. Priority Date: 06/04/2002
• Status: Active Grant

• Current Assignee: APN Health, LLC, General Electric Company
• Original Assignee: General Electric Company, Jasbir S. Sra
• Inventors: Sra, Jasbir S., Vass, Melissa
• Primary Examiner(s): Casler; Brian
• Assistant Examiner(s): CWERN, JONATHAN
• Application Number:
  US10/710,923
• Publication Number:
  US 20050080328A1
• Time in Patent Office: 2,196 Days
• Field of Search: 600/407, 600/424, 600425-427, 128/920, 128/922, 382/128, 382/130, 382/131
• US Class Current: 600/424
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 5/352 Detecting R peaks, e.g. for synchronising diagnostic apparatus; Estimating R-R interval
• CPC Class Codes: A61B 5/7207 of noise induced by motion artifacts
• CPC Class Codes: A61B 6/487 involving fluoroscopy
• CPC Class Codes: A61B 6/504 for diagnosis of blood vessels, e.g. by angiography
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

A system and method for a medical intervention procedure within a cardiac chamber having an imaging system to obtain image data of the cardiac chamber and to create a 3D model from that image data, an interventional system to register the 3D model with a real-time image of the cardiac chamber and to display the 3D model, and an interventional tool positioned in the cardiac chamber to be displayed upon the interventional system and to be navigated in real-time over the registered 3D model. Preferably, the method and system also includes a storage medium to store the 3D model and wherein the interventional system receives the stored 3D model to register with the real-time image of the cardiac chamber.

Claims

1. An imaging system for use in medical intervention procedure planning, comprising:

a medical scanner system configured for generating a volume of cardiac image data;

a data acquisition system configured for acquiring the volume of cardiac image data;

an image generation system configured for generating at least one viewable image from the volume of cardiac image data;

a database configured for storing information from said data acquisition and image generation systems;

an operator interface system configured for managing at least one of said medical scanner system, said data acquisition system, said image generation system, and said database;

a post-processing system configured for analyzing the volume of cardiac image data and displaying the at least one viewable image and being responsive to said operator interface system, said post-processing system is further adapted to insert at least three geometric markers for subsequent visualization, analysis and registration, each of said three geometric markers corresponding with anatomical landmarks in the volume of cardiac image data, for use in the location and navigation of an interventional tool;

wherein said operator interface system comprises computer executable instructions stored in a memory for using the volume of cardiac image data and the at least one viewable image in at least one of a bi-ventricular pacing planning, an atrial fibrillation planning, and an atrial flutter planning procedure prior to an actual medical interventional procedure; and

wherein said operator interface system comprises computer executable instructions stored in a memory for using the volume of cardiac image data and the at least one viewable image in location and navigation of an interventional tool in a 3D space of a cardiac chamber corresponding to the volume of cardiac image data.

2. The imaging system of claim 1, wherein said medical scanner system comprises at least one of a CT system, a MR system, an Ultrasound system, a 3D Fluoroscopy system, and a PET system.

3. The imaging system of claim 1, wherein said database includes storage for storing image data of at least one of a right atrium, a left atrium, a left ventricle, and a coronary sinus.

4. The imaging system of claim 1, wherein said database includes storage for storing the at least one viewable image of at least one of the right atrium and the coronary sinus.

5. The imaging system of claim 1, wherein said operator interface system includes instructions for segmenting the volume of cardiac image data for viewing at least one of a right atrium, a left atrium, a left ventricle, and a coronary sinus.

6. The imaging system of claim 5, wherein said operator interface system includes instructions for viewing the at least one viewable image in different planes.

7. The imaging system of claim 5, wherein said post-processing system includes instructions for performing vessel tracking of the coronary sinus from the volume of cardiac image data.

8. The imaging system of claim 7, wherein said instructions further include instructions for performing vectorial vessel tracking along the centerline of the viewable image of the coronary sinus.

