Image-guided navigation for catheter-based interventions
First Claim
1. A navigation system for inserting a medical instrument in a patient, the system comprising:
- a medical instrument;
a processing device;
an angiogram x-ray system in communication with the processing device and capable of capturing a series of angiographic images of the patient during the insertion of the medical instrument in the patient wherein at least one of the angiographic images captures the medical instrument that was inserted into an area of the patient; and
a position capture module configured to get position information about the position of the medical instrument from angiographic images of the progress of the medical instrument generated by the angiographic x-ray system, the position capture module in communication with the processing device;
the processing device superimposing the position information about the medical instrument on a roadmap image, wherein the roadmap image is one of the series of angiographic images generated by the angiographic x-ray system, the processing device updating the roadmap occasionally during the insertion of the medical instrument in the patient, the processing device superimposing subsequent angiographic images on the updated roadmap.
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Abstract
A navigation system for catheter-based interventions, the system comprising a processing device; an angiogram x-ray system connected by data transfer connection to the processing device and capable of capturing angiographic images of a patient; an electrocardiogram monitoring device that is also connected by data transfer connection to the processing device and to the x-ray system; a medical instrument to be inserted into the area of the patient captured by the angiographic image; a position capture module for getting position information about the position of the medical instrument, the unit connected by data transfer connection to the processing device, wherein the processing device is capable of triggering the capturing of the angiographic images as a roadmap and superimposing on the roadmap the position information about the medical instrument.
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Citations
18 Claims
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1. A navigation system for inserting a medical instrument in a patient, the system comprising:
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a medical instrument; a processing device; an angiogram x-ray system in communication with the processing device and capable of capturing a series of angiographic images of the patient during the insertion of the medical instrument in the patient wherein at least one of the angiographic images captures the medical instrument that was inserted into an area of the patient; and a position capture module configured to get position information about the position of the medical instrument from angiographic images of the progress of the medical instrument generated by the angiographic x-ray system, the position capture module in communication with the processing device; the processing device superimposing the position information about the medical instrument on a roadmap image, wherein the roadmap image is one of the series of angiographic images generated by the angiographic x-ray system, the processing device updating the roadmap occasionally during the insertion of the medical instrument in the patient, the processing device superimposing subsequent angiographic images on the updated roadmap. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A navigation method for inserting a medical instrument in a patient, the method comprising:
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selecting an angiographic x-ray image including a lesion to serve as a roadmap image, wherein the roadmap image is generated using an angiogram x-ray system; inserting a medical instrument into an artery leading to the lesion; capturing progress of the medical instrument from angiographic x-ray images of the progress of the medical instrument, wherein the angiographic x-ray images of the progress of the medical instrument are generated using the angiogram x-ray system; displaying the captured progress of the medical instrument superimposed on the roadmap image; updating the roadmap image from angiographic images generated during the insertion of the medical instrument in the patient; capturing subsequent progress of the medical instrument from angiographic x-ray images of the progress of the medical instrument, updating the position of the medical instrument on the updated roadmap displaying the captured progress of the medical instrument superimposed on the updated roadmap image; and manipulating the instrument to reach the lesion. - View Dependent Claims (11, 12, 13, 14, 15)
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16. An automated navigation method for inserting a medical instrument in a patient, the method comprising:
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selecting an angiographic x-ray image showing a lesion to serve as a roadmap image, wherein the roadmap image is generated using an angiogram x-ray system during insertion of a medical instrument in a patient; tracing a desired path to the lesion; inserting the medical instrument into an artery leading to the lesion using a remote manipulation system; capturing progress of the medical instrument from angiographic x-ray images of the progress of the medical instrument; comparing the captured position of the instrument with a desired position along the desired path and determining an error if it exists; correcting the instrument position if the error is greater than a predefined threshold; updating the roadmap image with an angiographic image generated by the angiographic x-ray system during inserting of the medical instrument in the patient; and continuing with comparing and correcting until the instrument reaches a desired position. - View Dependent Claims (17, 18)
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Specification