Method of three-dimensional device localization using single-plane imaging

• US 7,961,924 B2
• Filed: 08/21/2007
• Issued: 06/14/2011
• Est. Priority Date: 08/21/2006
• Status: Expired due to Fees

• Current Assignee: Stereotaxis, Inc.
• Original Assignee: Stereotaxis, Inc.
• Inventors: Viswanathan, Raju R.
• Primary Examiner(s): Ahmed; Samir A
• Assistant Examiner(s): RASHIDIAN, MOHAMMAD M
• Application Number:
  US11/842,402
• Publication Number:
  US 20080043902A1
• Time in Patent Office: 1,393 Days
• Field of Search: 128/920, 378 4- 9, 378/20, 378/901, 382/100, 382128-134, 382/262, 345/424, 264/442, 434/272, 434/187, 434/188, 600 1- 9, 600/30, 600/407, 600/424, 600/466, 600/433, 600/437, 600/408, 600/431, 601 1- 2, 606/1, 604/903, 700/117, 706/45, 702/109, 703/2, 977/904
• US Class Current: 382/128
• CPC Class Codes: A61B 1/00158 using magnetic field
• CPC Class Codes: A61B 1/01 Guiding arrangements therefore
• 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 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/503 for diagnosis of the heart

Abstract

A method and system for determining the three-dimensional location and orientation of a medical device distal end using a single-plane imaging system, using a computational model of the medical device and a transfer function for the medical device describing local device shape and orientation in response to user or computer determined inputs. The method allows guidance of an interventional medical system to a set of target points within the patient using a single-projection imaging system.

Claims

1. A method of estimation of three-dimensional localization information for a medical device distal end utilizing a two-dimensional X-ray projection image, the method comprising:

identifying the three-dimensional location of a base point from which a length of medical device bends, and a three dimensional orientation vector for the device at the base point;

defining a bending plane in which the medical device is contained;

identifying the location and orientation of the end of the medical device as projected onto a X-ray projection image;

determining a line between the X-ray source and X-ray imaging plane for use in estimating the three-dimensional location of the end of the medical device;

defining an expected two-dimensional orientation of the end of the medical device projected onto the X-ray projection image, as a function of the length of the medical device;

determining a value of the length of the medical device that minimizes the deviation between the identified two-dimensional orientation of the end of the medical device as projected onto the X-ray projection image and the expected two-dimensional orientation calculated as a function of the length of the medical device; and

determining a point on the line between the X-ray source and X-ray imaging plane that minimizes the distance between the line and a three-dimensional location of the end of the medical device calculated as a function of the selected value of the length of the medical device, to obtain a refined estimated three-dimensional location of the end of the medical device.

2. The method of claim 1, wherein the method for estimation of the three-dimensional location of a medical device is utilized in a feedback control algorithm for improving accuracy in navigating the end of a medical device to a target area within a subject body.

3. The method of claim 1 wherein the expected two-dimensional orientation of the end of the medical device is further calculated as a function of the device'"'"'s mechanical properties.

4. The method of claim 3 wherein the mechanical properties include the modulus of elasticity, the bending moment of inertia, and the length of the bend in the medical device.

5. The method of claim 1 wherein the two-dimensional x-ray image is a projection image in an x-ray imaging system.

6. The method of claim 1 wherein the method of estimation comprises using a transfer function for the medical device.

7. The method of claim 6 wherein the transfer function relates output parameters comprising local shape and local orientation at a number of points along the device to input parameters comprising pull wire tensions.

8. The method of claim 6 wherein the transfer function relates output parameters comprising local shape and local orientation at a number of points along the device to input parameters comprising magnetic field distributions.

9. The method of claim 6 wherein the transfer function relates output parameters comprising local shape and local orientation at a number of points along the device to input parameters comprising applied voltages.