Automatic correction and utilization of a vascular roadmap comprising a tool

• US 9,008,754 B2
• Filed: 12/30/2009
• Issued: 04/14/2015
• Est. Priority Date: 03/08/2007
• Status: Active Grant

• Current Assignee: Sync-Rx, Ltd. (Koninklijke Philips N.V.)
• Original Assignee: Sync-Rx, Ltd. (Koninklijke Philips N.V.)
• Inventors: Steinberg, Alexander, Tolkowsky, David, Cohen, Ran, Philipp, Sagiv
• Primary Examiner(s): Jung, Unsu
• Assistant Examiner(s): HUYNH, PHONG KY
• Application Number:
  US12/650,156
• Publication Number:
  US 20100191102A1
• Time in Patent Office: 1,931 Days
• Field of Search: 600/424, 600/427, 600/103, 600/117
• US Class Current: 600/424
• CPC Class Codes: A61B 17/12036 partial occlusion
• CPC Class Codes: A61B 17/1204 temporary occlusion
• CPC Class Codes: A61B 17/12136 Balloons
• CPC Class Codes: A61B 18/02 by cooling, e.g. cryogenic techniques devices for cooling specific reflex points of the body within cell-life limits A61H39/06
• CPC Class Codes: A61B 18/1492 having a flexible, catheter-like structure, e.g. for heart ablation A61B18/1477 takes precedence
• CPC Class Codes: A61B 18/24 with a catheter A61B18/26, A61B18/28 take precedence
• CPC Class Codes: A61B 2017/00252 for by-pass connections, i.e. connections from heart chamber to blood vessel or from blood vessel to blood vessel
• CPC Class Codes: A61B 2017/00694 with means correcting for movement of or for synchronisation with the body
• CPC Class Codes: A61B 2017/00703 correcting for movement of heart, e.g. ECG-triggered
• CPC Class Codes: A61B 2017/1205 Introduction devices
• CPC Class Codes: A61B 2017/22044 with a pointed tip
• CPC Class Codes: A61B 2017/22094 for crossing total occlusions, i.e. piercing
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/254 being adapted depending on the stage of the surgical procedure
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 5/0044 for the heart
• CPC Class Codes: A61B 5/7285 : for synchronising or triggering a physiological measurement or image acquisition with a physiological event or waveform, e.g. an ECG signal A61B6/5205, A61B6/541, A61B8/5207, A61B8/543 take precedence
• CPC Class Codes: A61B 5/7289 : Retrospective gating, i.e. associating measured signals or images with a physiological event after the actual measurement or image acquisition, e.g. by simultaneously recording an additional physiological signal during the measurement or image acquisition
• CPC Class Codes: A61B 6/12 : Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/469 : for selecting a region of interest [ROI]
• CPC Class Codes: A61B 6/481 : involving the use of contrast agents
• CPC Class Codes: A61B 6/501 : for diagnosis of the head, e.g. neuroimaging or craniography
• CPC Class Codes: A61B 6/503 : for diagnosis of the heart
• CPC Class Codes: A61B 6/504 : for diagnosis of blood vessels, e.g. by angiography
• CPC Class Codes: A61B 6/5217 : extracting a diagnostic or physiological parameter from medical diagnostic data
• CPC Class Codes: A61B 6/5247 : combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
• CPC Class Codes: A61B 6/541 : involving acquisition triggered by a physiological signal
• CPC Class Codes: A61B 8/0883 : for diagnosis of the heart
• CPC Class Codes: A61B 8/0891 : for diagnosis of blood vessels
• CPC Class Codes: A61B 8/543 : involving acquisition triggered by a physiological signal
• CPC Class Codes: A61F 2/958 : Inflatable balloons for placing stents or stent-grafts
• CPC Class Codes: G06T 11/60 : Editing figures and text; Combining figures or text
• CPC Class Codes: G06T 2207/10121 : Fluoroscopy
• CPC Class Codes: G06T 2207/30048 : Heart; Cardiac
• CPC Class Codes: G06T 2207/30101 : Blood vessel; Artery; Vein; Vascular
• CPC Class Codes: G06T 5/00 : Image enhancement or restoration
• CPC Class Codes: G06T 7/0012 : Biomedical image inspection
• CPC Class Codes: G06T 7/0014 : using an image reference approach
• CPC Class Codes: G06T 7/13 : Edge detection
• CPC Class Codes: G06T 7/246 : using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06T 7/62 : of area, perimeter, diameter or volume
• CPC Class Codes: G06V 2201/034 : of medical instruments
• CPC Class Codes: G06V 40/103 : Static body considered as a whole, e.g. static pedestrian or occupant recognition
• CPC Class Codes: G16H 50/30 : for calculating health indices; for individual health risk assessment

Abstract

Apparatus and methods are described including generating a road map of a blood vessel. Subsequent to the generation of the road map, a tool is inserted into the blood vessel. While the tool is inside the blood vessel, the position of the tool is determined. The road map is modified to account for the determined position of the tool. Other embodiments are also described.

