Displaying a device within an endoluminal image stack

• US 8,855,744 B2
• Filed: 12/05/2013
• Issued: 10/07/2014
• Est. Priority Date: 11/18/2008
• Status: Active Grant

• Current Assignee: Sync-Rx, Ltd. (Koninklijke Philips N.V.)
• Original Assignee: Sync-Rx, Ltd. (Koninklijke Philips N.V.)
• Inventors: Tolkowsky, David, Klaiman, Eldad, Steinberg, Alexander, Cohen, Ran
• Primary Examiner(s): Lamprecht, Joel
• Application Number:
  US14/097,603
• Publication Number:
  US 20140094690A1
• Time in Patent Office: 306 Days
• Field of Search: None
• US Class Current: 600/428
• CPC Class Codes: A61B 2090/3966 Radiopaque markers visible in an X-ray image
• CPC Class Codes: A61B 5/0066 Optical coherence imaging
• CPC Class Codes: A61B 5/0073 by tomography, i.e. reconstruction of 3D images from 2D projections A61B5/0066 takes precedence
• CPC Class Codes: A61B 5/0075 by spectroscopy, i.e. measuring spectra, e.g. Raman spectroscopy, infrared absorption spectroscopy A61B5/0071 takes precedence
• CPC Class Codes: A61B 5/0084 for introduction into the body, e.g. by catheters A61B5/1459 takes precedence
• CPC Class Codes: A61B 5/0086 using infrared radiation
• CPC Class Codes: A61B 5/061 Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body A61B1/00158 takes precedence
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 5/066 Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
• CPC Class Codes: A61B 5/7425 Displaying combinations of multiple images regardless of image source, e.g. displaying a reference anatomical image with a live image geometric transforms for image registration G06T3/14; enhancement using image fusion G06T5/50; algorithms for registration of images G06T7/30
• CPC Class Codes: A61B 8/0841 for locating instruments
• CPC Class Codes: A61B 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/10072 Tomographic images
• CPC Class Codes: G06T 2207/10121 Fluoroscopy
• CPC Class Codes: G06T 2207/10132 Ultrasound image
• CPC Class Codes: G06T 2207/20101 Interactive definition of point of interest, landmark or seed
• CPC Class Codes: G06T 2207/20221 Image fusion; Image merging
• CPC Class Codes: G06T 2207/30101 Blood vessel; Artery; Vein; Vascular
• CPC Class Codes: G06T 2207/30172 Centreline of tubular or elongated structure
• CPC Class Codes: G06T 2207/30204 : Marker
• CPC Class Codes: G06T 7/33 : using feature-based methods

Abstract

Apparatus and methods are described including, while an endoluminal data-acquisition device is being moved through a subject'"'"'s lumen, acquiring a plurality of endoluminal data points of the lumen using the endoluminal data-acquisition device. It is determined that respective endoluminal data points correspond to respective locations along the lumen. A display is driven to display at least some of the plurality of endoluminal data points in a stack. While a second endoluminal device is inside the lumen, a current location of at least a portion of the second endoluminal device with respect to the lumen is determined. In response thereto, an image of the second endoluminal device is displayed within the stack, at a location within the stack corresponding to the current location of the second endoluminal device. Other applications are also described.

Claims

1. Apparatus comprising:

an endoluminal data-acquisition device configured to acquire a plurality of endoluminal data points while moving through a lumen of a subject'"'"'s body;

a second endoluminal device configured to be moved through the lumen;

a display; and

at least one processor configured to;

determine that respective endoluminal data points correspond to respective locations along the lumen,

generate a stack of the endoluminal data points, in which the endoluminal data points are positioned at locations corresponding to relative locations within the lumen at which the endoluminal data points were acquired,

while the second endoluminal device is inside the lumen, and while the endoluminal data-acquisition device is in a retrieved state with respect to the lumen, subsequent to the endoluminal data-acquisition device having acquired the plurality of endoluminal data points while moving through the lumen,

determine a current location of the second endoluminal device with respect to the lumen, and

drive the display to display the stack, and to display within the stack an image of the second endoluminal device at a location within the stack corresponding to the current location of the second endoluminal device.

2. The apparatus according to claim 1, wherein the processor is configured to drive the display to display the image of the second endoluminal device within the stack by driving the display to display a virtual representation of the second endoluminal device within the stack.

3. The apparatus according to claim 1, wherein the processor is configured to drive the display to display the image of the second endoluminal device within the stack by driving the display to display a real image of the second endoluminal device within the stack.

4. The apparatus according to claim 1, wherein the second endoluminal device comprises a therapeutic endoluminal device.

5. The apparatus according to claim 1, wherein the endoluminal data-acquisition device comprises an endoluminal imaging device that is configured to acquire a plurality of endoluminal images while the endoluminal imaging device is being moved through the lumen, and wherein the processor is configured to generate the stack by generating an endoluminal image stack.

6. The apparatus according to claim 1, wherein the endoluminal data-acquisition device comprises an endoluminal data-acquisition device that is configured to acquire functional data regarding the lumen while the endoluminal data-acquisition device is being moved through the lumen, and wherein the processor is configured to generate the stack by generating a stack of functional endoluminal data points.

