Method for three-dimensional localization of an instrument for an interventional access and associated device

• US 8,099,153 B2
• Filed: 02/19/2008
• Issued: 01/17/2012
• Est. Priority Date: 02/26/2007
• Status: Expired due to Fees

• Current Assignee: Siemens Healthcare GMBH (Siemens AG)
• Original Assignee: Siemens AG
• Inventors: Boese, Jan
• Primary Examiner(s): Le, Long V.
• Assistant Examiner(s): LARYEA, LAWRENCE N
• Application Number:
  US12/070,479
• Publication Number:
  US 20080208040A1
• Time in Patent Office: 1,428 Days
• Field of Search: 382/128
• US Class Current: 600/424
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• 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 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

The invention relates to a method for three-dimensional localization of an instrument for an interventional access, comprising: creating a three-dimensional image recording covering a region of the intervention and surroundings; determining local attenuation values of the three-dimensional image recording by x-ray absorption characteristics; recording a two-dimensional image recording covering the region of the intervention and surroundings; determining an x-ray intensity at an x-ray sensor arranged on the instrument; localizing the x-ray sensor in the two-dimensional image recording based on the x-ray intensity; summing the local attenuation values along a virtual x-ray path passing through the x-ray sensor in the three-dimensional image recording; identifying a point on the virtual x-ray path where the attenuation sum corresponds to the x-ray intensity at the x-ray sensor; and determining a three-dimensional position of the point corresponding to the three-dimensional position of the x-ray sensor on the instrument.

Claims

1. A method for locating a three-dimensional position of an instrument for an intervention, comprising:

creating a three-dimensional image recording with a volume covering a region of the intervention and surroundings;

determining local attenuation values of the three-dimensional image recording by x-ray absorption characteristics;

recording a two-dimensional image recording showing the instrument during the intervention by an x-ray image recording device comprising an x-ray source and an x-ray detector;

determining an x-ray intensity at an x-ray sensor arranged on the instrument;

localizing the x-ray sensor in the two-dimensional image recording based on the x-ray intensity;

summing the local attenuation values along a virtual x-ray path passing through the x-ray sensor from the x-ray source to the x-ray detector in the volume of the three-dimensional image recording;

identifying a point on the virtual x-ray path where the attenuation sum corresponds to the x-ray intensity at the x-ray sensor; and

determining a three-dimensional position of the point corresponding to the three-dimensional position of the x-ray sensor on the instrument.

2. The method as claimed in claim 1, wherein the position of the instrument is displayed at an image display device.

3. The method as claimed in claim 1, wherein the x-ray image recording device is selected from the group consisting of:

computer tomography device, a monoplanar x-ray device, and a biplanar x-ray device.

4. The method as claimed in claim 3, wherein the x-ray image recording device is a C-arm x-ray device.

5. The method as claimed in claim 1, wherein the three-dimensional image recording is recorded by the x-ray image recording device.

6. The method as claimed in claim 1, wherein the x-ray sensor is arranged at an area of the instrument selected from the group consisting of:

a tip of the instrument, a region of the tip of the instrument, and a region of a front part of the instrument.

7. The method as claimed in claim 1, wherein a plurality of x-ray sensors are arranged on the instrument.

8. The method as claimed in claim 7, wherein a consistency of the attenuation values is checked based on the plurality of x-ray sensors.

9. The method as claimed in claim 1, wherein the x-ray sensor comprises an x-ray photodiode.

10. The method as claimed in claim 1, wherein the x-ray sensor transmits a signal via a lead or wirelessly.

11. The method as claimed in claim 1, wherein a plurality of attenuation values are summed each corresponding to one of a plurality of virtual x-ray paths which are not in a vicinity of the instrument in the volume of the three-dimensional image recording.

12. The method as claimed in claim 11, wherein the attenuation sums are compared with intensities measured at the x-ray detector.

13. The method as claimed in claim 12, wherein a correction curve is determined based on the comparison.

14. The method as claimed in claim 1, wherein the instrument is selected from the group consisting of:

a catheter, a guide wire, and a stent.

15. A device for locating a three-dimensional position of an instrument for an intervention, comprising:

an x-ray image recording device comprising an x-ray source and an x-ray detector that records;

a three-dimensional image recording with a volume covering a region of the intervention and surroundings, and

a two-dimensional image recording showing the instrument during the intervention; and

a computing device configured to;

determines local attenuation values of the three-dimensional image recording by x-ray absorption characteristics,

determines an x-ray intensity at an x-ray sensor arranged on the instrument,

localizes the x-ray sensor in the two-dimensional image recording based on the x-ray intensity,

sums the local attenuation values along a virtual x-ray path passing through the x-ray sensor from the x-ray source to the x-ray detector in the volume of the three-dimensional image recording,

identifies a point on the virtual x-ray path where the attenuation sum corresponds to the x-ray intensity at the x-ray sensor, and

determines a three-dimensional position of the point corresponding to the three-dimensional position of the x-ray sensor on the instrument.

16. The device as claimed in claim 15, wherein a plurality of x-ray sensors are arranged on the instrument.

17. The device as claimed in claim 16, wherein a consistency of the attenuation values is checked based on the plurality of x-ray sensors.

18. The device as claimed in claim 15, wherein a plurality of attenuation values are summed each corresponding to one of a plurality of virtual x-ray paths which are not in a vicinity of the instrument in the volume of the three-dimensional image recording.

19. The device as claimed in claim 18, wherein the attenuation sums are compared with intensities measured at the x-ray detector.

20. The device as claimed in claim 19, wherein a correction curve is determined based on the comparison.