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Fluoroscopy-based surgical device tracking method

  • US 9,265,468 B2
  • Filed: 05/11/2011
  • Issued: 02/23/2016
  • Est. Priority Date: 05/11/2011
  • Status: Active Grant
First Claim
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1. A method for tracking a surgical device in a body organ of a subject during a surgical procedure, wherein the body organ is a non-rigid body organ that changes shape as a result of varying patient body posture or position thereby defining an anatomy of unknown shape, the body organ comprising at least one body lumen, and said surgical device comprising a distal section having at least one reference mark which is visible under fluoroscopy, the method comprising the steps of:

  • a) receiving a 3D image data set of the body organ and computing a 3D model of the body organ;

    b) performing a pre-tracking registration prior to tracking the surgical device during the surgical procedure thereby registering an image derived from the 3D model of the body organ with a real-time fluoroscopy image;

    wherein the pre-tracking registration comprises the following steps;

    receiving a pre-tracking position from a sensor indicating the position of a fluoroscopy unit;

    receiving a pre-tracking fluoroscopy image corresponding to the pre-tracking position;

    registering the pre-tracking fluoroscopy image with a pre-tracking image derived from the 3D model of the body organ; and

    recording the pre-tracking position;

    c) advancing the distal section of the surgical device outside of the at least one body lumen and into the anatomy of unknown shape;

    d) receiving a real-time fluoroscopy image showing the reference mark of the surgical device outside of the at least one body lumen and in the anatomy of unknown shape; and

    e) computing a 3D location of the surgical device in the 3D model based on a shape or pattern of the reference mark outside the at least one body lumen and within the anatomy of unknown shape and visible in the fluoroscopy image of step (d).

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