7. The apparatus according to claim 1, wherein the processor is configured to generate the stack of endoluminal data points by generating a stack of indications of the endoluminal data points, locations of the indications within the stack corresponding to relative locations within the lumen at which the endoluminal data points were acquired.

8. The apparatus according to claim 1, wherein the processor is configured to generate the stack of the endoluminal data points, by generating a stack of endoluminal data points that includes a gap at a location within the stack corresponding to a location within the lumen at which no endoluminal data points were acquired.

9. The apparatus according to claim 1, wherein the processor is configured to generate the stack of the endoluminal data points, by generating a stack of endoluminal data points in which duplicate endoluminal data points are removed from the stack at locations within the stack corresponding to locations within the lumen at which more than one endoluminal data point was acquired.

10. The apparatus according to claim 1, wherein the processor is configured to generate the stack of the endoluminal data points, by generating a stack of endoluminal data points, by accounting for non-longitudinal motion undergone by the endoluminal data-acquisition device, while acquiring the plurality of endoluminal data points, while moving through the lumen.

11. The apparatus according to claim 1, wherein the processor is configured to generate the stack of the endoluminal data points, by generating a stack of endoluminal data points that is calibrated with respect to physical dimensions of the lumen.

12. The apparatus according to claim 1, wherein the processor is configured to generate the stack of the endoluminal data points, by generating a stack of endoluminal data points, a cross section of the stack being calibrated with respect to physical dimensions of the lumen.

13. A method for use with an endoluminal data-acquisition device configured to acquire endoluminal data points while moving through a lumen of a subject'"'"'s body, a second endoluminal device, and a display, the method comprising:

while the endoluminal data-acquisition device is being moved through the lumen, acquiring a plurality of endoluminal data points of the lumen using the endoluminal data-acquisition device;

using at least one processor, determining that respective endoluminal data points correspond to respective locations along the lumen;

using the processor, driving the display to display at least some of the plurality of endoluminal data points in a stack, in which the endoluminal data points are positioned at locations corresponding to relative locations within the lumen at which the endoluminal data points were acquired;

using the processor, while the second endoluminal device is inside the lumen, and while the endoluminal data-acquisition device is in a retrieved state with respect to the lumen, subsequent to the endoluminal data-acquisition device having acquired the plurality of endoluminal data points while moving through the lumen, determining a current location of at least a portion of the second endoluminal device with respect to the lumen; and

in response thereto, displaying within the stack an image of the second endoluminal device at a location within the stack corresponding to the current location of the second endoluminal device.

14. The method according to claim 13, wherein displaying the image of the second endoluminal device within the stack comprises displaying a virtual representation of the second endoluminal device within the stack.

15. The method according to claim 13, wherein displaying the image of the second endoluminal device within the stack comprises displaying a real image of the second endoluminal device within the stack.

16. The method according to claim 13, wherein the second endoluminal device includes a therapeutic endoluminal device, and wherein determining the current location of at least a portion of the second endoluminal device with respect to the lumen comprises determining a current location of at least a portion of the therapeutic endoluminal device with respect to the lumen.

17. The method according to claim 13, wherein the endoluminal data-acquisition device includes an endoluminal imaging device that is configured to acquire a plurality of endoluminal images while the endoluminal imaging device is being moved through the lumen, and wherein driving the display to display at least some of the plurality of endoluminal data points in a stack comprises driving the display to display an endoluminal image stack.

18. The method according to claim 13, wherein the endoluminal data-acquisition device includes an endoluminal data-acquisition device that is configured to acquire functional data regarding the lumen while the endoluminal data-acquisition device is being moved through the lumen, and wherein driving the display to display at least some of the plurality of endoluminal data points in a stack comprises driving the display to display a stack of functional endoluminal data points.

19. The method according to claim 13, wherein driving the display to display at least some of the plurality of endoluminal data points in a stack comprises driving the display to display a stack of indications of the endoluminal data points, locations of the indications within the stack corresponding to relative locations within the lumen at which the endoluminal data points were acquired.

20. The method according to claim 13, wherein driving the display to display at least some of the plurality of endoluminal data points in a stack comprises driving the display to display a stack of endoluminal data points that includes a gap at a location within the stack corresponding to a location within the lumen at which no endoluminal data points were acquired.

21. The method according to claim 13, wherein driving the display to display at least some of the plurality of endoluminal data points in a stack comprises driving the display to display a stack of endoluminal data points in which duplicate endoluminal data points are removed from the stack at locations within the stack corresponding to locations within the lumen at which more than one endoluminal data point was acquired.

22. The method according to claim 13, wherein driving the display to display at least some of the plurality of endoluminal data points in a stack comprises driving the display to display a stack of endoluminal data points, by accounting for non-longitudinal motion undergone by the endoluminal data-acquisition device, while acquiring the plurality of endoluminal data points, while moving through the lumen.

23. The method according to claim 13, wherein driving the display to display at least some of the plurality of endoluminal data points in a stack comprises driving the display to display a stack of endoluminal data points that is calibrated with respect to physical dimensions of the lumen.

24. The method according to claim 13, wherein driving the display to display at least some of the plurality of endoluminal data points in a stack comprises driving the display to display a stack of endoluminal data points, a cross section of the stack being calibrated with respect to physical dimensions of the lumen.