Image-based characterization of implanted medical leads

• US 8,995,731 B2
• Filed: 11/24/2009
• Issued: 03/31/2015
• Est. Priority Date: 11/26/2008
• Status: Active Grant

• Current Assignee: Medtronic Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Incorporated (Medtronic Plc)
• Inventors: Joglekar, Ajinkya M.
• Primary Examiner(s): Long, Fonya
• Assistant Examiner(s): WINSTON III, EDWARD B
• Application Number:
  US12/625,167
• Publication Number:
  US 20100135553A1
• Time in Patent Office: 1,953 Days
• Field of Search: 382/128, 607/46, 607/57, 703/11
• US Class Current: 382/128
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/506 for diagnosis of nerves

Abstract

The disclosure relates to image-based characterization of implanted medical leads used for electrical stimulation therapy. Characterization of implanted leads may include determination of lead configuration and lead orientation. The lead characterization techniques may make use of two-dimensional (2D) lead imaging in combination with known three-dimensional (3D) lead configuration data for various lead types. Lead characteristics determined from 2D lead imaging may be compared to lead dimensions calculated from known 3D lead characteristics to characterize implanted leads in terms of lead configuration and orientation. The lead characterization may be used to automatically determine or verify led configuration and orientation, and to aid in programming electrical stimulation therapy parameters.

Claims

1. A method comprising:

obtaining, with an image processing system, a two dimensional (2D) image of electrodes on a lead implanted within a patient;

determining, with the image processing system, actual 2D coordinates of the electrodes in the 2D image;

obtaining, with the image processing system, 2D coordinates projected from 3D coordinates of electrodes on a selected type of lead, wherein the 2D coordinates projected from the 3D coordinates of the electrodes on the selected type of lead comprise calculated 2D coordinates of the electrodes on the selected type of lead as the electrodes on the selected type of lead would appear on the 2D image of the electrodes on the lead implanted within the patient;

comparing, with the image processing system, the projected 2D coordinates to the actual 2D coordinates; and

determining, with the image processing system, a characterization of the implanted lead based on the comparison.

2. The method of claim 1, further comprising:

obtaining multiple sets of the 2D coordinates projected from multiple sets of the 3D coordinates for multiple orientations of the selected type of lead;

comparing the multiple sets of projected 2D coordinates to the actual 2D coordinates;

generating error values for each of the sets of projected 2D coordinates based on the comparison; and

determining the characterization of the implanted lead based on the lead orientation associated with the set of projected 2D coordinates that generates a lowest one of the error values.

3. The method of claim 2, wherein obtaining multiple sets of the 2D coordinates projected from multiple sets of the 3D coordinates for multiple orientations of the selected type of lead comprises projecting multiple sets of the 3D coordinates for multiple orientations of the selected type of lead.

4. The method of claim 2, wherein the characterization includes at least one of an indication of a type of the implanted lead, and an indication of an orientation of the implanted lead.

5. The method of claim 1, further comprising:

obtaining multiple sets of the 2D coordinates projected from multiple sets of the 3D coordinates for multiple orientations of the selected type of lead;

comparing the multiple sets of projected 2D coordinates to the actual 2D coordinates;

generating error values for each of the sets of projected 2D coordinates based on the comparison; and

determining the characterization of the implanted lead based on the selected type of lead associated with the set of projected 2D coordinates that generates a lowest one of the error values.

6. The method of claim 5, wherein the characterization includes at least one of an indication of a type of the implanted lead, and an indication of an orientation of the implanted lead.

7. The method of claim 1, further comprising:

obtaining multiple sets of the 2D coordinates projected from multiple selected types of leads and multiple orientations of the selected types of lead;

comparing the multiple sets of projected 2D coordinates to the actual 2D coordinates;

generating error values for each of the sets of projected 2D coordinates based on the comparison; and

determining the characterization of the implanted lead based on the selected type of lead and the lead orientation associated with the set of projected 2D coordinates that generates a lowest one of the error values.

8. The method of claim 7, wherein the characterization includes at least one of an indication of a type of the implanted lead, and an indication of an orientation of the implanted lead.

9. The method of claim 1, wherein the characterization includes at least one of an indication of a type of the implanted lead, and an indication of an orientation of the implanted lead.

10. The method of claim 1, wherein the characterization includes an indication of an orientation of the implanted lead, and wherein the orientation comprises one or more of an implant depth, axial position, transverse position, rotational angle, skew angle, and tilt angle of the implanted lead.

11. The method of claim 10, further comprising determining the implant depth based on a difference between a depth of the lead relative to an imaging modality used to obtain the 2D image.

12. The method of claim 11, wherein obtaining the 2D image comprises obtaining the 2D image using a fluoroscopic imaging modality.

13. The method of claim 1, wherein obtaining 2D coordinates projected from 3D coordinates of electrodes on a selected type of lead comprises projecting 3D coordinates of electrodes on the selected type of lead.

41. The method of claim 1, wherein the calculated 2D coordinates of the electrodes on the selected type of lead as the electrodes on the selected type of lead would appear on the 2D image comprise calculated 2D coordinates of the electrodes on the selected type of lead as the electrodes on the selected type of lead would appear on the 2D image for one or more of different image lead depth, lead axial translations, lead transverse translation, or lead orientations of the selected type of lead.

14. An image processing device comprising:

an image buffer that obtains and stores a two dimensional (2D) image of electrodes on a lead implanted within a patient;

an image analysis unit that determines actual 2D coordinates of the electrodes in the 2D image;

a memory that stores the actual 2D coordinates; and

a processor that;

obtains 2D coordinates projected from 3D coordinates of electrodes on a selected type of lead, wherein the 2D coordinates projected from the 3D coordinates of the electrodes on the selected type of lead comprise calculated 2D coordinates of the electrodes on the selected type of lead as the electrodes on the selected type of lead would appear on the 2D image of the electrodes on the lead implanted within the patient,

compares the projected 2D coordinates to the actual 2D coordinates, and

determines a characterization of the implanted lead based on the comparison.

15. The image processing device of claim 14, wherein an external programmer comprises the image processing device.

16. The image processing device of claim 14, wherein an imaging modality utilized to generate 2D image of electrodes comprises the image processing device.

17. The image processing device of claim 14, wherein the processor obtains multiple sets of 2D coordinates projected from multiple sets of the 3D coordinates for multiple orientations of the selected type of lead, compares the multiple sets of projected 2D coordinates to the actual 2D coordinates, generates error values for each of the sets of projected 2D coordinates based on the comparison, and determines the characterization of the implanted lead based on the lead orientation associated with the set of projected 2D coordinates that generates a lowest one of the error values.

18. The image processing device of claim 17, wherein the processor projects multiple sets of the 3D coordinates for multiple orientations of the selected type of lead to obtain multiple sets of the 2D coordinates projected from multiple sets of the 3D coordinates.

19. The image processing device of claim 17, wherein the characterization includes at least one of an indication of a type of the implanted lead, and an indication of an orientation of the implanted lead.

20. The image processing device of claim 14, wherein the processor obtains multiple sets of 2D coordinates projected from multiple sets of the 3D coordinates for multiple selected types of leads, compares the multiple sets of projected 2D coordinates to the actual 2D coordinates, generates error values for each of the sets of projected 2D coordinates based on the comparison, and determines the characterization of the implanted lead based on the selected type of lead associated with the set of projected 2D coordinates that generates a lowest one of the error values.

21. The image processing device of claim 20, wherein the characterization includes at least one of an indication of a type of the implanted lead, and an indication of an orientation of the implanted lead.

22. The image processing device of claim 14, wherein the processor obtains multiple sets of 2D coordinates projected from multiple sets of the 3D coordinates for multiple selected types of leads and multiple orientations for the selected types of leads, compares the multiple sets of projected 2D coordinates to the actual 2D coordinates, generates error values for each of the sets of projected 2D coordinates based on the comparison, and determines the characterization of the implanted lead based on the selected type of lead and the lead orientation associated with the set of projected 2D coordinates that generates a lowest one of the error values.

23. The image processing device of claim 22, wherein the characterization includes at least one of an indication of a type of the implanted lead, and an indication of an orientation of the implanted lead.

24. The image processing device of claim 14, wherein the characterization includes at least one of an indication of a type of the implanted lead, and an indication of an orientation of the implanted lead.

25. The image processing device of claim 14, wherein the characterization includes an indication of an orientation of the implanted lead, and wherein the orientation comprises one or more of an implant depth, axial position, transverse position, rotational angle, skew angle, and tilt angle of the implanted lead.

26. The image processing device of claim 25, wherein the processor determines the implant depth based on a difference between a depth of the lead relative to an imaging modality used to obtain the 2D image.

27. The image processing device of claim 14, wherein the image buffer obtains the 2D image using a fluoroscopic imaging modality.

28. The image processing device of claim 14, wherein the processor projects 3D coordinates of electrodes on the selected type of lead to obtain 2D coordinates projected from 3D coordinates of electrodes on the selected type of lead.

42. The image processing device of claim 14, wherein the calculated 2D coordinates of the electrodes on the selected type of lead as the electrodes on the selected type of lead would appear on the 2D image comprise calculated 2D coordinates of the electrodes on the selected type of lead as the electrodes on the selected type of lead would appear on the 2D image for one or more of different image lead depth, lead axial translations, lead transverse translation, or lead orientations of the selected type of lead.

29. A system comprising:

means for obtaining a two dimensional (2D) image of electrodes on a lead implanted within a patient;

means for determining actual 2D coordinates of the electrodes in the 2D image;

means for obtaining 2D coordinates projected from 3D coordinates of electrodes on a selected type of lead, wherein the 2D coordinates projected from the 3D coordinates of the electrodes on the selected type of lead comprise calculated 2D coordinates of the electrodes on the selected type of lead as the electrodes on the selected type of lead would appear on the 2D image of the electrodes on the lead implanted within the patient;

means for comparing the projected 2D coordinates to the actual 2D coordinates; and

means for determining a characterization of the implanted lead based on the comparison.

30. The system of claim 29, further comprising:

means for obtaining multiple sets of the 2D coordinates projected from multiple sets of the 3D coordinates for multiple orientations of the selected type of lead;

means for comparing the multiple sets of projected 2D coordinates to the actual 2D coordinates;

means for generating error values for each of the sets of projected 2D coordinates based on the comparison; and

means for determining the characterization of the implanted lead based on the lead orientation associated with the set of projected 2D coordinates that generates a lowest one of the error values.

31. The system of claim 29, further comprising:

means for obtaining multiple sets of the 2D coordinates projected from multiple sets of the 3D coordinates for multiple orientations of the selected type of lead;

means for comparing the multiple sets of projected 2D coordinates to the actual 2D coordinates;

means for generating error values for each of the sets of projected 2D coordinates based on the comparison; and

means for determining the characterization of the implanted lead based on the selected type of lead associated with the set of projected 2D coordinates that generates a lowest one of the error values.

32. The system of claim 29, further comprising:

means for obtaining multiple sets of the 2D coordinates projected from multiple selected types of leads and multiple orientations of the selected types of lead;

means for comparing the multiple sets of projected 2D coordinates to the actual 2D coordinates;

means for generating error values for each of the sets of projected 2D coordinates based on the comparison; and

means for determining the characterization of the implanted lead based on the selected type of lead and the lead orientation associated with the set of projected 2D coordinates that generates a lowest one of the error values.

33. The system of claim 29, wherein the characterization includes at least one of an indication of a type of the implanted lead, and an indication of an orientation of the implanted lead.

34. The system of claim 33, wherein the orientation includes one or more of an implant depth, an axial position, a transverse position, a rotational angle, skew angle, and a tilt angle.

35. A non-transitory computer-readable storage medium comprising instructions that cause one or more processors to:

obtain a two dimensional (2D) image of electrodes on a lead implanted within a patient;

determine actual 2D coordinates of the electrodes in the 2D image;

obtain 2D coordinates projected from 3D coordinates of electrodes on a selected type of lead, wherein the 2D coordinates projected from the 3D coordinates of the electrodes on the selected type of lead comprise calculated 2D coordinates of the electrodes on the selected type of lead as the electrodes on the selected type of lead would appear on the 2D image of the electrodes on the lead implanted within the patient;

compare the projected 2D coordinates to the actual 2D coordinates; and

determine a characterization of the implanted lead based on the comparison.

36. The computer-readable storage medium of claim 35 comprising further instructions that cause the one or more processors to:

obtain multiple sets of the 2D coordinates projected from multiple sets of the 3D coordinates for multiple orientations of the selected type of lead;

compare the multiple sets of projected 2D coordinates to the actual 2D coordinates;

generate error values for each of the sets of projected 2D coordinates based on the comparison; and

determine the characterization of the implanted lead based on the lead orientation associated with the set of projected 2D coordinates that generates a lowest one of the error values.

37. The computer-readable storage medium of claim 35 comprising further instructions that cause the one or more processors to:

obtain multiple sets of the 2D coordinates projected from multiple sets of the 3D coordinates for multiple orientations of the selected type of lead;

compare the multiple sets of projected 2D coordinates to the actual 2D coordinates;

generate error values for each of the sets of projected 2D coordinates based on the comparison; and

determine the characterization of the implanted lead based on the selected type of lead associated with the set of projected 2D coordinates that generates a lowest one of the error values.

38. The computer-readable storage medium of claim 35 comprising further instructions that cause the one or more processors to:

obtain multiple sets of the 2D coordinates projected from multiple selected types of leads and multiple orientations of the selected types of lead;

compare the multiple sets of projected 2D coordinates to the actual 2D coordinates;

generate error values for each of the sets of projected 2D coordinates based on the comparison; and

determine the characterization of the implanted lead based on the selected type of lead and the lead orientation associated with the set of projected 2D coordinates that generates a lowest one of the error values.

39. The computer-readable storage medium of claim 35, wherein the characterization includes at least one of an indication of a type of the implanted lead, and an indication of an orientation of the implanted lead.

40. The computer-readable storage medium of claim 39, wherein the orientation includes one or more of an implant depth, an axial position, a transverse position, a rotational angle, skew angle, and a tilt angle.