Method and apparatus for conducting an interventional procedure involving heart valves using a robot-based X-ray device
First Claim
Patent Images
1. A system for conducting medical interventional procedures involving heart valves, comprising:
- a patient table configured to support a patient thereon;
a catheter system configured to interact with the patient on the patient table to implement a medical procedure involving a heart valve of the patient, said catheter system comprising a catheter and a catheter robot that at least semi-automatically manipulates said catheter intracorporeally in the patient;
a robotic x-ray imaging device comprising a robot arm having at least four degrees of freedom and a support arm carried by said robot arm, to which are mounted an x-ray source that emits x-rays and a radiation detector, said robot arm being operable to irradiate a region of the patient comprising said heart valve with said x-rays during said medical procedure from a plurality of different projection directions, with said radiation detector detecting x-rays attenuated by the patient at said different projection directions and emitting respective sets of projection data for said projection directions;
a control unit in communication with said catheter robot and said robotic x-ray imaging device, said control unit being mounted at said patient table and being configured to operate both said catheter system, including said catheter robot thereof, and said robotic x-ray imaging system from a single location at said patient table;
an image processor in communication with said radiation detector and supplied therefrom with the projection data sets that reconstructs a 3D image of said region from said projection data sets substantially in real time during said medical procedure; and
a display in communication with said image processor on which said 3D image is displayed during said medical procedure.
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Abstract
In a method and an apparatus for conducting minimally-invasive procedures involving heart valves at least one multi-access articulated x-ray imaging robot is employed that allows a radiation detector carried by the robot to be moved in arbitrary paths, such as in circle, an ellipse, or along a spiral, around a patient in order to generate multiple projection exposures of the relevant region of the patient during the procedure. An image processor reconstructs a 3D image from the projection exposures substantially in real time during the procedure, and the 3D image is displayed to operating personnel during the procedure.
20 Citations
19 Claims
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1. A system for conducting medical interventional procedures involving heart valves, comprising:
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a patient table configured to support a patient thereon; a catheter system configured to interact with the patient on the patient table to implement a medical procedure involving a heart valve of the patient, said catheter system comprising a catheter and a catheter robot that at least semi-automatically manipulates said catheter intracorporeally in the patient; a robotic x-ray imaging device comprising a robot arm having at least four degrees of freedom and a support arm carried by said robot arm, to which are mounted an x-ray source that emits x-rays and a radiation detector, said robot arm being operable to irradiate a region of the patient comprising said heart valve with said x-rays during said medical procedure from a plurality of different projection directions, with said radiation detector detecting x-rays attenuated by the patient at said different projection directions and emitting respective sets of projection data for said projection directions; a control unit in communication with said catheter robot and said robotic x-ray imaging device, said control unit being mounted at said patient table and being configured to operate both said catheter system, including said catheter robot thereof, and said robotic x-ray imaging system from a single location at said patient table; an image processor in communication with said radiation detector and supplied therefrom with the projection data sets that reconstructs a 3D image of said region from said projection data sets substantially in real time during said medical procedure; and a display in communication with said image processor on which said 3D image is displayed during said medical procedure. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for conducting a medical interventional procedure involving heart valves, comprising the steps of:
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placing a patient on a patient table; implementing a medical procedure involving a heart valve using a catheter system, comprising catheter and a catheter robot, by robotically manipulating said catheter intracorporeally in said patient with said catheter robot; from a single control unit at said patient table, controlling both said catheter system, including said catheter robot thereof, and said robot arm from a single location at said patient table; during said medical procedure, obtaining a plurality of projection data sets of a region of the patient comprising said heart valve by moving an x-ray source and a radiation detector around the patient with a robot arm having at least four degrees of freedom to obtain said projection data sets respectively at a plurality of projection directions; reconstructing a 3D image from said plurality of projection data sets substantially in real time during said medical procedure; and displaying said 3D image during said medical procedure. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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Specification