Methods, apparatuses, and systems useful in conducting image guided interventions
First Claim
1. A non-transitory processor-readable medium storing code representing instructions to cause a processor to perform a process, the code comprising code to:
- create a dataset that includes a plurality of images associated with a body part, at least one image from the plurality of images depicting a non-tissue internal reference marker, the at least one image from the plurality of images being associated with a non-tissue internal reference marker position information, the at least one image from the plurality of images being at least 2-dimensional;
calculate for each image in the dataset a dataset vector based on a position of the non-tissue internal reference marker and the position of an external reference marker;
receive data associated with a current position of the external reference marker and a current position of the non-tissue internal reference marker;
calculate a current vector using the data associated with the current position of the external reference marker and the data associated with a current position of the non-tissue internal reference marker;
identify a match dataset vector (MDV), the MDV being the dataset vector most similar to the current vector, the MDV being associated with an image from the dataset;
receive data associated with a current position of an instrument reference marker coupled to an instrument;
apply a transformation associated with the image associated with the MDV to the current position of the instrument reference marker, thus transforming the current position of the instrument reference marker into image space; and
superimpose a representation of the instrument on the image associated with the MDV.
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Abstract
Methods, apparatuses, and systems relating to image guided interventions on dynamic tissue. One embodiment is a method that includes creating a dataset that includes images, one of the images depicting a non-tissue internal reference marker, being linked to non-tissue internal reference marker positional information, and being at least 2-dimensional. Another embodiment is a method that includes receiving a position of an instrument reference marker coupled to an instrument; transforming the position into image space using a position of a non-tissue internal reference marker implanted in a patient; and superimposing a representation of the instrument on an image in which the non-tissue internal reference marker appears. Computer readable media that include machine readable instructions for carrying out the steps of the disclosed methods. Apparatuses, such as integrated circuits, configured to carry out the steps of the disclosed methods. Systems that include devices configured to carry out steps of the disclosed methods.
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Citations
20 Claims
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1. A non-transitory processor-readable medium storing code representing instructions to cause a processor to perform a process, the code comprising code to:
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create a dataset that includes a plurality of images associated with a body part, at least one image from the plurality of images depicting a non-tissue internal reference marker, the at least one image from the plurality of images being associated with a non-tissue internal reference marker position information, the at least one image from the plurality of images being at least 2-dimensional; calculate for each image in the dataset a dataset vector based on a position of the non-tissue internal reference marker and the position of an external reference marker; receive data associated with a current position of the external reference marker and a current position of the non-tissue internal reference marker; calculate a current vector using the data associated with the current position of the external reference marker and the data associated with a current position of the non-tissue internal reference marker; identify a match dataset vector (MDV), the MDV being the dataset vector most similar to the current vector, the MDV being associated with an image from the dataset; receive data associated with a current position of an instrument reference marker coupled to an instrument; apply a transformation associated with the image associated with the MDV to the current position of the instrument reference marker, thus transforming the current position of the instrument reference marker into image space; and superimpose a representation of the instrument on the image associated with the MDV. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method, comprising:
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creating a dataset that includes a plurality of images associated with a body part, at least one image from the plurality of images depicting a non-tissue internal reference marker, the at least one image from the plurality of images being associated with non-tissue internal reference marker positional information, the at least one image from the plurality of images being at least 2-dimensional; calculating for each image in the dataset a dataset vector based on a position of the non-tissue internal reference marker and the position of an external reference marker; receiving data associated with a current position of the external reference marker and a current position of the non-tissue internal reference marker; calculating a current vector using the data associated with the current position of the external reference marker and the data associated with a current position of the non-tissue internal reference marker; identifying a match dataset vector (MDV), the MDV being the dataset vector most similar to the current vector, the MDV being associated with an image from the dataset; receiving data associated with a current position of an instrument reference marker coupled to an instrument; applying a transformation associated with the image associated with the MDV to the current position of the instrument reference marker, thus transforming the current position of the instrument reference marker into image space; and superimposing a representation of the instrument on the image associated with the MDV. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification