System and method to register a tracking system with intracardiac echocardiography (ICE) imaging system
First Claim
1. A system to navigate an image-guided object comprising a tracking element and a transducer array configured to travel in an area of interest of an imaged subject in relation to an acquired image of the imaged subject, comprising:
- a four-dimensional (4D) imaging system comprising the image-guided object and configured to acquire first image data, the 4D imaging system further configured to use the first image data to create a 4D model representative of a time-dependent three-dimensional spatial model correlated to a time interval and defined in spatial relation and orientation relative to a first image coordinate system defined by a predetermined spatial relation and orientation of the first image data relative to the transducer array, wherein the time interval is one of a cardiac cycle or a respiratory cycle;
a tracking system comprising sensors, the tracking system configured to track movement and orientation of the image-guided object through the imaged subject relative to a tracking coordinate system defined by the spatial relations and orientations of the sensors to the tracking element and to time; and
a second imaging system different than the image-guided object, the second imaging system configured to acquire second image data, the second imaging system configured to use the second image data to create a three-dimensional (3D) model of the imaged subject correlated to a second image coordinate system defined by a spatial relation and orientation of the second image data correlated to a phase of the cardiac cycle or a phase of the respiratory cycle;
a controller electrically connected in communication with the 4D imaging system, the second imaging system, and the tracking system, the controller having a processor configured to;
correlate the 4D model to a world coordinate system, the step of correlating further comprising;
performing a first registration of first image coordinate system with the tracking coordinate system; and
performing a second registration of the tracking coordinate system with a world coordinate system, wherein the world coordinate system defines a spatial orientation of image pixels or voxels within a display;
register the 4D model correlated with the world coordinate system to the 3D model, the step of registering further comprising;
allowing a user to select a series of anatomical landmarks within the 3D model displayed on a graphical user interface (GUI); and
allowing the user to select a series of anatomical landmarks within a portion of the 4D model acquired in the phase of cardiac or respiratory cycle that corresponds to the phase of cardiac or respiratory cycle of the 3D model based on a time reference, the GUI configured to allow the user to select the series of anatomical landmarks within the 4D model; and
combine the first image data of the 4D model and the second image data of the 3D model according to the series of anatomical landmarks selected within the 3D and 4D models.
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Abstract
A system to navigate an object traveling in an imaged subject is provided. The system includes a four-dimensional (4D) imaging system to create a first three-dimensional model of the acquired imaged data correlated relative to a time reference and defined relative to a first image coordinate system. A second imaging system creates a second three-dimensional model of the imaged subject defined relative to a second image coordinate system. A tracking system tracks movement and orientation of the object relative to a tracking coordinate system. A controller includes program instructions in combination with the processor operable to register the first and second image coordinate systems and the tracking coordinate system relative to a world coordinate system, and to combine the three-dimensional model created by the 4D imaging system with the three-dimensional model created by the second imaging system with a tracked location of the object relative to the world coordinate system.
208 Citations
20 Claims
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1. A system to navigate an image-guided object comprising a tracking element and a transducer array configured to travel in an area of interest of an imaged subject in relation to an acquired image of the imaged subject, comprising:
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a four-dimensional (4D) imaging system comprising the image-guided object and configured to acquire first image data, the 4D imaging system further configured to use the first image data to create a 4D model representative of a time-dependent three-dimensional spatial model correlated to a time interval and defined in spatial relation and orientation relative to a first image coordinate system defined by a predetermined spatial relation and orientation of the first image data relative to the transducer array, wherein the time interval is one of a cardiac cycle or a respiratory cycle; a tracking system comprising sensors, the tracking system configured to track movement and orientation of the image-guided object through the imaged subject relative to a tracking coordinate system defined by the spatial relations and orientations of the sensors to the tracking element and to time; and a second imaging system different than the image-guided object, the second imaging system configured to acquire second image data, the second imaging system configured to use the second image data to create a three-dimensional (3D) model of the imaged subject correlated to a second image coordinate system defined by a spatial relation and orientation of the second image data correlated to a phase of the cardiac cycle or a phase of the respiratory cycle; a controller electrically connected in communication with the 4D imaging system, the second imaging system, and the tracking system, the controller having a processor configured to; correlate the 4D model to a world coordinate system, the step of correlating further comprising; performing a first registration of first image coordinate system with the tracking coordinate system; and performing a second registration of the tracking coordinate system with a world coordinate system, wherein the world coordinate system defines a spatial orientation of image pixels or voxels within a display; register the 4D model correlated with the world coordinate system to the 3D model, the step of registering further comprising; allowing a user to select a series of anatomical landmarks within the 3D model displayed on a graphical user interface (GUI); and allowing the user to select a series of anatomical landmarks within a portion of the 4D model acquired in the phase of cardiac or respiratory cycle that corresponds to the phase of cardiac or respiratory cycle of the 3D model based on a time reference, the GUI configured to allow the user to select the series of anatomical landmarks within the 4D model; and combine the first image data of the 4D model and the second image data of the 3D model according to the series of anatomical landmarks selected within the 3D and 4D models. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of navigating a tool comprising a tracking element and a transducer array through an area of interest of an imaged subject using a tracking system comprising sensors, the method comprising:
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acquiring first image data of a region of interest of an imaged subject with the tool; generating a four-dimensional (4D) model of the region of interest of the imaged subject based on the first image data acquired with the tool, the 4D model correlated to a time reference and a first image coordinate system defined by a predetermined spatial relation and orientation of the first image data relative to the transducer array; tracking movement and orientation of the tool traveling through the imaged subject relative to a tracking coordinate system defined by the spatial relations and orientations of the sensors to the tracking element and to time; acquiring second image data of the region of interest of the imaged subject with a second imaging system different than the tool; generating a three-dimensional (3D) model of the imaged subject based on the second image data acquired by the second imaging system, the 3D model of the imaged subject correlated to a second image coordinate system defined by a spatial relation and orientation of the second image data correlated to a phase of cardiac or respiratory cycle; correlating the 4D model to a world coordinate system, the step of correlating further comprising; performing a first registration of the first image coordinate system with the tracking coordinate system; and performing a second registration of the tracking coordinate system with a world coordinate system, wherein the world coordinate system defines a spatial orientation of image pixels or voxels within a display; registering the 4D model correlated with the world coordinate system to the 3D model, the step of registering further comprising; allowing a user to select a series of anatomical landmarks within the 3D model displayed on a graphical user interface (GUI); and allowing the user to select a series of anatomical landmarks within a portion of the 4D model acquired in the phase of cardiac or respiratory cycle that corresponds to the phase of cardiac or respiratory cycle of the 3D model based on a time reference, the GUI configured to allow the user to select the series of anatomical landmarks within the 4D model; and combining the first image data of the 4D model and the second image data of the 3D model according to the series of anatomical landmarks selected within the 3D and 4D models. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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Specification