Method and apparatus for registering 3D models of anatomical regions of a heart and a tracking system with projection images of an interventional fluoroscopic system
First Claim
1. An imaging system for use in a medical intervention procedure, comprising:
- a first image acquisition system configured to produce a fluoroscopy image of an anatomical region;
a second image acquisition system configured to produce a 3D model of the anatomical region;
an interventional tracking system configured to maneuver within the anatomical region, the interventional tracking system comprising a position indicator, the position indicator providing signals indicating coordinates of the position indicator in the anatomical region;
a first anatomical reference system common to both the first and the second image acquisition systems;
a second anatomical reference system common to both the first image acquisition system and the interventional tracking system, the coordinates of the position indicator being in the second anatomical reference system; and
a processing circuit configured to process executable instructions for;
registering the second image acquisition system with the first image acquisition system to define a first registration;
registering the interventional tracking system with the first image acquisition system utilizing the signals from the position indicator to define a second registration; and
in response to the first and second registrations, registering the interventional tracking system with the second image acquisition system using both the first and second registrations.
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Accused Products
Abstract
An imaging system for use in a medical intervention procedure is disclosed. A first image acquisition system is configured to produce a fluoroscopy image of an anatomical region. A second image acquisition system is configured to produce a 3D model of the anatomical region. An interventional tracking system, which includes a position indicator, is configured to maneuver within the anatomical region. A first anatomical reference system is common to both the first and the second image acquisition systems, and a second anatomical reference system is common to both the first image acquisition system and the interventional tracking system. A processing circuit configured to process executable instructions for registering the second image acquisition system with the first image acquisition system to define a first registration, registering the interventional tracking system with the first image acquisition system to define a second registration, and in response to the first and second registrations, registering the interventional tracking system with the second image acquisition system.
97 Citations
12 Claims
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1. An imaging system for use in a medical intervention procedure, comprising:
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a first image acquisition system configured to produce a fluoroscopy image of an anatomical region; a second image acquisition system configured to produce a 3D model of the anatomical region; an interventional tracking system configured to maneuver within the anatomical region, the interventional tracking system comprising a position indicator, the position indicator providing signals indicating coordinates of the position indicator in the anatomical region; a first anatomical reference system common to both the first and the second image acquisition systems; a second anatomical reference system common to both the first image acquisition system and the interventional tracking system, the coordinates of the position indicator being in the second anatomical reference system; and a processing circuit configured to process executable instructions for; registering the second image acquisition system with the first image acquisition system to define a first registration; registering the interventional tracking system with the first image acquisition system utilizing the signals from the position indicator to define a second registration; and in response to the first and second registrations, registering the interventional tracking system with the second image acquisition system using both the first and second registrations. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of registering a 3D model of an anatomical region of a patient with a catheter-based tracking system, the catheter-based tracking system comprising a catheter with a position indicator, the method comprising:
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generating a fluoroscopy image of the anatomical region, the catheter with the position indicator being disposed within the anatomical region; generating a 3D model of the anatomical region; using a first common anatomical reference system and a discernible parameter associated with the catheter, registering the 3D model with the fluoroscopy image, thereby defining a first registration; generating signals indicating coordinates of the position indicator in the anatomical region utilizing the position indicator; using a second common anatomical reference system and the signals from the position indicator representative of a location of the catheter in the fluoroscopy image, registering the catheter-based tracking system with the fluoroscopy image, thereby defining a second registration, the coordinates of the position indicator being in the second anatomical reference system; using the first registration and the second registration, registering the 3D model with the catheter-based tracking system. - View Dependent Claims (10, 11)
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12. A computer program product for registering a 3D model of an anatomical region of a patient with a catheter-based tracking system, the catheter-based tracking system comprising a catheter with a position indicator, the product comprising:
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a non-transitory storage medium, readable by a processing circuit, storing instructions for execution by the processing circuit for; generating a fluoroscopy image of the anatomical region, the catheter with the position indicator being disposed within the anatomical region, the position indicator generating signals indicating coordinates of the position indicator in the anatomical region; generating a 3D model of the anatomical region; using a first common anatomical reference system and a discernible parameter associated with the catheter, registering the 3D model with the fluoroscopy image, thereby defining a first registration; using a second common anatomical reference system and the signals from the position indicator representative of a location of the catheter in the fluoroscopy image, registering the catheter-based tracking system with the fluoroscopy image, thereby defining a second registration, the coordinates of the position indicator being in the second anatomical reference system; and using the first registration and the second registration, registering the 3D model with the catheter-based tracking system; wherein the first registration comprises generating a translation factor for translating the 3D model with respect to the fluoroscopy image, and generating a scaling factor for adjusting a scale of the 3D model with respect to the fluoroscopy image, the scaling factor being dependent on a discernable dimensional feature of the catheter.
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Specification