9. The imaging system of claim 1, wherein:

said post-processing system is adapted to display the at least one viewable image in at least one of a three-dimensional surface rendering, a three-dimensional inner surface rendering, a three-dimensional volume rendering, a three-dimensional segmented model view, MPVR, MIP, curved reformat, lumen view, and an immersible view;

said post-processing system is further adapted to display a viewable image of at least one of the heart, a coronary sinus, a left ventricle, a left atrium, and a right atrium; and

,

said post-processing system is further adapted to display a first image of at least one of the heart, coronary sinus, left ventricle, left atrium, and right atrium in one of a translucent fashion and an opaque fashion while a second image of the coronary sinus is displayed in one of the translucent fashion and opaque fashion opposite the first image.

10. An imaging system for use in medical intervention procedure planning, comprising:

a medical scanner system configured for generating a volume of cardiac image data;

a data acquisition system configured for acquiring the volume of cardiac image data;

an image generation system configured for generating at least one viewable image from the volume of cardiac image data;

a database configured for storing information from said data acquisition and image generation systems;

an operator interface system configured for managing at least one of said medical scanner system, said data acquisition system, said image generation system, and said database;

a post-processing system configured for analyzing the volume of cardiac image data and displaying the at least one viewable image and being responsive to said operator interface system;

wherein said operator interface system comprises computer executable instructions stored in a memory for using the volume of cardiac image data and the at least one viewable image in at least one of a bi-ventricular pacing planning, an atrial fibrillation planning, and an atrial flutter planning procedure;

wherein said operator interface system comprises computer executable instructions stored in a memory for using the volume of cardiac image data and the at least one viewable image in location and navigation of an interventional tool in a 3D space of a cardiac chamber corresponding to the volume of cardiac image data;

wherein said post-processing system is adapted to display the at least one viewable image in at least one of a three-dimensional surface rendering, a three-dimensional inner surface rendering, a three-dimensional volume rendering, a three-dimensional segmented model view, MPVR, MIP, curved reformat, lumen view, and an immersible view;

wherein said post-processing system is further adapted to display a viewable image of at least one of the heart, a coronary sinus, a left ventricle, a left atrium, and a right atrium;

wherein said post-processing system is further adapted to insert at least three geometric markers for subsequent visualization, analysis and registration, each of the geometric markers corresponding with anatomical landmarks in the volume of cardiac image data, for use in the location and navigation of the interventional tool.

11. The imaging system of claim 10, wherein said post-processing system is further adapted to display a viewable image of the coronary sinus in a translucent fashion and each of the geometric markers in an opaque fashion.

12. An imaging system for use in medical intervention procedure planning, comprising:

a medical scanner system configured for generating a volume of cardiac image data;

a data acquisition system configured for acquiring the volume of cardiac image data;

an image generation system configured for generating at least one viewable image from the volume of cardiac image data;

a database configured for storing information from said data acquisition and image generation systems;

an operator interface system configured for managing at least one of said medical scanner system, said data acquisition system, said image generation system, and said database;

a post-processing system configured for analyzing the volume of cardiac image data and displaying the at least one viewable image and being responsive to said operator interface system;

wherein said operator interface system comprises computer executable instructions stored in a memory for using the volume of cardiac image data and the at least one viewable image in at least one of a bi-ventricular pacing planning, an atrial fibrillation planning, and an atrial flutter planning procedure;

wherein said operator interface system comprises computer executable instructions stored in a memory for using the volume of cardiac image data and the at least one viewable image in location and navigation of an interventional tool in a 3D space of a cardiac chamber corresponding to the volume of cardiac image data; and

,

wherein the post-processing system is configured for;

creating a 3D model from the volume of cardiac image data;

inserting at least three geometric markers into the 3D model of the volume of cardiac image data at corresponding anatomical landmarks; and

, storing in the database the 3D model of the volume of cardiac image data with the inserted at least three geometric markers and corresponding anatomical landmarks for subsequent visualization, analysis and registration, for use in the location and navigation of the interventional tool.

13. The imaging system of claim 12, wherein the operator interface system is configured to facilitate registration of the 3D model with an interventional system using the at least three geometric markers and corresponding anatomical landmarks, a centerline of a vessel used for vessel tracking, or both the at least three geometric markers and the centerline of the vessel used for vessel tracking.