Claims

1. A method, comprising:

acquiring at least one extraluminal image of a blood vessel, using a medical imaging device;

using at least one computer processor;

determining locations of boundaries of the blood vessel in the extraluminal image of the blood vessel;

generating, upon a display, a first road map of the blood vessel that indicates the determined locations of the boundaries of the blood vessel;

subsequently, while a tool is inside the blood vessel, following the generation of the first road map;

acquiring at least one intraprocedural image of the tool inside the blood vessel;

overlaying the roadmap on the intraprocedural image of the tool inside the blood vessel; and

in response thereto, determining that a position of at least a portion of the tool is not within the boundaries of the blood vessel as indicated by the road map; and

generating an updated road map by modifying the first road map, such that the portion of the tool appears within the boundaries of the blood vessel indicated by the updated road map, to account for the determined position of the portion of the tool; and

displaying the updated road map upon display.

2. The method according to claim 1, wherein modifying the first road map comprises automatically modifying the first road map to account for the determined position of the portion of the tool.

3. The method according to claim 1, wherein modifying the first road map comprises modifying the first road map in real time.

4. The method according to claim 1, wherein modifying the first road map comprises modifying the first road map in near real time.

5. The method according to claim 1, wherein determining the position of the portion of the tool comprises automatically determining the position of the portion of the tool by identifying a portion of the tool that is visible in the intraprocedural image of the tool inside the blood vessel.

6. The method according to claim 1, wherein modifying the first road map comprises reshaping the first road map.

7. The method according to claim 1, wherein modifying the first road map comprises redrawing the first road map.

8. The method according to claim 1, wherein the tool includes a wire, and wherein determining the position of the portion of the tool comprises determining a position of a portion of the wire.

9. The method according to claim 1, wherein the tool includes a catheter, and wherein determining the position of the portion of the tool comprises determining a position of a portion of the catheter.

10. Apparatus for use with a tool, comprising:

a medical imaging device configured to acquire a set of images of a blood vessel of a subject;

a display; and

at least one computer processor configured to;

receive the set of images into the processor;

determine locations of boundaries of the blood vessel in at least one of the extraluminal images of the blood vessel;

generate a first road map of the blood vessel that indicates the determined locations of the boundaries of the blood vessel;

drive the display to display the first road map;

subsequently, while the tool is inside the blood vessel, following the generation of the first road map;

receive at least one intraprocedural image of the tool inside the blood vessel;

overlay the roadmap on the intraprocedural image of the tool inside the blood vessel; and

in response thereto determine that a position of at least a portion of the tool is not within the boundaries of the blood vessel as indicated by the road map;

generate an updated road map by modifying the first road map, such that the portion of the tool appears within the boundaries of the blood vessel indicated by the updated road map, to account for the determined position of the portion of the tool; and

drive the display to display the updated road map.

11. The apparatus according to claim 10, wherein the processor is configured to automatically generate the updated road map to account for the determined position of the portion of the tool.

12. The apparatus according to claim 10, wherein the processor is configured to generate the updated road map in real time.

13. The apparatus according to claim 10, wherein the processor is configured to generate the updated road map in near real time.

14. The apparatus according to claim 10, wherein the processor is configured to automatically determine the position of the portion of the tool by identifying a portion of the tool that is visible in the intraprocedural image of the tool inside the blood vessel.

15. The apparatus according to claim 10, wherein the processor is configured to generate the updated road map by reshaping the road map.

16. The apparatus according to claim 10, wherein the processor is configured to generate the updated road map by redrawing the road map.

17. The apparatus according to claim 10, wherein the tool includes a wire, and wherein the processor is configured to automatically determine the position of the portion of the tool by determining a position of at least a portion of the wire subsequent to the generation of the road map.

18. The apparatus according to claim 10, wherein the tool includes a catheter, and wherein the processor is configured to automatically determine the position of the portion of the tool by determining a position of at least a portion of the catheter subsequent to the generation of the road map.